弱信号环境下的GNSS信号捕获技术研究
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摘要
GNSS(Global Navigation Satellite System，全球卫星导航系统)已经在全世界范围内得到了广泛的应用，但是当GNSS接收机工作在室内,密集城区等各种信号条件恶劣的复杂信道环境中时, GNSS信号功率会受到严重衰减，信号幅度和相位也会受到多径衰落的影响变化剧烈，接收信噪比将会严重恶化，普通的GNSS接收机将难以正确的捕获和跟踪导航卫星信号。近年来，随着基于位置服务(LoeationBasedService，LBS)应用需求的增加，室内、城市环境等条件的定位已得到越来越广泛的关注，因此独立模块高灵敏度GNSS和辅助高灵敏度GNSS(Assisted GNSS，A-GNSS)定位技术已成为当前的研究热点。
高灵敏度定位的接收机基带信号处理中，捕获是最为关键的接收机技术之一，基于这个背景，本论文重点对高灵敏度接收机的码和频率捕获算法进行了研究，尤其是针对国内学者研究较少的衰落信道下的GNSS捕获算法与捕获性能，进行了广泛深入的研究，其主要创新性工作及研究成果如下：
1.对卫星信道的小尺度衰落特性进行了建模，量化分析了信道特征对相干积分检测性能的影响，指出相干积分长度不仅受频偏和数据比特翻转影响，还取决于信道相干时间，并据此给出了不同移动速度引起的多普勒扩展下的相干积分时间建议。同时，这一分析结论可用于解释近年来Broumandans等提出的合成天线（Synthetic antenna）等增益合并优于相干积分检测的结论。
2.对于移动速度低的卫星信号捕获，针对频偏影响下的检测性能下降，结合PMF-FFT码捕获算法结构，提出了两种高精度的频偏估计方法，并用于码相位与多普勒频偏的联合捕获，还将基于FFT谱线差值的码和多普勒频偏联合捕获算法推广至虚拟天线和多天线。此外，结合频偏估计的CRLB下界，对频偏估计的概率密度分布进行了合理假设，建立了码和多普勒联合捕获的理论检测性能解析表达式，弥补了这一方向的理论检测性能研究缺失。理论分析和仿真结果表明本文的码相位和多普勒频偏的联合捕获算法可以有效改善频偏估计精度，提升检测概率，并且具有极低的复杂度。
3.针对较小时频不确定性的卫星弱信号捕获，提出了一种结合离散余弦变换(DCT)的变换域滤波码捕获算法。利用同步与非同步码相位相关器输出矢量的不同时变特性，通过DCT变换域的滤波和IDCT重构，有效提高了检测信号的信噪比，从而提高了信号的捕获概率。此外，还将此算法推广至多天线，并建立了高斯和衰落信道下DCT变换域滤波捕获算法的理论检测性能解析表达式。理论分析和仿真结果表明，此检测算法可以在信号能量无损的情况下，有效降低噪声的能量，从而提升检测概率，并且在移动速度稍高的衰落信道下，可获得更大的增益。此外，它可以用于Broumandans等提出的合成天线（Synthetic antenna）等增益合并的算法改进，进一步提升衰落信道下的弱信号捕获性能。
4.针对卫星信号强度差异较大时的弱信号捕获性能下降问题，分析了不同相干积分时间下的强弱信号下的互相关干扰强度，由此确定对于需要干扰消除的弱信号，只需考虑整数kHz附近的频偏，并基于这个结论，提出了一种基于预存的互干扰矢量，直接对弱信号的相干检测结果进行干扰消除的干扰消除算法。这种算法无需重构干扰信号，且避免了对互相关矢量的实时计算，大大降低了计算复杂度。仿真实现及仿真结果表明本文检测算法可以有效提升弱信号的检测概率，并且具有极低的复杂度。
最后，本文结合实际弱信号参数，针对各种算法的适用场景和性能增益进行了总结，在给定信号强度、信道条件下提出了建议的捕获策略和捕获参数，并提出了捕获参数优选思路，用于捕获参数选择。
GNSS (Global Navigation Satellite System) has been widely used in the world, butwhen the signal conditions are not ideal, for example, in the interior, forests and urbanenvironment, multipath and interference will lead serious energy decline, normal GNSSreceiver will be difficult to capture and track navigation satellite signals. In recent years,with applications of location-based services (LBS),increased demand for indoor andurban positioning has been attracted more and more attention, and so high-sensitivityGNSS and Assisted-GNSS (A-GNSS) positioning technology has become a currentresearch focus.
Signal capture is one of the most critical technologies in the baseband signalprocessing of high-sensitivity positioning receiver.Based on this background, this paperfocuses on code and frequency acquisition in the weak signal environment, the author’smajor contributions are outlined as follows:
1. The satellite channel model with the small scale fading characteristics isestablished. Through the quantitative analysis of the relation between channel coherenttime and the coherent integration detection performance, we pointed out that thecoherence integration time not only depend on the frequency offset and the data bit flip,but also on the channel coherence time. Based on the conclusion, we also given thecoherent interation time recommendation under the different mobile speed. At the sametime, the conclusions can be used to explain Ali's Synthetic antenna gain.
2. Focusing on the detection performance degradation caused by frequency offset,two improved code phase and Doppler shift united capture methods for low mobilityequipment is proposed. The method based on the difference of FFT spectrum line isalso popularize to synthetic and real antenna.Therefore,combined with the analysisof frequency offset estimated CRLB, the theoretical detection performance of jointcode and Doppler acquisition algorithm is derived. Simulation results show that thedetection algorithm can effectively improve the frequency estimation accuracy and thedetection probability, and has very low complexity.
3.For the satellite signal acquisition with low time-frequency uncertainty, a codeacquisition algorithm based on discrete cosine transform (DCT) domain filtering isproposed. Based on the different time varied charistristic between the synchronous andnon-synchronous PMF output vector, the DCT transform domain filtering and IDCT reconstruction is used to improve the detection signal to noise ratio, thereby increasingthe signal detection probability. In addition, this algorithm is also popularize to themulti-antenna, and the theoretical detection performance under AWGN and flatRayleigh fading channel is also derived. The theoretical analysis and simulationresults show that the detection algorithm can effectively increase the probabilityof detection, especily in fading channel.
4.Focusing on the problem that the weak signal’s code acquisition performancewill be decreased when there exists strong interference form other satellites, thequantitive cross-correlation interference analysis is done, and we concluded that theserious cross-correlation interference only occurred at about mKHz,where m isintergeral. Based on the conclusion, a code acquisition method based on eliminating theinterference from the correlation is proposed. The method only need to pre-store a smallcount of cross-correlation vectors with mKHz frequency diffrence, and with thecross-correlation vectors pre-stored,detecting error caused by interference signals canbe eliminated directly from the correlator, which avoid the interference signalsreconstruction and parameter reestimation process. Simulation results show that theproposed detection algorithm can effectively improve the detection probability of weaksignals, and has very low complexity.
5. Finally, considering the actual weak signal parameters, this paper summarizedthe applicable scenarios and the performance gain for all the proposed algorithms. Inaddition, the proposed acquisition strategy and capture parameters is suggested underthegiven signal strength and channel conditions.
高灵敏度定位的接收机基带信号处理中，捕获是最为关键的接收机技术之一，基于这个背景，本论文重点对高灵敏度接收机的码和频率捕获算法进行了研究，尤其是针对国内学者研究较少的衰落信道下的GNSS捕获算法与捕获性能，进行了广泛深入的研究，其主要创新性工作及研究成果如下：
1.对卫星信道的小尺度衰落特性进行了建模，量化分析了信道特征对相干积分检测性能的影响，指出相干积分长度不仅受频偏和数据比特翻转影响，还取决于信道相干时间，并据此给出了不同移动速度引起的多普勒扩展下的相干积分时间建议。同时，这一分析结论可用于解释近年来Broumandans等提出的合成天线（Synthetic antenna）等增益合并优于相干积分检测的结论。
2.对于移动速度低的卫星信号捕获，针对频偏影响下的检测性能下降，结合PMF-FFT码捕获算法结构，提出了两种高精度的频偏估计方法，并用于码相位与多普勒频偏的联合捕获，还将基于FFT谱线差值的码和多普勒频偏联合捕获算法推广至虚拟天线和多天线。此外，结合频偏估计的CRLB下界，对频偏估计的概率密度分布进行了合理假设，建立了码和多普勒联合捕获的理论检测性能解析表达式，弥补了这一方向的理论检测性能研究缺失。理论分析和仿真结果表明本文的码相位和多普勒频偏的联合捕获算法可以有效改善频偏估计精度，提升检测概率，并且具有极低的复杂度。
3.针对较小时频不确定性的卫星弱信号捕获，提出了一种结合离散余弦变换(DCT)的变换域滤波码捕获算法。利用同步与非同步码相位相关器输出矢量的不同时变特性，通过DCT变换域的滤波和IDCT重构，有效提高了检测信号的信噪比，从而提高了信号的捕获概率。此外，还将此算法推广至多天线，并建立了高斯和衰落信道下DCT变换域滤波捕获算法的理论检测性能解析表达式。理论分析和仿真结果表明，此检测算法可以在信号能量无损的情况下，有效降低噪声的能量，从而提升检测概率，并且在移动速度稍高的衰落信道下，可获得更大的增益。此外，它可以用于Broumandans等提出的合成天线（Synthetic antenna）等增益合并的算法改进，进一步提升衰落信道下的弱信号捕获性能。
4.针对卫星信号强度差异较大时的弱信号捕获性能下降问题，分析了不同相干积分时间下的强弱信号下的互相关干扰强度，由此确定对于需要干扰消除的弱信号，只需考虑整数kHz附近的频偏，并基于这个结论，提出了一种基于预存的互干扰矢量，直接对弱信号的相干检测结果进行干扰消除的干扰消除算法。这种算法无需重构干扰信号，且避免了对互相关矢量的实时计算，大大降低了计算复杂度。仿真实现及仿真结果表明本文检测算法可以有效提升弱信号的检测概率，并且具有极低的复杂度。
最后，本文结合实际弱信号参数，针对各种算法的适用场景和性能增益进行了总结，在给定信号强度、信道条件下提出了建议的捕获策略和捕获参数，并提出了捕获参数优选思路，用于捕获参数选择。
GNSS (Global Navigation Satellite System) has been widely used in the world, butwhen the signal conditions are not ideal, for example, in the interior, forests and urbanenvironment, multipath and interference will lead serious energy decline, normal GNSSreceiver will be difficult to capture and track navigation satellite signals. In recent years,with applications of location-based services (LBS),increased demand for indoor andurban positioning has been attracted more and more attention, and so high-sensitivityGNSS and Assisted-GNSS (A-GNSS) positioning technology has become a currentresearch focus.
Signal capture is one of the most critical technologies in the baseband signalprocessing of high-sensitivity positioning receiver.Based on this background, this paperfocuses on code and frequency acquisition in the weak signal environment, the author’smajor contributions are outlined as follows:
1. The satellite channel model with the small scale fading characteristics isestablished. Through the quantitative analysis of the relation between channel coherenttime and the coherent integration detection performance, we pointed out that thecoherence integration time not only depend on the frequency offset and the data bit flip,but also on the channel coherence time. Based on the conclusion, we also given thecoherent interation time recommendation under the different mobile speed. At the sametime, the conclusions can be used to explain Ali's Synthetic antenna gain.
2. Focusing on the detection performance degradation caused by frequency offset,two improved code phase and Doppler shift united capture methods for low mobilityequipment is proposed. The method based on the difference of FFT spectrum line isalso popularize to synthetic and real antenna.Therefore,combined with the analysisof frequency offset estimated CRLB, the theoretical detection performance of jointcode and Doppler acquisition algorithm is derived. Simulation results show that thedetection algorithm can effectively improve the frequency estimation accuracy and thedetection probability, and has very low complexity.
3.For the satellite signal acquisition with low time-frequency uncertainty, a codeacquisition algorithm based on discrete cosine transform (DCT) domain filtering isproposed. Based on the different time varied charistristic between the synchronous andnon-synchronous PMF output vector, the DCT transform domain filtering and IDCT reconstruction is used to improve the detection signal to noise ratio, thereby increasingthe signal detection probability. In addition, this algorithm is also popularize to themulti-antenna, and the theoretical detection performance under AWGN and flatRayleigh fading channel is also derived. The theoretical analysis and simulationresults show that the detection algorithm can effectively increase the probabilityof detection, especily in fading channel.
4.Focusing on the problem that the weak signal’s code acquisition performancewill be decreased when there exists strong interference form other satellites, thequantitive cross-correlation interference analysis is done, and we concluded that theserious cross-correlation interference only occurred at about mKHz,where m isintergeral. Based on the conclusion, a code acquisition method based on eliminating theinterference from the correlation is proposed. The method only need to pre-store a smallcount of cross-correlation vectors with mKHz frequency diffrence, and with thecross-correlation vectors pre-stored,detecting error caused by interference signals canbe eliminated directly from the correlator, which avoid the interference signalsreconstruction and parameter reestimation process. Simulation results show that theproposed detection algorithm can effectively improve the detection probability of weaksignals, and has very low complexity.
5. Finally, considering the actual weak signal parameters, this paper summarizedthe applicable scenarios and the performance gain for all the proposed algorithms. Inaddition, the proposed acquisition strategy and capture parameters is suggested underthegiven signal strength and channel conditions.
引文
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