CN101424736B - Method for quick starting and positioning receiver in global positioning system - Google Patents
Method for quick starting and positioning receiver in global positioning system Download PDFInfo
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Abstract
The invention discloses a method for quickly starting and positioning a receiver in a global positioning system, relates to the field of global satellite positioning and navigation, and particularly relates to a method for quickly starting and positioning a GPS receiver and an implementation thereof. The method is a hybrid hot start and rapid positioning method, and comprises the steps of predicting a visible satellite by using a hot start method, predicting the visible satellite by using a warm start method, deducting the satellite predicted to be the same in the warm start method and the hot start method, predicting relevant information, and entering an acquisition stage; and the quick positioning is realized. The method is suitable for baseband processing chips of any type of GPS receivers, can greatly improve the starting and positioning speed, and has simple structure and convenient transplantation.
Description
Technical field
The present invention relates to global positioning satellite and field of navigation systems, relate in particular at the integrated satellite-signal that receives and follow the tracks of in the receiver (receiver baseband processing chip) of catching fast.
Background technology
Global positioning satellite and navigational system, for example GPS (GPS) comprises one group of satellite constellation (the Navstar satellite is otherwise known as) that sends gps signal, this gps signal can be received the position that machine is used for determining this receiver.Satellite orbit is arranged in a plurality of planes, so that any on earth position can both receive this kind signal from least four satellites.More typical situation is that most on earth places can both receive this kind signal from six above satellites.
The gps signal that each gps satellite transmitted all is a direct sequence expansion signal frequently.The signal of commercial use is relevant with standard setting service (SPS), and is referred to as the direct sequence two-phase spread signal of thick sign indicating number (C/A sign indicating number), under the carrier wave of 1575.42MHz, has the speed of per second 1.023 million chips.Pseudo noise (PN) sequence length is 1023 chips, corresponding to 1 millisecond time cycle.The PN sign indicating number that each satellites transmits is different (Gold sign indicating number) makes signal to send simultaneously from several satellites, and received simultaneously by a receiver, and is almost noiseless each other.Term " satellite asterisk " is relevant with this PN sign indicating number, can be in order to indicate different gps satellites.
The modulation signal of GPS is the combinational code of navigation message (the D sign indicating number is otherwise known as) and PN sign indicating number.The speed of navigation message is per second 50 bits.The base unit of D sign indicating number is the prime frame of one 1500 bit, and prime frame is divided into the subframe of 5 300 bits again.Wherein subframe one has comprised identification code, star kind data length of time, satellite clock corrected parameter information.Subframe two and subframe three have comprised real-time gps satellite ephemeris (ephemeris), and ephemeris is the main content of current navigator fix information.Subframe four and subframe five have comprised the health status of 1-32 satellite, the almanac (alamanc) of UTC calibration information and ionospheric corrections parameter and 1-32 satellite.Almanac is the simplified subset of satellite ephemeris parameter.Broadcasted once in its per 12.5 minutes, the life-span is a week, can extend to 2 months.
One of main target of GPS receiver is to determine the time of arrival of PN sign indicating number.Term " between the GPS arrival " refers to that gps satellite PN sign indicating number arrives the time of GPS receiver.This is by with (each received signal) this real estate: the PN reference signal of giving birth to compares with the signal of reception and " slip " local reference is finished until aliging in time with received signal.By being referred to as multiplying each other and integral process of " being correlated with ", these two signals are compared mutually.When two signals were alignment in time, the result of output was maximum.If do once such comparison in the time of every half-chip, in a PN epoch, need finish 2046 comparisons of search so.Must all carry out such search to determine which satellite in sight to all satellites.In addition, the error of received signal frequency (this deviation is to be caused with respect to the Doppler effect that receiver motion produces by satellite) often requires search that the various hypothesis of signal frequency are added.In other words, this search procedure need be got fixed three unknown quantitys by search: visible satellite asterisk, the code phase of the carrier frequency of this satellite and PN sign indicating number.Search procedure takes the parallel mode of extensive correlator to quicken acquisition procedure at commercialization receiver (baseband processing chip) usually.Yet such search and acquisition procedure are still very time-consuming.Cross large-scale parallel correlator simultaneously and also can cause many negative issues such as increasing considerably of power consumption and cost.
Term " GPS start-up time " is one of important indicator of weighing GPS baseband processing chip performance.GPS comprises warm start time, startup temperature time and cold start-up time start-up time.Term " start-up time " is meant that the GPS receiver is from power on to exporting the mistiming of positioning result first.Term " warm start time " is meant the start-up time under known users position and gps satellite ephemeris situation.Term " startup temperature time " is meant in the known users position, the start-up time of user time and gps satellite almanac.Term " cold start-up time " is meant the start-up time in no any prior imformation.
Usually the GPS baseband chip needs could normally to locate by down a series of processes under the prerequisite without any prior imformation: at first enter the trapped state search of satellite, this process comprises the visible frequency of defending asterisk and this satellites transmits information of search subscriber.In case search available satellite, then change tracking mode over to by a frequency pulling process, make the frequency of receiver consistent with the gps satellite of catching with code phase.Under tracking mode, receiver can the demodulation carrier information obtains the ephemeris and the almanac information of GPS broadcasting, calculates gps satellite time of arrival simultaneously.After obtaining above-mentioned information, receiver can calculate receiver location.Such process chronic usually (＞2 minutes), GPS user often expects higher toggle speed.
Under a lot of situations, receiver starts with its last operation (referring to calculate positioning result) some correlativity, and these correlativitys comprise: when receiver starts the position of the last operation of the position at place and receiver be more or less the same (for example less than 15 kms); When receiver starts and receiver last working time less at interval (to warm start less than 10 seconds, for startup temperature less than 2 months).Under these prerequisites, GPS can obtain a series of prior imformations, thus can by each in mode improve greatly and start and locating speed, Here it is so-called warm start and startup temperature.
Hot start method is at the short at interval situation of receiver reboot time.Under this situation, still within view probability was very big after the satellite that the last operation of receiver is in tracking mode was restarted, and frequency deviation changes not quite, had only the deviation ratio of 1 hertz of per second usually.With this benchmark, then can predict asterisk, the signal frequency deviation of restarting the back visible satellite in known unused time and reboot time as prediction.Pseudo-Random Noise Code code phase during in addition because of known shutdown, the code phase after can extrapolatedly restarting.Because ephemeris is known, in its term of validity, promptly can resolve customer location again as long as calculate the ephemeris of time of arrival (toa) utilization storage.But simple warm start has some shortcoming: for example, the satellite that last operation is in tracking mode may have only several, and a large amount of channel resources are wasted after the warm start, in case the while prediction of failure, Ding Wei time may be very long once more.How to improve the important research direction that warm start time of receiver and startup temperature time are the GPS Base-Band Processing.
Summary of the invention
The object of the invention provides a kind of mixing hot start method and realization of GPS receiver, and this method has improved the toggle speed of receiver greatly.
This method has been mixed warm start and the startup temperature under the ordinary meaning, has formed unique mixing hot start method, reaches receiver location method for rapidly positioning under this method.May further comprise the steps:
Utilize hot start method prediction visible satellite, and then predict that this satellite Doppler frequency deviation is with the generated frequency search volume and predict that this satellite code phases is with generated code phase search space;
Utilize startup temperature method prediction visible satellite, and then predict that this satellite Doppler frequency deviation is with the generated frequency search volume;
When startup temperature method prediction visible satellite is identical with hot start method prediction visible satellite, preferentially use the visible satellite of hot start method prediction;
Realize location fast.
Further, described hot start method may further comprise the steps:
Read prior imformation;
The carrier-to-noise ratio estimated value that uses storage is selected the bigger satellite of satellite carrier-to-noise ratio as foundation;
Generated frequency and code phase search space;
Pseudo noise (PN) the sign indicating number code phase of prediction visible satellite, generated code phase search space;
The Doppler frequency deviation of prediction visible satellite.
Further, described startup temperature method may further comprise the steps:
Read prior imformation;
Utilize almanac to calculate satellite position;
Utilize the elevation angle of the relative receiver of receiver location calculating satellite of satellite position and storage;
Choose visible satellite;
The Doppler frequency deviation of prediction visible satellite;
The generated frequency search volume.
Further, described method for rapidly positioning may further comprise the steps:
Read prior imformation;
Whether the satellite ephemeris that detection is in tracking mode finishes receiving;
When the satellite ephemeris that is in tracking mode finishes receiving, think that this satellite can use;
When the satellite ephemeris that is in tracking mode does not finish receiving, in its ephemeris of demodulation, detect institute's tracking satellite and whether predicted satellite by warm start;
When this tracking satellite is predicted satellite by warm start, then directly use the ephemeris of its storage, think that this satellite can use;
If can use more than or equal to 4 satellites, resolve receiver location, realize location fast.
Further, prior imformation described in the hot start method comprises the current working time when restarting from the real-time clock receiver, i.e. second time, (UTC) time Coordinated Universal Time(UTC) of the last operation of receiver, be the very first time, be in the carrier-to-noise ratio of satellite asterisk, Doppler frequency deviation, pseudo noise (PN) sign indicating number code phase and the estimation of tracking mode.
Further, prior imformation described in the startup temperature method comprises the current working time when restarting from the real-time clock receiver, i.e. second time, receiver location and speed and almanac.
Further, in the location, described prior imformation comprises that receiver is in the asterisk and the ephemeris of the satellite of tracking mode when moving for the last time fast.
Further, described mixing hot start method, wherein said warm start, startup temperature and read soon the location be needed prior imformation need the storage, its storage means is:
Receiver enters after the tracking mode, and storage is in the satellite asterisk of tracking mode, Doppler frequency deviation and code phase, and calculate and the storage carrier-to-noise ratio;
The demodulation text, storage ephemeris and almanac;
Calculate (UTC) time Coordinated Universal Time(UTC) and with its storage;
Upgrade real-time clock;
Calculate receiver location and speed and storage.
Further, when the described visible satellite that utilizes hot start method to predict is identical with the visible satellite asterisk that utilizes the prediction of startup temperature method, then preferentially use the visible satellite of warm start prediction.
Further, in the hot start method, described search volume is to utilize the warm start satellite frequency deviation of storage regular to step-size in search unit, for it generates a certain optimisation regular frequency search volume.
Further, in the described startup temperature method, utilize the startup temperature satellite frequency deviation of prediction regular, search for passage for it generates a certain optimisation regular frequency search volume in order to initialization simultaneously to step-size in search unit.
Further, the step-size in search in the method for described generated frequency search volume changes.
Further, step-size in search in the method for described generated frequency search volume and the distance between search frequency and the predicted frequency offset are inversely proportional to.
Further, with the elevation angle of the satellite that utilizes hot start method prediction and the relative receiver of satellite that utilizes the prediction of startup temperature method greater than zero as the visible condition of satellite.For the satellite that utilizes hot start method prediction with utilize the satellite of startup temperature method prediction, the difference at the elevation angle with the elevation angle of the relative receiver of this satellite and received power when maximum is as choosing the standard of predicting satellite.
Further, described warm start satellite is predicted its Pseudo-Random Noise Code code phase, the method for this prediction Pseudo-Random Noise Code code phase may further comprise the steps:
Determine (UTC) time Coordinated Universal Time(UTC) of the last operation of receiver, i.e. the very first time;
Obtain pseudo noise (PN) the sign indicating number code phase that the last operation of receiver is in the satellite of tracking mode;
Determine to pick up from when receiver is restarted second time of real-time clock;
Poor according to the very first time and second time, the pseudo noise (PN) of warm start satellite sign indicating number code phase when extrapolation is restarted;
Passage is searched in order to initialization in pseudo noise (PN) sign indicating number code phase generated code phase search space according to prediction.
Further, in the method that the receiver heat of mixing in the described GPS starts, receiver comprises a real-time clock.Described clock is received (UTC) time Coordinated Universal Time(UTC) that computer goes out and calibrates, and the machine that is received reads at any time, and this receiver guarantees can work on after the receiver power down by the external cell power supply simultaneously.This clock is in order to determining the very first time of the last operation of receiver, and second time of definite receiver when restarting.Calculate the poor of the very first time and second time, the warm start part that is used for mixing startup.
Quick startup and localization method that the present invention proposes are applicable to hyperchannel GPS receiver arbitrarily, highly effective, and the chip area expense is little, and cost is low.For example, one embodiment of the present of invention can be implemented under the relatively very little situation of correlator quantity (12 passages, 6 in each passage are totally 72 correlators) and still can reach very high warm start speed (＜5 seconds 50% probabilities).
Description of drawings
Fig. 1 is that the GPS receiver under the no supplementary starts to resolving positioning flow figure;
Fig. 2 is the hardware block diagram of a preferred embodiment of the present invention;
Fig. 3 is that the heat of mixing of a preferred embodiment of the present invention starts FB(flow block);
Fig. 4 is the relative receiver with satellite of the received power elevation angle graph of a relation of gps signal;
Fig. 5 is the frequency search space synoptic diagram based on prediction Doppler of a preferred embodiment of the present invention;
Fig. 6 is the prior imformation Stored Procedure block diagram of a preferred embodiment of the present invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
The GPS receiver that Fig. 1 has described under the typical no supplementary starts flow process.The GPS baseband chip is to handle the baseband signal chip in the GPS receiver, is the core in the whole GPS receiver.The whole bag of tricks of the present invention is all realized in the GPS baseband chip.For simplicity, among the present invention " receiver " all in purport " GPS baseband chip ".
Process shown in Figure 1 is from receiver power-up initializing 101, finishes until calculating customer location 106.Term " GPS start-up time " refers to the spent time of this process.For the sake of simplicity, among the present invention, all refer to the start-up time of GPS receiver (GPS baseband chip) various start-up times.
Usually enter trapped state 102 after receiver powers on, satellite, the carrier frequency of this satellite and the code phase of PN sign indicating number in the search sight line.Search to carrier frequency under this state is coarse, usually hundreds of hertz magnitude.Enter frequency pulling state 103 afterwards, local frequency pulling to and the satellite carrier frequency differ several hertz magnitude, carry out bit synchronous simultaneously.After finishing frequency pulling, receiver enters tracking mode 104, finishes frame synchronization, promptly can enter demodulation text state 105, and the text demodulation of modulating on the carrier wave is come out to be used for to calculate receiver location 106 times at subsequently the state that resolves.
What Fig. 2 described is a preferred embodiment hardware block diagram of the present invention.This is 12 passage baseband processing chips at GPS.Flush bonding processor 201 is used to control the work that entire chip is finished the demodulation text simultaneously and resolved receiver location.12 passage correlators 203 are used for associative operation.Parallel controller 202 controls 12 passage correlators are finished the mutual of correlator and flush bonding processor simultaneously.This baseband processing chip also has ram in slice 205 to be used for flush bonding processor; Flash 206 is in order to stored programme be to start the prior imformation of serving fast in the sheet.This chip also has a high-precision real-time clock in order to time reference to be provided simultaneously.This real-time clock can be embedded into UTC time (Coordinated Universal Time(UTC)) renewal that the formula processor calculates.This clock can be independently-powered by the outer battery of sheet simultaneously, still can operate as normal under the situation of assurance system power down.This clock is determined the very first time of the last operation of receiver, and second time of definite receiver when restarting.Flash links to each other with flush bonding processor by internal bus 204 with real-time clock in ram in slice, the sheet.Among the another one embodiment of the present invention, RAM, Flash and real-time clock are all realized by the outer chip of sheet.
The heat of mixing that Fig. 3 has described a preferred embodiment of the present invention starts flow process.The present invention proposes the hot start method that a cover is simple and reliable, can catch and can resolve fast receiver location fast, simultaneously the startup temperature method is fused in the warm start under the ordinary meaning, formed unique heat of mixing Starting mode, improve the prediction hit rate, do not increased extra hardware simultaneously.Wherein, term " warm start satellite " is meant the visible satellite by hot start method (the warm start part in the heat of mixing startup) prediction.Term " startup temperature satellite " is meant the visible satellite by startup temperature method (startup temperature part and single startup temperature in the heat of mixing startup) prediction.
Detailed process is as follows: receiver at first carries out initialization 301 after triggering heat of mixing startup, reads the prior imformation 302 of storage immediately.These information comprise: the current working time when restarting from the real-time clock receiver (second time), UTC time (very first time), position, the speed of the last operation of receiver, satellite almanac, receiver are in tracking mode when moving at last and ephemeris receives complete satellite asterisk, frequency deviation, code phase, carrier-to-noise ratio and ephemeris.Wherein the prior imformation that partly need determine of warm start is: UTC time (very first time), the satellite asterisk that is in tracking mode, Doppler frequency deviation and the PN sign indicating number code phase of the current working time when restarting from the real-time clock receiver (second time), the last operation of receiver; The prior imformation that startup temperature partly need be determined is: the current working time when restarting from the real-time clock receiver (second time), receiver location and speed, almanac; The prior imformation that quick localization part need be determined is: receiver is in the asterisk of the satellite of tracking mode when moving for the last time, and ephemeris.The storing process of these information will be explained in Fig. 6 in detail.Further, calculate the poor of the very first time and second time, the warm start part that is used for mixing startup is particularly in order to calculate warm start satellite PN sign indicating number code phase.
Afterwards, choose warm start satellite 303 as foundation, choose four satellites in the present embodiment and be used for warm start, because four minimum requirements that satellite promptly can be realized locating with the estimation of carrier-to-noise ratio.Certainly can choose more warm start satellite in other embodiments.Wherein carrier-to-noise ratio is to estimate by following formula, realizes in acquisition procedure.
Wherein I is certain passage sampled signal in the same way, and Q is certain passage orthogonal terms sampled signal, K=50, M=20.
Utilize the frequency deviation of warm start satellite storage regular to step-size in search unit subsequently, and then generate optimum separately frequency search space 304, the frequency search space pattern is identical with pattern shown in Figure 5, certainly, also can use other forms of pattern.The code phase of this satellite code phases prediction satellite of the very first time that obtains before utilizing and the difference of second time and storage generates optimum code phase search space 305 simultaneously.So far warm start partly finishes.
Enter the process of startup temperature immediately, the position that utilizes current time, satellite almanac receiver speed promptly can calculate all 32 satellites, and the Doppler frequency deviation 306 of the relative receiver of satellite.Utilize customer location and satellite position promptly can calculate the elevation angle of the relative receiver of satellite, and choose startup temperature satellite 307 as standard.This computation process is as follows
Wherein
Be the coordinate of satellite,
Be receiver coordinate
The elevation angle of the relative receiver of satellite is greater than being visible on zero this satellite theory of explanation, thus with it as the visible condition of satellite.Further, because the relative user of the satellite elevation angle is 40 when spending, the maximum (see figure 5) of the gps signal power that receives, so the difference to each satellite elevation angle and 40 degree sorts, choose the less satellite of difference and search for as target satellite, the difference at the elevation angle when promptly utilizing the elevation angle of the relative receiver of satellite and received power maximum is as the standard of choosing the prediction satellite.Follow Doppler frequency deviation for these satellites simultaneously and generate optimum separately frequency search space 308 according to its prediction.
Deduction and the identical satellite 309 of warm start prediction satellite from the formation of startup temperature prediction guarantee that two kinds of methods do not have the prediction satellite that repeats afterwards.If warm start prediction satellite is identical with startup temperature prediction satellite asterisk, then preferentially use warm start prediction satellite.Frequency deviation and each passage 310 of code phase search space initialization with prediction.Enter with Fig. 1 and similarly resolve process.At first enter acquisition procedure 311, if acquisition success 313 then enter frequency pulling state 314, otherwise would reenter trapped state 311.Whether successful, if success then enters tracking mode 315, otherwise reenter trapped state through changing an asterisk of not searching for as yet 312 of defending if detecting frequency pulling.Enter and promptly can calculate gps signal time of arrival 317 after following the tracks of, needed prior imformation 318 when record starts next time simultaneously.This process of obtaining prior imformation will describe in detail in Fig. 6.Detect the satellite ephemeris that is in tracking mode subsequently and whether finish receiving 319.In the time of if not, demodulation text 320, detect whether the satellite of being followed the tracks of is the satellite 321 of warm start prediction.If the satellite of being followed the tracks of is a satellite that warm start is predicted, promptly its ephemeris has been stored and known, then directly uses the ephemeris 322 of storage, promptly can realize resolving fast receiver location.Otherwise, then use the ephemeris 323 that demodulates to calculate the old satellite that satellite position replaces storage.Behind the ephemeris after heat opens the satellite demodulation complete 319, promptly use the ephemeris that demodulates to resolve satellite position, simultaneously the ephemeris of updated stored.If can use greater than four satellites, can calculate receiver location 325.Reenter afterwards and catch, carry out resolving of a new round.
Fig. 4 has described the relation at the relative receiver with satellite of the received power elevation angle of gps signal.Among the figure, the elevation angle of the relative receiver of visible satellite is when the 40 degree left and right sides, and the gps signal power that receiver receives has maximal value, and at the zenith of relative receiver and the received power at place, local horizon minimum value is arranged.
Fig. 5 has described the frequency search space pattern based on prediction Doppler of a preferred embodiment of the present invention.F among the figure is the satellite Doppler frequency deviation that Figure 33 06 step is predicted.Δ is the step-length unit of frequency search.Step-size in search in the present embodiment is variable, is the integral multiple of Δ.Step-size in search is an initial point with the frequency deviation of prediction, and positive and negative both direction progressively amplifies, and keeps this step-length constant until the maximal value that reaches step-length (for example 5 Δs) back.The maximal value of this step-length is by the result after the maximum frequency driving power of FLL and the frequency speed of convergence balance, and a representative value is 500 hertz.Whole frequency search space covers the issuable maximum doppler frequency deviation range of satellite-signal.This scope is that-5 KHz arrive+5 KHz at low dynamic receiver typical range, and typical range is that-10 KHz are to+10 KHz for high dynamic receiver.By using this search volume, can realize that promptly the frequency range around the predicted frequency offset is used short step length searching, use long step length searching in frequency range away from predicted frequency offset, also promptly realize the effect that the distance between step-size in search and search frequency and the predicted frequency offset is inversely proportional to.
Fig. 6 has described the prior imformation Stored Procedure of a preferred embodiment of the present invention.All warm starts, startup temperature all are based on prior imformation.These prior imformations must be upgraded in suitable and store, to guarantee that restarting these canned datas of back all is the preceding up-to-date information of characterization system shutdown.Receiver enters after the tracking mode 601, promptly can depository in the satellite asterisk of tracking mode, Doppler frequency deviation and code phase 602, and can calculate and store carrier-to-noise ratio 603.The satellite that enters tracking mode promptly can begin demodulation text 604, promptly can store ephemeris and almanac 606 behind text complete 605.The UTC calibration information of this moment is complete, can utilize these information to calculate the UTC time and it is stored 607 by gps time, can upgrade real-time clock 608 with this time simultaneously.This conversion method from gps time to the UTC time has had complete description at Interface Control Document (ICD-GPS-200) P145-P148.When effective satellite during more than or equal to 4, promptly can calculate receiver location 609, can store receiver location and speed 610.So far, the process of once resolving finishes, and can resolve from catching a beginning new round.
Although method and apparatus of the present invention is described with reference to gps satellite, should be appreciated that these principles are equally applicable to adopt the positioning system of the combination of pseudo-satelite (pseudolites) or satellite and pseudo-satelite.Pseudo-satelite is a kind of transmitter based on ground, and it is propagated and is modulated at L frequency range PN sign indicating number (similar to gps signal) on the ripple signal, and normally synchronous with gps time.Each transmitter can be endowed the PN sign indicating number of a uniqueness, thereby allows to be discerned by remote receiver.Pseudo-satelite is with under these circumstances, that is, and and from the gps signal disappearance of orbiter, as tunnel, mine, buildings or other closed area and obviously block.Here employed term " satellite " comprises the equivalence of pseudo-satelite or pseudo-satelite, and employed here term gps signal comprises the signal from the similar GPS of pseudo-satelite or pseudo-satelite equivalence.
In the discussion in front, the present invention describes with reference to american global positioning system (GPS).Yet, should be appreciated that these methods are equally applicable to similar global position system, as Muscovite GLONASS (Glonass) system, the Big Dipper 1 and the Big Dipper 2 systems of Galileo (Galileo) system in Europe and China.Employed term " GPS " also comprises some global position systems like this, as Muscovite GLONASS (Glonass) system, and the Big Dipper 1 and the Big Dipper 2 systems of Galileo (Galileo) system in Europe and China.Term " gps signal " comprises the signal from other global position systems.
Above, described by starting the system that realizes the GPS receiver with localization method fast.Although the present invention describes with reference to specific embodiment, clearly, those of ordinary skill in the art under the situation of invention scope that non-migration claims are limited and spirit, can also make various modifications and changes to these embodiment.Therefore, instructions and accompanying drawing are descriptive, rather than determinate.
The above; only be the embodiment among the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; the conversion that can expect easily or replacement all should be encompassed in of the present invention comprising within the scope.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (18)
1. the method that starts of the receiver heat of mixing in the GPS is characterized in that, may further comprise the steps:
Utilize hot start method prediction visible satellite, and then predict that this satellite Doppler frequency deviation is with the generated frequency search volume and predict that this satellite code phases is with generated code phase search space;
Utilize startup temperature method prediction visible satellite, and then predict that this satellite Doppler frequency deviation is with the generated frequency search volume;
When startup temperature method prediction visible satellite is identical with hot start method prediction visible satellite, preferentially use the visible satellite of hot start method prediction;
Realize location fast.
2. mixing hot start method as claimed in claim 1 is characterized in that, described hot start method may further comprise the steps:
Read prior imformation;
The carrier-to-noise ratio estimated value that uses storage is selected the bigger satellite of satellite carrier-to-noise ratio as foundation;
The Doppler frequency deviation generated frequency search volume of prediction visible satellite;
The Pseudo-Random Noise Code code phase of prediction visible satellite, generated code phase search space.
3. mixing hot start method as claimed in claim 1 is characterized in that, described startup temperature method may further comprise the steps:
Read prior imformation;
Utilize almanac to calculate satellite position;
Utilize the elevation angle of the relative receiver of receiver location calculating satellite of satellite position and storage;
Choose visible satellite;
The Doppler frequency deviation of prediction visible satellite;
The generated frequency search volume.
4. mixing hot start method as claimed in claim 1 is characterized in that, described method for rapidly positioning may further comprise the steps:
Read prior imformation;
Whether the satellite ephemeris that detection is in tracking mode finishes receiving;
When the satellite ephemeris that is in tracking mode does not finish receiving, in its text of demodulation, detect institute's tracking satellite and whether predicted satellite by warm start;
When this tracking satellite is predicted satellite by warm start, then directly use the ephemeris of its storage;
If be in the warm start prediction satellite of tracking mode and be in the non-warm start satellite of tracking mode and summation that satellite ephemeris has been accepted the number of satellite finished more than or equal to 4 o'clock, resolve receiver location, realize location fast.
5. mixing hot start method as claimed in claim 2, it is characterized in that, described prior imformation comprises the current working time when restarting from the real-time clock receiver, receiver is time Coordinated Universal Time(UTC) of operation for the last time, is in the carrier-to-noise ratio of satellite asterisk, Doppler frequency deviation, Pseudo-Random Noise Code code phase and the estimation of tracking mode.
6. mixing hot start method as claimed in claim 3 is characterized in that, described prior imformation comprises the current working time when restarting from the real-time clock receiver, receiver location and speed and almanac.
7. mixing hot start method as claimed in claim 4 is characterized in that, described prior imformation comprises that receiver is in the asterisk and the ephemeris of the satellite of tracking mode when moving for the last time.
8. mixing hot start method as claimed in claim 1 is characterized in that, described warm start, startup temperature and read soon the location be needed prior imformation need the storage, its storage means is:
Receiver enters after the tracking mode, and storage is in the satellite asterisk of tracking mode, Doppler frequency deviation and code phase, and calculate and the storage carrier-to-noise ratio;
The demodulation text, storage ephemeris and almanac;
Calculate time Coordinated Universal Time(UTC) and with its storage;
Upgrade real-time clock;
Calculate receiver location and speed and storage.
9. mixing hot start method as claimed in claim 2 is characterized in that, described frequency search space is to utilize the warm start satellite frequency deviation of storage regular to step-size in search unit, for it generates a certain optimisation regular frequency search volume.
10. mixing hot start method as claimed in claim 9 is characterized in that, the step-size in search in the method for described generated frequency search volume changes.
11. mixing hot start method according to claim 9 is characterized in that, in the method for described generated frequency search volume, the distance between step-size in search and search frequency and the predicted frequency offset is inversely proportional to.
12. mixing hot start method according to claim 10 is characterized in that, for the satellite that utilizes startup temperature method prediction, with the elevation angle of its relative receiver greater than zero as this satellite visible condition whether.
13. mixing hot start method according to claim 10 is characterized in that, for the satellite that utilizes startup temperature method prediction, the difference at the elevation angle with the elevation angle of the relative receiver of this satellite and received power when maximum is as the standard of choosing this prediction satellite.
14. mixing hot start method according to claim 7 is characterized in that, described warm start satellite is predicted its Pseudo-Random Noise Code code phase, the method for this prediction Pseudo-Random Noise Code code phase may further comprise the steps:
Determine time Coordinated Universal Time(UTC) of the last operation of receiver, i.e. the very first time;
Obtain the Pseudo-Random Noise Code code phase that the last operation of receiver is in the satellite of tracking mode;
Determine when receiver is restarted second time from real-time clock;
Poor according to the very first time and second time, the Pseudo-Random Noise Code code phase of warm start satellite when extrapolation is restarted;
Passage is searched in order to initialization in PN sign indicating number code phase generated code phase search space according to prediction.
15. mixing hot start method according to claim 1 is characterized in that, in the method that the receiver heat of mixing in the described GPS starts, receiver comprises a real-time clock.
16. mixing hot start method according to claim 15, it is characterized in that, described clock is received time Coordinated Universal Time(UTC) that computer goes out and calibrates, and the machine that is received reads at any time, and described receiver guarantees can work on after the receiver power down by the external cell power supply simultaneously.
17. mixing hot start method according to claim 15 is characterized in that, described clock is in order to determining the very first time of the last operation of receiver, and second time of definite receiver when restarting.
18. mixing hot start method according to claim 17 is characterized in that, the described very first time and described second time poor is used for the warm start part that the heat of mixing starts.
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| CN102981176A (en) * | 2012-12-28 | 2013-03-20 | 中国电子科技集团公司第五十四研究所 | Positioning computing method capable of dealing with transient loss of satellite signals |
| CN105319561A (en) * | 2014-07-24 | 2016-02-10 | 北京大学 | Satellite positioning and navigation receiver fast hot startup method |
| CN110058271B (en) * | 2019-04-29 | 2023-05-05 | 广东工业大学 | Method and device for capturing and tracking satellite signals and satellite signal receiver |
| CN112628934A (en) * | 2020-11-11 | 2021-04-09 | 珠海格力电器股份有限公司 | Multi-mode positioning self-adaptive air conditioner temperature adjusting method based on quick cold start |
| CN112904372B (en) * | 2021-04-22 | 2024-01-12 | 电子科技大学 | Auxiliary satellite navigation system and positioning method thereof |
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