CN112748449A - Vector tracking method combining phase-locked loop and frequency-locked loop of satellite navigation receiver - Google Patents

Vector tracking method combining phase-locked loop and frequency-locked loop of satellite navigation receiver Download PDF

Info

Publication number
CN112748449A
CN112748449A CN202011608090.4A CN202011608090A CN112748449A CN 112748449 A CN112748449 A CN 112748449A CN 202011608090 A CN202011608090 A CN 202011608090A CN 112748449 A CN112748449 A CN 112748449A
Authority
CN
China
Prior art keywords
code
signal
frequency
phase
locked loop
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
CN202011608090.4A
Other languages
Chinese (zh)
Inventor
刘卫
牟明会
顾明星
胡媛
王胜正
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Maritime University
Original Assignee
Shanghai Maritime University
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 Shanghai Maritime University filed Critical Shanghai Maritime University
Priority to CN202011608090.4A priority Critical patent/CN112748449A/en
Publication of CN112748449A publication Critical patent/CN112748449A/en
Withdrawn legal-status Critical Current

Links

Images

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
    • G01S19/24—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

Landscapes

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

Abstract

The invention discloses a vector tracking method for combining a phase-locked loop (PLL) and a frequency-locked loop (FLL) of a satellite navigation receiver, which comprises the following steps: acquiring an intermediate frequency signal of a satellite signal; acquiring an i signal and a q signal; acquiring a corresponding signal obtained by correlation; obtaining a frequency offset value delta fkDiscrimination of the carrier phase difference Δ θ at time kkDiscrimination of the two adjacent moments of k-1 and kPAnd QPAngular frequency difference of
Figure DDA0002872363060000011
Calculating pseudorange rate errors via linear transformation
Figure DDA0002872363060000012
Identifying a code phase difference Δ τ between the received code and the replica code; changing the code phase difference delta tau through the longitude to obtain a pseudo range error delta rho; calculating the current pseudorange ρk(ii) a Calculating the current timeCode frequency f of engravingcode,k(ii) a And generating an advanced code E, a time code P and a lagging code L, aiming at improving the performance and the positioning accuracy of a tracking loop, namely utilizing a frequency-locked loop to assist a phase-locked loop to carry out carrier tracking, combining a code phase difference and ephemeris data to assist a filter to construct a filtering equation, and feeding a filtering result back to assist the loop tracking of the code.

Description

Vector tracking method combining phase-locked loop and frequency-locked loop of satellite navigation receiver
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a vector tracking method combining a phase-locked loop and a frequency-locked loop of a satellite navigation receiver.
Background
Global Navigation Satellite Systems (GNSS) have been widely used in military and civilian applications. In order to decode the ephemeris data and obtain measurements of pseudorange and carrier phase for subsequent positioning and navigation services, the receiver must be able to continuously track the satellite signals. The carrier tracking method combining the PLL and the FLL can balance the carrier tracking precision and the dynamic tracking performance and improve the carrier tracking performance. The vector tracking can realize information sharing among all channels through a Kalman Filter (KF), so that the vector tracking can work better in an environment with seriously attenuated signal power and severely changed phase.
Disclosure of Invention
The invention aims to provide a vector tracking method combining a PLL (phase locked loop) and an FLL (flash loop), aiming at improving the performance and positioning accuracy of a tracking loop, namely, a second-order frequency-locked loop is used for assisting a third-order phase-locked loop to track a carrier loop, a filtering equation is constructed by combining a code phase difference and an ephemeris data auxiliary filter, and a filtering result is fed back to assist the code loop to track.
In order to achieve the above object, a vector tracking method of a satellite navigation receiver PLL combined with a frequency locked loop FLL includes:
the method comprises the following steps: acquiring an intermediate frequency signal of a satellite signal;
step two: mixing frequency according to the intermediate frequency signal and a local carrier signal to obtain an i signal and a q signal;
step three: based on the I signal and the q signal and the advanced code E, the time code P and the lag code L generated by the code generator, the corresponding advanced in-phase signal I is obtained through correlationEInstantaneous in-phase signal IPLagging in-phase signal ILAdvanced quadrature signal QEInstantaneous quadrature signal QPDelayed quadrature signal QL；
Step four: according to IP、QPCalculating a frequency offset value Δ fkSelecting PLL mode or FLL mode, frequency offset value delta fkThe calculation formula of (2) is as follows:
Figure BDA0002872363040000011
wherein, I and P both represent the related signals of the branch. The subscript k denotes time k, IkInstantaneous in-phase signal representing time k, QkThe instantaneous orthogonal signal at the moment k is shown, and T represents the time interval between k-1 and two adjacent moments k;
step five:
(1) if the PLL mode is selected, the carrier phase discriminator discriminates the k time with respect to IPAnd QPCarrier phase difference Δ θ ofk，ΔθkThe calculation formula of (2) is as follows:
Figure BDA0002872363040000021
updating the state quantity of the third-order phase-locked loop, and the state quantity x of the third-order phase-locked loop at the next momentk+1The update formula is:
Figure BDA0002872363040000022
wherein the state quantity
Figure BDA0002872363040000023
Figure BDA0002872363040000024
For the initial phase, ω -2 π f is the angular frequency, f is the carrier frequency, the angular frequency rate
Figure BDA0002872363040000025
Figure BDA0002872363040000026
As rate of change of carrier frequency, APIs a state transition matrix, LPIs a gain matrix;
(2) if FLL mode is selected, I of k-1 and k two adjacent time is identified by carrier frequency discriminatorPAnd QPAngular frequency difference of
Figure BDA0002872363040000027
Angular frequency difference
Figure BDA0002872363040000028
The calculation formula of (2) is as follows:
Figure BDA0002872363040000029
updating the state quantity of the second-order frequency-locked loop and the state quantity x of the next moment of the second-order frequency-locked loopk+1The update formula is:
Figure BDA00028723630400000210
in the above formula, the state quantity
Figure BDA00028723630400000211
Angular frequency ω 2 π f, f carrier frequency, angular frequency rate
Figure BDA00028723630400000212
Figure BDA00028723630400000213
As rate of change of carrier frequency, AFIs a state transition matrix, LFIs a gain matrix;
step six: calculating pseudo range rate error through linear transformation according to carrier frequency difference of two adjacent moments
Figure BDA00028723630400000214
PseudorangeRate error
Figure BDA00028723630400000215
The calculation formula of (2) is as follows:
Figure BDA00028723630400000216
where c is the speed of light, fLFor the carrier frequency at which the satellite signal is transmitted, Δ fdThe variation of the carrier Doppler frequency at the adjacent time;
step seven: by code phase discriminator and IE、IL、、QE、QLAnd identifying the code phase difference delta tau between the received code and the replica code, wherein the calculation formula of the code phase difference delta tau is as follows:
Figure BDA00028723630400000217
wherein,
Figure BDA0002872363040000031
step eight: the code phase difference delta tau is changed linearly to obtain a pseudo range error delta rho, and the calculation formula of the pseudo range error delta rho is as follows:
Figure BDA0002872363040000032
in the above formula, fcodeIs the code frequency at which the satellite signal is transmitted;
step nine: according to the pseudo range error delta rho and the pseudo range rate error
Figure BDA0002872363040000033
Calculating the position P of the receiver at the current momentr，kAnd calculates the current pseudorange ρkCalculating a pseudo range rhokThe specific expression of (A) is as follows:
ρk＝||pr，k-ps||+c(Δb-Δbs)+cI+cT+ερ；
wherein, Pr，kFor the position of the receiver, PsFor satellite position, Δ b is receiver clock bias, Δ bsFor satellite clock bias, I is the ionospheric delay, T is the tropospheric delay, ερMeasuring noise quantity for the pseudo range;
step ten: calculating the code frequency f of the current timecode，kCalculating the code frequency f at time kcode，kThe specific expression of (A) is as follows:
Figure BDA0002872363040000034
according to the code frequency fcode，kAdjusting the code frequency of the code oscillator, generating an advance code E, a time code P and a lag code L by the pseudo code generator, and returning to the pseudo code generator to obtain a corresponding advance in-phase signal I based on the I signal, the q signal and the advance code E, the time code P and the lag code L generated by the code generatorEInstantaneous in-phase signal IPLagging in-phase signal ILAdvanced quadrature signal QEInstantaneous quadrature signal QPDelayed quadrature signal QL"step three;
the device comprises a processor and a memory connected with the processor through a communication bus; wherein,
the memory is used for storing a vector tracking positioning program;
the processor is configured to execute a vector tracking positioning program to implement any one of the vector tracking methods of the satellite navigation receiver PLL and FLL in combination.
Also disclosed is a storage device, which is a computer storage device having stored thereon a vector tracking and positioning program executable by one or more processors to cause the one or more processors to perform a vector tracking method of any one of the PLL in combination with the FLL.
The vector tracking method for combining the PLL and the FLL of the satellite navigation receiver provided by the embodiment of the invention has the following beneficial effects:
the method aims to improve the performance and the positioning accuracy of a tracking loop, namely, a second-order frequency-locked loop is utilized to assist the carrier loop tracking of a third-order phase-locked loop, a filtering equation is constructed by combining a code phase difference and ephemeris data auxiliary filter, and a filtering result is fed back to assist the code loop tracking. The positioning system has good positioning accuracy under the condition of weak signals, keeps a loop in satellite positioning stably locked under the condition of high dynamic, and outputs a positioning result.
Drawings
Fig. 1 is a schematic flow chart of a vector tracking method of a satellite navigation receiver PLL and FLL combination according to the present invention.
Fig. 2 is a tracking schematic diagram of the vector tracking method of the invention combining the PLL and FLL of the satellite navigation receiver.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to fig. 1 and fig. 2. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to the design block diagram shown in fig. 1, the invention provides a vector tracking method for combining a PLL and an FLL of a satellite navigation receiver, the method comprising:
(1) satellite signals received by an antenna are converted into digital intermediate frequency signals SIF (n) through frequency reduction and quantization;
(2) the digital intermediate frequency signal is firstly mixed with a local carrier oscillator to obtain I, q signals, and then is correlated with a leading code E, an instant code P and a lagging code L generated by a local code generator to obtain a corresponding leading in-phase signal IEInstantaneous in-phase signal IPLagging in-phase signal ILAdvanced quadrature signal QEInstantaneous quadrature signal QPDelayed quadrature signal QL；
(3) From the integration result I, using equation (1)P、QPCalculating frequency offset
Figure BDA0002872363040000051
(4) The frequency difference value is compared with a threshold value, and the carrier loop design shown in fig. 2 is selected to enter the PLL mode or the FLL mode. If the PLL mode is entered, tracking a carrier loop according to the steps from (5) to (6); if the FLL mode is entered, tracking a carrier loop according to the steps from (7) to (8);
(5) using equation (2), the carrier phase discriminator discriminates the carrier phase difference Δ θ at the time kk
Figure BDA0002872363040000052
(6) Using equation (3), the third order PLL incorporates the current time state quantity xkCalculating the state quantity x at the next timek+1
Figure BDA0002872363040000053
Figure BDA0002872363040000054
Figure BDA0002872363040000055
In the above formula, the state quantity
Figure BDA0002872363040000056
Figure BDA0002872363040000057
For the initial phase, ω -2 π f is the angular frequency, f is the carrier frequency, the angular frequency rate
Figure BDA0002872363040000061
Figure BDA0002872363040000062
As rate of change of carrier frequency, APIs a state transition matrix, LPIs a gain matrix, T is a time interval of adjacent time instants, ωnIs a natural frequency, an，bnIs a characteristic parameter;
(7) using equation (6), the carrier frequency discriminator discriminates between k-1 and I at two adjacent times kPAnd QPAngular frequency difference of
Figure BDA0002872363040000063
Figure BDA0002872363040000064
(8) Using equation (7), the second order frequency-locked loop combines the state quantity x at the current timekCalculating the state x at the next timek+1
Figure BDA0002872363040000065
Figure BDA0002872363040000066
Figure BDA0002872363040000067
In the above formula, the state quantity
Figure BDA0002872363040000068
Angular frequency ω 2 π f, f carrier frequency, angular frequency rate
Figure BDA0002872363040000069
Figure BDA00028723630400000610
Figure BDA00028723630400000611
As rate of change of carrier frequency, AFIs a state transition matrix, LFIs a gain matrix, T is a time interval of adjacent time instants, ωfIs the natural frequency, xi is the damping coefficient;
(9) carrier frequency f at time k +1 predicted by local carrier oscillator using PLL or FLLk+1Constructing a local carrier;
(10) obtaining the carrier frequency f at the moment k +1k+1Then, the difference value of the carrier frequencies at adjacent moments is linearly changed to obtain a pseudo range rate error
Figure BDA00028723630400000612
Figure BDA00028723630400000613
(11) Using equation (11), a code phase discriminator discriminates a code phase difference Deltatau between a received code and a replica code
Figure BDA0002872363040000071
Figure BDA0002872363040000072
(12) The code phase difference delta tau is linearly converted to obtain a pseudo range error delta rho
Figure BDA0002872363040000073
In the above formula, fcodeIs the code frequency at which the satellite signal is transmitted, and has a value of 1.23 MHZ;
(13) calculating the position P of the receiver at the current moment by using KFr，kReceiver clock error Δ b, satellite position P calculated in combination with ephemerissClock difference of satellitesIonospheric delay I, tropospheric delay T, pseudorange measurement noise amount ερCalculating the current pseudo range rhok
ρk＝||pr，k-ps||+c(Δb-Δbs)+cI+cT+ερ (14)
(14) Calculating the code frequency f at time k using equation (15)code，k
Figure BDA0002872363040000074
In addition, the invention also discloses a vector tracking and positioning device combining the PLL and the FLL of the satellite navigation receiver, which comprises a processor and a memory connected with the processor through a communication bus; wherein,
the memory is used for storing a vector tracking positioning program;
the processor is configured to execute a vector tracking positioning program to implement any one of the vector tracking methods of the satellite navigation receiver PLL and FLL in combination.
And a storage device, the storage device being a computer storage device having stored thereon a vector tracking positioning program executable by one or more processors to cause the one or more processors to perform a vector tracking method of any one of the satellite navigation receivers PLL in combination with FLL.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (3)

1. A vector tracking method for combining a PLL (phase locked loop) and an FLL (flash level) of a satellite navigation receiver is characterized by comprising the following steps:
the method comprises the following steps: acquiring an intermediate frequency signal of a satellite signal;
step two: mixing frequency according to the intermediate frequency signal and a local carrier signal to obtain an i signal and a q signal;
step three: based on the I signal and the q signal and the advanced code E, the time code P and the lag code L generated by the code generator, the corresponding advanced in-phase signal I is obtained through correlationEInstantaneous in-phase signal IPLagging in-phase signal ILAdvanced quadrature signal QEInstantaneous quadrature signal QPDelayed quadrature signal QL；
Step four: according to IP、QPCalculating a frequency offset value Δ fkSelecting PLL mode or FLL mode, frequency offset value delta fkThe calculation formula of (2) is as follows:
Figure FDA0002872363030000011
wherein, I and P both represent the related signals of the branch. The subscript k denotes time k, IkInstantaneous in-phase signal representing time k, QkThe instantaneous orthogonal signal at the moment k is shown, and T represents the time interval between k-1 and two adjacent moments k;
step five:
(1) if the PLL mode is selected, the carrier phase discriminator discriminates the k time with respect to IPAnd QPOf the carrier phase difference ΔθkCarrier phase difference Δ θkThe calculation formula of (2) is as follows:
Figure FDA0002872363030000012
updating the state quantity of the third-order phase-locked loop, and the state quantity x of the third-order phase-locked loop at the next momentk+1The update formula is:
Figure FDA0002872363030000013
in the above formula, the state quantity
Figure FDA0002872363030000014
Figure FDA0002872363030000015
For the initial phase, ω -2 π f is the angular frequency, f is the carrier frequency, the angular frequency rate
Figure FDA0002872363030000016
Figure FDA0002872363030000017
As rate of change of carrier frequency, APIs a state transition matrix, LPIs a gain matrix;
(2) if FLL mode is selected, I of k-1 and k two adjacent time is identified by carrier frequency discriminatorPAnd QPAngular frequency difference of
Figure FDA0002872363030000018
Angular frequency difference
Figure FDA0002872363030000019
The calculation formula of (2) is as follows:
Figure FDA00028723630300000110
updating the state quantity of the second-order frequency-locked loop and the state quantity x of the next moment of the second-order frequency-locked loopk+1The update formula is:
Figure FDA0002872363030000021
in the above formula, the state quantity
Figure FDA0002872363030000022
Angular frequency ω 2 π f, f carrier frequency, angular frequency rate
Figure FDA0002872363030000023
Figure FDA0002872363030000024
As rate of change of carrier frequency, AFIs a state transition matrix, LFIs a gain matrix;
step six: calculating pseudo range rate error through linear transformation according to carrier frequency difference of two adjacent moments
Figure FDA0002872363030000025
Pseudorange rate error
Figure FDA0002872363030000026
The calculation formula of (2) is as follows:
Figure FDA0002872363030000027
where c is the speed of light, fLFor the carrier frequency at which the satellite signal is transmitted, Δ fdThe variation of the carrier Doppler frequency at the adjacent time;
step seven: by code phase discriminator and IE、IL、QE、QLDiscriminating between received code and complexThe code phase difference delta tau between the manufactured codes is calculated by the following formula:
Figure FDA0002872363030000028
wherein,
Figure FDA0002872363030000029
where E is the early code, L is the late code, IELeading in-phase signal, ILIs a lagging in-phase signal, IEAdvanced quadrature signal, QLA lagging quadrature signal;
step eight: the code phase difference delta tau is changed linearly to obtain a pseudo range error delta rho, and the calculation formula of the pseudo range error delta rho is as follows:
Figure FDA00028723630300000210
where c is the speed of light, fcodeIs the code frequency at which the satellite signal is transmitted;
step nine: according to the pseudo range error delta rho and the pseudo range rate error
Figure FDA00028723630300000211
Calculating the position P of the receiver at the current momentr,kCalculating the current pseudo range rho k and calculating the pseudo range rhokThe specific expression of (A) is as follows:
ρk＝||pr,k-ps||+c(Δb-Δbs)+cI+cT+ερ；
wherein, Pr,kFor the position of the receiver, PsFor satellite position, Δ b is receiver clock bias, Δ bsFor satellite clock bias, I is the ionospheric delay, T is the tropospheric delay, ερMeasuring noise quantity for the pseudo range;
step ten: calculating the code frequency of the current timeRate fcode,kCalculating the code frequency f at time kcode,kThe specific expression of (A) is as follows:
Figure FDA0002872363030000031
according to the code frequency fcode,kAdjusting the code frequency of the code oscillator, generating an advance code E, a time code P and a lag code L by the code generator, and returning to the step of obtaining a correlation based on the I signal, the q signal and the advance code E, the time code P and the lag code L generated by the code generator to obtain a corresponding advance in-phase signal IEInstantaneous in-phase signal IPLagging in-phase signal ILAdvanced quadrature signal QEInstantaneous orthogonal signal IPDelayed quadrature signal QL"step three.
2. A vector tracking positioning device with a satellite navigation receiver PLL combined with an FLL, the device comprising a processor and a memory connected to the processor via a communication bus; wherein,
the memory is used for storing a vector tracking positioning program;
the processor is configured to execute a vector tracking positioning procedure to implement the vector tracking method of the satellite navigation receiver PLL in combination with the FLL as claimed in claim 1.
3. A memory device, characterized in that the memory device is a computer memory device on which the vector tracking location program of claim 1 is stored, the vector tracking location program being executable by one or more processors to cause the one or more processors to perform the PLL in combination with FLL vector tracking method as claimed in claim 1.
CN202011608090.4A 2020-12-30 2020-12-30 Vector tracking method combining phase-locked loop and frequency-locked loop of satellite navigation receiver Withdrawn CN112748449A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011608090.4A CN112748449A (en) 2020-12-30 2020-12-30 Vector tracking method combining phase-locked loop and frequency-locked loop of satellite navigation receiver

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011608090.4A CN112748449A (en) 2020-12-30 2020-12-30 Vector tracking method combining phase-locked loop and frequency-locked loop of satellite navigation receiver

Publications (1)

Publication Number Publication Date
CN112748449A true CN112748449A (en) 2021-05-04

Family

ID=75649427

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011608090.4A Withdrawn CN112748449A (en) 2020-12-30 2020-12-30 Vector tracking method combining phase-locked loop and frequency-locked loop of satellite navigation receiver

Country Status (1)

Country Link
CN (1) CN112748449A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113721270A (en) * 2021-07-28 2021-11-30 江苏师范大学 Satellite signal carrier synchronization method and system
CN114019543A (en) * 2021-10-27 2022-02-08 武汉大学 Elastic enhanced GNSS pseudo code tracking method for improving pseudo-range observation quality
CN114485650A (en) * 2022-02-15 2022-05-13 上海海事大学 MEMS-INS assisted GNSS vector loop tracking method, device, storage medium and equipment
CN114660638A (en) * 2022-03-31 2022-06-24 大连海事大学 Frequency-locked loop assisted vector phase locking loop system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113721270A (en) * 2021-07-28 2021-11-30 江苏师范大学 Satellite signal carrier synchronization method and system
CN114019543A (en) * 2021-10-27 2022-02-08 武汉大学 Elastic enhanced GNSS pseudo code tracking method for improving pseudo-range observation quality
CN114019543B (en) * 2021-10-27 2022-08-16 武汉大学 Elastic enhanced GNSS pseudo code tracking method for improving pseudo-range observation quality
CN114485650A (en) * 2022-02-15 2022-05-13 上海海事大学 MEMS-INS assisted GNSS vector loop tracking method, device, storage medium and equipment
CN114485650B (en) * 2022-02-15 2023-09-19 上海海事大学 MEMS-INS assisted GNSS vector loop tracking method, device, storage medium and equipment
CN114660638A (en) * 2022-03-31 2022-06-24 大连海事大学 Frequency-locked loop assisted vector phase locking loop system

Similar Documents

Publication Publication Date Title
CN112748449A (en) Vector tracking method combining phase-locked loop and frequency-locked loop of satellite navigation receiver
US4646096A (en) Enhanced global positioning system Delta-Range processing
US4809005A (en) Multi-antenna gas receiver for seismic survey vessels
US8044852B2 (en) Position determination based on hybrid pseudorange solution data
US8593342B2 (en) Utilizing SBAS signals to improve GNSS receiver performance
CN109520512A (en) A kind of precision orbit determination method and device
US10859709B2 (en) Satellite navigation receiver with fixed point sigma rho filter
CN101118281B (en) Process for self-correcting local crystal oscillator frequency with GPS receiving machine
Psiaki et al. Tracking digital FM OFDM signals for the determination of navigation observables
US7693211B2 (en) Fast fourier transform based phase locked loop for navigational receivers
CN105607077A (en) Spaceborne dual-mode quad-frequency GNSS navigation receiver
CN112285749B (en) Method and device for processing original observation data of global navigation satellite system and storage medium
CN113835109B (en) Terminal positioning method and device, electronic equipment, storage medium and program product
CN111965683A (en) Combined positioning method, device and storage medium for satellite positioning and inertial navigation positioning
CN108027442B (en) Satellite navigation receiver with fixed point sigma-delta filter
JPS61770A (en) Gps receiver
Jin et al. Analysis of a federal Kalman filter-based tracking loop for GPS signals
Truong et al. Development of real multi-GNSS positioning solutions and performance analyses
Breivik et al. Estimation of multipath error in GPS pseudorange measurements
Jianfeng et al. Low C/N0 carrier tracking loop based on optimal estimation algorithm in GPS software receivers
CN106932795B (en) A kind of the vector sum scalar mixing tracking and track loop of GNSS signal
Gao et al. Performance Enhancement and Evaluation of a Vector Tracking Receiver Using Adaptive Tracking Loops
Hill The principle of a snapshot navigation solution based on Doppler shift
Vani et al. Evaluation of GPS data for navigational solution and error reduction using kalman filter
Srinu et al. Performance of GNSS-SDR for IRNSS L5 signals using a low-cost RF front-end

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication

Application publication date: 20210504

WW01 Invention patent application withdrawn after publication