高动态GPS接收机基带信号处理算法研究
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摘要
高动态接收机指在接收信号有较高的多普勒频率及其一阶、二阶导数时仍能正常工作的接收机。本文针对高动态低信噪比环境下GPS接收机基带信号处理算法遇到的问题,重点研究了实时高动态基带信号处理模块的设计实现。本文主要进行如下几点研究工作:
弱信号的捕获算法的设计。文章分析了相干捕获算法和非相干捕获算法的增益。文中采用相干与非相干相结合的捕获算法实现了输入信噪比为25dBHz信号的捕获,并提供了一种非相干累积时间的设计方案。
伪码跟踪算法、关键参数和环路控制策略的设计。高动态环境下多普勒效应对伪码的影响不可忽略,文中重点分析了与高动态载波跟踪算法相匹配的、基于载波辅助技术的归一化带符号点积功率伪码跟踪算法,并提出了一种新的预检积分时间可变的伪码跟踪环控制策略。
载波跟踪算法、关键参数和环路控制策略的设计。高动态GPS软件接收机基带信号处理算法的关键是载波跟踪算法的设计,文中重点研究了频率牵引算法,FLL与PLL复合环算法及载波跟踪环重要参数的设计。文中提出了一种新的分阶段载波跟踪环控制策略,兼顾了环路的动态性和精确性。
本文采用SIMGEN-I10型模拟器模拟的高动态GPS卫星信号为实验对象,基于MATLAB与VC++软件平台实现上述高动态低信噪比下的GPS接收机基带信号处理算法,经实验证明,接收机可以在载体动态为最大加速度?1 00?g ?,最大加加速度?4 0?g /?s?的条件下稳定工作,结合后续的定位解算模块,接收机最终达到的定位精度达水平方向为15米,高度方向为20米,可以满足课题对定位精度的要求。
The high dynamic receiver could still work normally when the received signal has the high Doppler frequency and in the first-order, the second time derivative。This article studies the designing and realization of the real-time high dynamic base band signal processing module according to the GPS receiver base band signal processing algorithm’s problems base on the high dynamic low signal-to-noise ratio environment, . This article mainly carries on the following several research work:
Weak signal capture algorithm design. The article firstly analyzes and compares four kinds of capture algorithm’s characteristic, then has analyzed gain of the coherent capture algorithm and the non-coherent capture algorithm. The article has realized the input signal-to-noise ratio 25dBHz for the signal capture with coherent capture algorithm and non-coherent capture algorithm, and has provided one kind of non-coherent cumulative time design proposal.
Pseudo-code track algorithm, key parameter and ring circuit control policy design. Under the high dynamic environment the Doppler effect influences the pseudo-code can not be neglected, the article analyzes Normalized belt mark dot product power pseudo-code track algorithm which matched with the high dynamic carrier track algorithm and based on the carrier auxiliary technology ,and proposed one kind of new pseudo-code track link control policy that preventive maintenance integration time is variable.
Carrier track algorithm, key parameter and ring circuit control policy design. The high dynamic GPS software receiver base band signal processing algorithm's key is the carrier track algorithm design, the article studies the frequency pulling algorithm, FLL and the PLL compound link algorithm and the carrier track link’s key parameter design. The article proposes one kind of new carrier track link control policy by stages, and has given dual attention to ring circuit's dynamic and accuracy.
This article uses the high dynamic GPS satellite signal which the simulator simulates for the experimental subject, realizing GPS receiver base band signal processing algorithm based on MATLAB and the VC++ software platform under the high dynamic low signal-to-noise ratio, proved after the experiment, the receiver can work steadily in the carrier tendency for the maximum speed, the maximum acceleration, the most acceleration, unifies the following localization resolving module, the pointing accuracy which the receiver achieves finally reaches the horizontal direction is 10 meters, the direction is 15 meters highly, can satisfy the topic request of the pointing accuracy.
弱信号的捕获算法的设计。文章分析了相干捕获算法和非相干捕获算法的增益。文中采用相干与非相干相结合的捕获算法实现了输入信噪比为25dBHz信号的捕获,并提供了一种非相干累积时间的设计方案。
伪码跟踪算法、关键参数和环路控制策略的设计。高动态环境下多普勒效应对伪码的影响不可忽略,文中重点分析了与高动态载波跟踪算法相匹配的、基于载波辅助技术的归一化带符号点积功率伪码跟踪算法,并提出了一种新的预检积分时间可变的伪码跟踪环控制策略。
载波跟踪算法、关键参数和环路控制策略的设计。高动态GPS软件接收机基带信号处理算法的关键是载波跟踪算法的设计,文中重点研究了频率牵引算法,FLL与PLL复合环算法及载波跟踪环重要参数的设计。文中提出了一种新的分阶段载波跟踪环控制策略,兼顾了环路的动态性和精确性。
本文采用SIMGEN-I10型模拟器模拟的高动态GPS卫星信号为实验对象,基于MATLAB与VC++软件平台实现上述高动态低信噪比下的GPS接收机基带信号处理算法,经实验证明,接收机可以在载体动态为最大加速度?1 00?g ?,最大加加速度?4 0?g /?s?的条件下稳定工作,结合后续的定位解算模块,接收机最终达到的定位精度达水平方向为15米,高度方向为20米,可以满足课题对定位精度的要求。
The high dynamic receiver could still work normally when the received signal has the high Doppler frequency and in the first-order, the second time derivative。This article studies the designing and realization of the real-time high dynamic base band signal processing module according to the GPS receiver base band signal processing algorithm’s problems base on the high dynamic low signal-to-noise ratio environment, . This article mainly carries on the following several research work:
Weak signal capture algorithm design. The article firstly analyzes and compares four kinds of capture algorithm’s characteristic, then has analyzed gain of the coherent capture algorithm and the non-coherent capture algorithm. The article has realized the input signal-to-noise ratio 25dBHz for the signal capture with coherent capture algorithm and non-coherent capture algorithm, and has provided one kind of non-coherent cumulative time design proposal.
Pseudo-code track algorithm, key parameter and ring circuit control policy design. Under the high dynamic environment the Doppler effect influences the pseudo-code can not be neglected, the article analyzes Normalized belt mark dot product power pseudo-code track algorithm which matched with the high dynamic carrier track algorithm and based on the carrier auxiliary technology ,and proposed one kind of new pseudo-code track link control policy that preventive maintenance integration time is variable.
Carrier track algorithm, key parameter and ring circuit control policy design. The high dynamic GPS software receiver base band signal processing algorithm's key is the carrier track algorithm design, the article studies the frequency pulling algorithm, FLL and the PLL compound link algorithm and the carrier track link’s key parameter design. The article proposes one kind of new carrier track link control policy by stages, and has given dual attention to ring circuit's dynamic and accuracy.
This article uses the high dynamic GPS satellite signal which the simulator simulates for the experimental subject, realizing GPS receiver base band signal processing algorithm based on MATLAB and the VC++ software platform under the high dynamic low signal-to-noise ratio, proved after the experiment, the receiver can work steadily in the carrier tendency for the maximum speed, the maximum acceleration, the most acceleration, unifies the following localization resolving module, the pointing accuracy which the receiver achieves finally reaches the horizontal direction is 10 meters, the direction is 15 meters highly, can satisfy the topic request of the pointing accuracy.
引文
[1] Elliott D.Kaplan Christohper J.Hegarty. Understanding GPS (Principles an Applications, Second Edition)[M].北京:电子工业出版社,2007:111-179.
[2] James Bao-yen Tsui. Fundamentals of Global Positioning System Receivers A Software Approach (Second Edition) [M].北京:电子工业出版社,2007:6-43.
[3]胡辉.高动态数字化GPS接收机的研制[R].上海航天局博士后工作站出站报告,2002.
[4] Nesreen I.Ziedan.GNSS Receivers for Weak Signals,2006.71-85
[5] Nabil JARDAK,Alexandre VERVISCH-PICOIS, Marc JEANNOT, Anca FLUERASU, Nel SAMAMA. Implementation of An Optimized Code Loop For Indoor Positioning. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007.1396-1404.
[6] David M.Lin, James B.Y.Tsui. High Performance Tracking Algorithms for Software GPS Receiver. Proceedings of the 18th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2005. 2005.1638-1644.
[7]孙礼.GPS接收机系统的研究[D]:博士论文.北京:北京航空航天大学,1999.
[8]胡辉.GPS接收机伪距测量方法研究[J].全球定位系统,2008,4:22-26.
[9] Matthew Lashley,David M. Bevly. Comparison of Traditional Tracking Loops and Vector Based Tracking Loops for Weak GPS Signals[J]. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007, pp.789-795.
[10]李小民.高动态环境GPS应用中的几个关键问题研究[D]:博士论文.北京:北京航空航天大学, 1999.
[11] Alaqeeli A.Starzyk, J.van Graas. F. Real-time acquisition an tracking for GPS receivers. Circuits and Systems.2003, ISCAS’03, vol.4: 500-503.
[12]唐学术.高动态GPS接收机的捕获与跟踪算法研究[D]:硕士论文.北京:北京理工大学,2008
[13]武丽静.高动态GPS接收机数控振荡器与捕获算法研究[D]:硕士论文.北京:北京邮电大学, 2009
[14]寇艳红,常青,张其善.高动态GPS模拟器闭环测试系统结构与软件设计[J].北京航空航天大学学报,2000,1:534-538.
[15] Ilir F. Progri, Clifford W. Kelley, Guojiang Gao, William R. Michalson, Jinling Wang, John Lavrakas. Discrete vs. Continuous Carrier Tracking Loop Theory, Implementation, and Testing with Large BnT[J]. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007, pp.2584-2610.
[16]张伯川,张其善.高动态接收机的关键问题研究[J].电子学报,2003,12:1844-1846.
[17]李跃,邱致和.导航与定位(第二版)[M].北京:国防工业出版社,2008:22-24.
[18] Phani K. Sagiraju, David Akopian, Harri Valio. Fine Frequency Estimation in Weak Signals for GPS Receivers[J]. Proceedings of the 19th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2006,2006, pp.908-913.
[19]孙希延,纪元法,施浒立. GPS软件基带信号处理与定位实现[J].系统仿真学报,2007, 24:5832-5836.
[20] Hurd W, statman J i. High dynamic GPS receiver using maximum likehood estimation andfrequency tracking[J]. IEEE trans on AES July, 1987.
[21]唐斌,喻夏琼,董绪荣,赵新曙.智能GPS软件接收机载波跟踪环路设计[J].2007,33(7): 807-810.
[22]金富钊.GPS中的环路跟踪算法的研究[D]:硕士论文.西安:西安电子科技大学,2006.
[23]金富钊,张武军. GPS中使用扩展卡尔曼滤波器改进的延迟锁定环[J].电子科技,2 006,3 :1-4.
[24] Pedro A. Roncagliolo , Javier G. Garc′a. High Dynamics and False Lock Resistant GNSS Carrier Tracking Loops[J]. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007, pp.2364-2375.
[25]李金海,巴晓辉,陈杰.基于IMM的高动态GPS接收机载波跟踪算法[J].系统仿真学报(J), 2008,20(9):2483-2486.
[26] Tsung-Yu Chiou. On the Probability Density Function and Stability Properties for a Cross-Product Frequency-Locked Loop[J]. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007, pp.739-748.
[27]王晓湘,柯有安.高动态多普勒频率的最大似然估计器[J].北京京邮大学学报,2000,6:61 -65.
[28]程乃平,任宇飞,吕金飞.高动态扩频信号的载波跟踪技术研究[J].电子学报,2003,12A: 2147-2150.
[29] C.Ma, G.Lachapelle, M.E. Cannon. Implementation of a Software GPS Receiver[J]. Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2004,2004, pp.956-970
[30] He-Sheng Wang, Hung-Sheng Wu, Shang-Wei Chen. H∞Controller Design for GPS Receiver Tracking Loop[J]. Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2004,2004, pp.510-522.
[31]
[32] Christopher R. Hamm, Warren S. Flenniken, IV, David M. Bevly. Comparative Performance Analysis of Aided Carrier Tracking Loop Algorithms in High Noise/High Dynamic Environments[J]. Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2004,2004, pp.523-532.
[33] Andrew Simsky. Standalone Real-Time Positioning Algorithm Based on Dynamic Ambiguities (DARTS)[J]. Proceedings of the 16th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2003,2003, pp.1211-1221.
[34] A. Robert Golshan. Post-Correlator Modeling for Fast Simulation and Joint Performance Analysis of GNSS Code and Carrier Tracking Loops[J]. Proceedings of the 19th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2006,2006, pp.312-318.
[35] Alessandro Carosio, Alberto Cina, Marco Piras. The Robust Statistics Method Applied to theKalman Filter: Theory and Application[J]. Proceedings of the 18th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2005,2005, pp.525-535.
[36]董渊文,官洪运,胡辉. GPS接收机伪码跟踪技术研究及仿真[J].系统仿真学报,2006,11: 3209-3216.
[37]汤长存.GPS卫星定位仿真分析与系统程序设计[D]:[硕士学位论文].上海:同济大学,2007.
[2] James Bao-yen Tsui. Fundamentals of Global Positioning System Receivers A Software Approach (Second Edition) [M].北京:电子工业出版社,2007:6-43.
[3]胡辉.高动态数字化GPS接收机的研制[R].上海航天局博士后工作站出站报告,2002.
[4] Nesreen I.Ziedan.GNSS Receivers for Weak Signals,2006.71-85
[5] Nabil JARDAK,Alexandre VERVISCH-PICOIS, Marc JEANNOT, Anca FLUERASU, Nel SAMAMA. Implementation of An Optimized Code Loop For Indoor Positioning. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007.1396-1404.
[6] David M.Lin, James B.Y.Tsui. High Performance Tracking Algorithms for Software GPS Receiver. Proceedings of the 18th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2005. 2005.1638-1644.
[7]孙礼.GPS接收机系统的研究[D]:博士论文.北京:北京航空航天大学,1999.
[8]胡辉.GPS接收机伪距测量方法研究[J].全球定位系统,2008,4:22-26.
[9] Matthew Lashley,David M. Bevly. Comparison of Traditional Tracking Loops and Vector Based Tracking Loops for Weak GPS Signals[J]. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007, pp.789-795.
[10]李小民.高动态环境GPS应用中的几个关键问题研究[D]:博士论文.北京:北京航空航天大学, 1999.
[11] Alaqeeli A.Starzyk, J.van Graas. F. Real-time acquisition an tracking for GPS receivers. Circuits and Systems.2003, ISCAS’03, vol.4: 500-503.
[12]唐学术.高动态GPS接收机的捕获与跟踪算法研究[D]:硕士论文.北京:北京理工大学,2008
[13]武丽静.高动态GPS接收机数控振荡器与捕获算法研究[D]:硕士论文.北京:北京邮电大学, 2009
[14]寇艳红,常青,张其善.高动态GPS模拟器闭环测试系统结构与软件设计[J].北京航空航天大学学报,2000,1:534-538.
[15] Ilir F. Progri, Clifford W. Kelley, Guojiang Gao, William R. Michalson, Jinling Wang, John Lavrakas. Discrete vs. Continuous Carrier Tracking Loop Theory, Implementation, and Testing with Large BnT[J]. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007, pp.2584-2610.
[16]张伯川,张其善.高动态接收机的关键问题研究[J].电子学报,2003,12:1844-1846.
[17]李跃,邱致和.导航与定位(第二版)[M].北京:国防工业出版社,2008:22-24.
[18] Phani K. Sagiraju, David Akopian, Harri Valio. Fine Frequency Estimation in Weak Signals for GPS Receivers[J]. Proceedings of the 19th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2006,2006, pp.908-913.
[19]孙希延,纪元法,施浒立. GPS软件基带信号处理与定位实现[J].系统仿真学报,2007, 24:5832-5836.
[20] Hurd W, statman J i. High dynamic GPS receiver using maximum likehood estimation andfrequency tracking[J]. IEEE trans on AES July, 1987.
[21]唐斌,喻夏琼,董绪荣,赵新曙.智能GPS软件接收机载波跟踪环路设计[J].2007,33(7): 807-810.
[22]金富钊.GPS中的环路跟踪算法的研究[D]:硕士论文.西安:西安电子科技大学,2006.
[23]金富钊,张武军. GPS中使用扩展卡尔曼滤波器改进的延迟锁定环[J].电子科技,2 006,3 :1-4.
[24] Pedro A. Roncagliolo , Javier G. Garc′a. High Dynamics and False Lock Resistant GNSS Carrier Tracking Loops[J]. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007, pp.2364-2375.
[25]李金海,巴晓辉,陈杰.基于IMM的高动态GPS接收机载波跟踪算法[J].系统仿真学报(J), 2008,20(9):2483-2486.
[26] Tsung-Yu Chiou. On the Probability Density Function and Stability Properties for a Cross-Product Frequency-Locked Loop[J]. Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2007,2007, pp.739-748.
[27]王晓湘,柯有安.高动态多普勒频率的最大似然估计器[J].北京京邮大学学报,2000,6:61 -65.
[28]程乃平,任宇飞,吕金飞.高动态扩频信号的载波跟踪技术研究[J].电子学报,2003,12A: 2147-2150.
[29] C.Ma, G.Lachapelle, M.E. Cannon. Implementation of a Software GPS Receiver[J]. Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2004,2004, pp.956-970
[30] He-Sheng Wang, Hung-Sheng Wu, Shang-Wei Chen. H∞Controller Design for GPS Receiver Tracking Loop[J]. Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2004,2004, pp.510-522.
[31]
[32] Christopher R. Hamm, Warren S. Flenniken, IV, David M. Bevly. Comparative Performance Analysis of Aided Carrier Tracking Loop Algorithms in High Noise/High Dynamic Environments[J]. Proceedings of the 17th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2004,2004, pp.523-532.
[33] Andrew Simsky. Standalone Real-Time Positioning Algorithm Based on Dynamic Ambiguities (DARTS)[J]. Proceedings of the 16th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2003,2003, pp.1211-1221.
[34] A. Robert Golshan. Post-Correlator Modeling for Fast Simulation and Joint Performance Analysis of GNSS Code and Carrier Tracking Loops[J]. Proceedings of the 19th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2006,2006, pp.312-318.
[35] Alessandro Carosio, Alberto Cina, Marco Piras. The Robust Statistics Method Applied to theKalman Filter: Theory and Application[J]. Proceedings of the 18th International Technical Meeting of the Satellite Division of the Institute of Navigation ION GNSS 2005,2005, pp.525-535.
[36]董渊文,官洪运,胡辉. GPS接收机伪码跟踪技术研究及仿真[J].系统仿真学报,2006,11: 3209-3216.
[37]汤长存.GPS卫星定位仿真分析与系统程序设计[D]:[硕士学位论文].上海:同济大学,2007.