复杂信道环境对伪码测距精度的影响研究
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摘要
伪码测距是目前航天测控系统、跟踪与数据中继卫星系统和全球导航定位卫星系统中普遍采用的测距方法。与其他测距方法相比,伪码测距具有信号功率谱密度低、对邻近信道干扰小、保密性强难以被截获、可以实现码分多址等优势。同样,与其他测距方法一样,伪码测距方法亦会受到各种误差源的影响而产生测距误差。伪码测距方法中的系统误差可以通过一定的模型或数据处理方法消除其影响,而由信道环境中的偶然因素,如射频干扰源、多径效应等,造成的随机误差则难以模拟或消除。伪码测距精度由系统选择的伪码码元宽度和接收机的跟踪精度共同决定。码元宽度的限制可以通过调整伪码时钟来解决,而接收机的跟踪精度除了受到本身硬件结构的限制,更容易受到外界环境中的各种干扰的影响。
论文首先介绍了伪码测距系统的基本组成和测距原理,以及伪码测距接收机中伪码跟踪环和载波跟踪环的工作原理;论述了利用载波跟踪环的载波相位测量值辅助伪码延时估计的载波辅助技术及实现;然后研究了射频干扰环境中射频干扰源对伪码测距接收机环路载噪比的影响,进而分析了其对信号捕获和跟踪的影响,并给出了其对测码和测相伪距测量误差影响的仿真结果;最后在详细分析多径信号特点的基础上,给出了多径干扰环境下多径信号的误差模型,分析了多径干扰下的码跟踪环性能,并仿真了在低反射和高反射环境下多径信号相对相位延迟和相对幅度的变化对伪距测量误差的影响;同时,分析并仿真了两种反射环境下,多径干扰引入的载波相位误差。
PN code ranging method is widely used in the TT & C system, Tracking and Data Relay Satellite System and Global Navigation Satellite System. Compared with the other ranging methods, PN code ranging signal has advantages such as, low power spectral density, small interference on adjacent channel, strong confidentiality, being difficult to be intercepted, applying in CDMA system. In the same way as other ranging methods, PN code ranging is also affected by various error sources. The systematic errors can be eliminated by modeling or data processing method, however, ranging random errors caused by accidental environment factors are difficult to be modeled or eliminated.
The accuracy of PN code ranging is codetermined by selected PN code element width and receiver’s tracking accuracy. The limitation by symbol width can be solved by adjusting the clock frequency. In addition to hardware limitations, the tracking accuracy is vulnerably affected by external environment interferences.
This dissertation first introduces the structure of PN ranging system and basic principles of PN code ranging as well as code tracking loop and carrier tracking loop working in PN code ranging receiver. The usage of the estimation of the carrier phase estimated by carrier tracking loop is being investigated. By making use of the carrier-assisted technology, such that we can obtain the accurate pseudo-code delay estimation. After the analysis of the changes of loop carrier to noise power ratio under RF interference environment, the simulation results of pseudo-range measurement error of are presented. Finally, this dissertation presents careful analysis of the characteristics of the multipath signals, under high and low refraction environment, the pseudo-range errors and carrier-phase tracking errors which introduced by the mutlipath effect are thoroughly investigated, and then the simulation results are presented.
论文首先介绍了伪码测距系统的基本组成和测距原理,以及伪码测距接收机中伪码跟踪环和载波跟踪环的工作原理;论述了利用载波跟踪环的载波相位测量值辅助伪码延时估计的载波辅助技术及实现;然后研究了射频干扰环境中射频干扰源对伪码测距接收机环路载噪比的影响,进而分析了其对信号捕获和跟踪的影响,并给出了其对测码和测相伪距测量误差影响的仿真结果;最后在详细分析多径信号特点的基础上,给出了多径干扰环境下多径信号的误差模型,分析了多径干扰下的码跟踪环性能,并仿真了在低反射和高反射环境下多径信号相对相位延迟和相对幅度的变化对伪距测量误差的影响;同时,分析并仿真了两种反射环境下,多径干扰引入的载波相位误差。
PN code ranging method is widely used in the TT & C system, Tracking and Data Relay Satellite System and Global Navigation Satellite System. Compared with the other ranging methods, PN code ranging signal has advantages such as, low power spectral density, small interference on adjacent channel, strong confidentiality, being difficult to be intercepted, applying in CDMA system. In the same way as other ranging methods, PN code ranging is also affected by various error sources. The systematic errors can be eliminated by modeling or data processing method, however, ranging random errors caused by accidental environment factors are difficult to be modeled or eliminated.
The accuracy of PN code ranging is codetermined by selected PN code element width and receiver’s tracking accuracy. The limitation by symbol width can be solved by adjusting the clock frequency. In addition to hardware limitations, the tracking accuracy is vulnerably affected by external environment interferences.
This dissertation first introduces the structure of PN ranging system and basic principles of PN code ranging as well as code tracking loop and carrier tracking loop working in PN code ranging receiver. The usage of the estimation of the carrier phase estimated by carrier tracking loop is being investigated. By making use of the carrier-assisted technology, such that we can obtain the accurate pseudo-code delay estimation. After the analysis of the changes of loop carrier to noise power ratio under RF interference environment, the simulation results of pseudo-range measurement error of are presented. Finally, this dissertation presents careful analysis of the characteristics of the multipath signals, under high and low refraction environment, the pseudo-range errors and carrier-phase tracking errors which introduced by the mutlipath effect are thoroughly investigated, and then the simulation results are presented.
引文
1巨兰,张碧雄.扩频测控体制的信号设计与分析.第九届全国遥感遥测遥控学术研讨会论文集.绵阳, 2004: 158~163
2赵曙光,卢鑫,杨莘元.多载波技术在测控通信系统中的应用.第八届全国遥感遥测遥控学术研讨会.北京, 2008: 84~88
3 J. B. Berner, S. H. Bryant. Operations Comparison of Deep Space Ranging Types: Sequential Tone vs. Pseudo-Noise. IEEE Aerospace Conference Proceedings. 2002, 3: 1313~1326
4任松,陈剑红,李改芹.伪码扩频航天测控体制设计.信息与电子工程. 2007, 5(3): 102~107
5文贻军,杨文革.航天测控体制的现状与发展.国外电子测量技术. 2008, 27(7): 44~49
6 R. L. Easton. The Role of Time/Frequency in Navy Navigation Satellites. Proceedings of the IEEE. 1972, 60(5 ): 557~563
7 C. Rosetti, C. arnebianca. NAVSAT: A Global Satellite Based Navigation System. Aerospace and Electronic Systems Magazine, IEEE. 1987:15~22
8李俊生.伪码测距算法研究与仿真.国防科学技术大学硕士学位论文. 2006:1~45
9郭庆,曾宏波.卫星测控系统中伪随机码测距方法分析.通信技术. 2003, (10): 64~6
10 A. Chen. GNSS Over China: The Compass MEO Satellite Codes. Inside GNSS. 2007: 36~42
11 A. Simsky, D. Mertens, Wim De Wilde. Tracking China's MEO Satellite on a Hardware Receiver. Inside GNSS. 2007: 44~48
12 C. J. Hegarty, E. Chatre. Evolution of the Global Navigation Satellite System. Proceedings of the IEEE. 2008, 96(12): 1902–1917
13 Hui Hu, Chao Yuan. Performance Analysis of Galileo Global Position System. 2009 2nd International Conference on Power Electronics and Intelligent Transportation System (PEITS). 2009, 1: 396~399
14 CCSDS RECOMMENDED STANDARD FOR PSEUDO-NOISE RANGINGSYSTEMS. Http://public.ccsds.org/publications/archive/414x1b1.pdf
15张守信. GPS卫星测量定位理论与应用.国防科技大学出版社,1996: 92~103
16 Gary Mitchell. High Accuracy Ranging Using Spread Spectrum Technology.
15th AIAA/USU Small Satellite Conference. 2001: 662~667
17 J. F. Raquet. Multiple GPS Receiver Multipath Mitigation Technique. IEEE Radar Sonar Navigation. 2002, 149(4): 195~201.
18 M. Sahmoudi, M. G. Amin. Improved Maximum Likelihood Time Delay Estimation for GPS Positioning in Multipath. Interference and Low SNR Environments. 2006: 876~882
19 Masateru Minami, Hiroyuki Morikawa, Tomonori Aoyama. An Adaptive Multipath Mitigation Technique for GPS Signal Reception. 2000: 1625~1629.
20 D. M. Akos, P. Normark, J. Lee, K. G. Gromov, J. B. Y. Tsui. Low Power Global Navigation Satellite System Signal Detection and Processing. Proc. ION GPS, Salt Lake City, 2000: 784~791
21 M. D. Karunanayake, M. E. Cannon, G. Lachapelle. Evaluation of Assisted GPS in Weak Signal Environments Using a Hardware Simulator. ION GNSS 2004 Conference, Long Beach, 2004: 1~11
22 Ming Yu Chuang, Kai Ten Feng. Adaptive GPS Acquisition Technique in Weak Signal Environment. Proceedings of the IEEE. 2006: 2612~2616
23 B. C. Barker. Overview of the GPS M Code Signal. Proceedings of ION 2000 National Technical Meeting, Institute of Navigation, Anaheim, 2000: 542~549
24徐颖娣.在信号处理中时间延迟估计方法的研究.上海机电学院学报. 2006, 9(2): 3~45
25王琦,吴斌.航天测控系统中伪码测距精度分析.无线电工程. 2009, 39(1): 39~44
26 W. Kinmanp. Regenerative Pseudo-Noise Ranging for Deep Space Applications. Pasadena, California: Jet Propulsion Lab, 2004: 1~35
27 P. W. Kinman. Pseudo-Noise and Regenerative Ranging. DSMS Telecommunications Link Design Handbook. 2003: 483~502
28 Berner J B, Kayalar S, Perret J. The NASA Spacecraft Transponding Modem. 2000 IEEE Aerospace Conference Proceedings. 2000: 1043~1051
29 J. Betz, K. Kolodziejski. Extended Theory of Early-Late Code Tracking for a Bandlimited GPS Receiver. Navigation Journal. 2000, 47: 211~226
30 J. Kevin. Quick. PN Code Tracking Using Noncommensurate Sampling. IEEETransactions on Communications. 2006, 54 (10): 102~109
31刘进.高动态下码元快速同步在北斗用户机中的应用研究.武汉理工大学硕士论文. 2007: 2~56
32 D. J. Jwo. Optimization and Sensitivity Analysis of GPS Receiver Tracking Loops in Dynamic Environments. IEEE Proc. Sonar Navigation. 2001, 148(4): 241~250
33 W. J. Hurd, J. I. Statman. High Dynamic GPS Receiver Using Maximum Likelihood Estimation and Frequency Tracking. IEEE Trans. on AES. 1987, 23(4): 425~437
34 Lv Yanmei, Li Xiaomin, Sun Jiangsheng, Guo Xinyu. Study of the Comparison of GPS Signal Parameter Estimation Algorithms in High Dynamic Circumstances. Proceedings of 6th International Symposium on Test and Measurement, Nanjing, China. 2005, 8: 77~83
35刘立龙.动态对动态GPS高精度定位理论及其应用研究.武汉大学博士论文. 2005: 1~78
36 F. Butsch. A Concept for GNSS Interference Monitoring. Proceedings of ION GPS, 1999(9): 14~17
37 Wei Sun, G. Moeness Amin. A Self-coherence Antijamming GPS Receiver. IEEE Transactions on Signal Processing. 2005, 53(10): 3910~3915
38 P. W. Ward. Performance Comparisons between FLL, PLL and a Novel FLL-Assisted PLL Carrier Tracking Loop under RF Interference Conditions. ION GPS. Nashville, 2008: 783~795
39 P. T. Capozza. Measured Effects of a Narrowband Interference Suppressor on GPS Receivers. Proc. 55th Int. Annual Meeting of the Institute of Navigation. Cambridge, 2006: 645~651
40 S. Deshpande. Modulated Signal Interference in GPS Acquisition. Proc. 17th Int. Tech. Meeting Satellite Division of the Institute of Navigation, Long Beach, 2004: 76~86
41郑利龙.复杂环境下GPS信号参数估计与定位方法研究.清华大学博士论文. 2005:16~36
42 Jerome Soubie. GPS Positioning in Multipath Environment. IEEE Trans. on Signal Processing. 2002, 50(1): 141~151
43 R. L. Fante, J. J. Vaccaro. Evaluation and Reduction of Multipath Induced Bias on GPS Time of Arrival Estimates. IEEE PLANS 2002. Doral Palm SpringsResort, Palm Springs, California. 2002: 1023~1030
44 L. R. Fante, J. J. Vaccaro. Evaluation and Reduction of Multipath Induced Bias on GPS Time of Arrival. IEEE Trans. Aerospace and Electronic Systems. 2007, 39(3): 911~920
45杨铁军. GPS实时姿态测量技术与多径误差研究.电子科技大学博士论文. 2007: 1~67
46刘荟萃,许晓勇,王飞雪.扩频测距系统中多径信号伪码跟踪误差分析及消除技术.全球定位系统. 2005, (6): 72~78
2赵曙光,卢鑫,杨莘元.多载波技术在测控通信系统中的应用.第八届全国遥感遥测遥控学术研讨会.北京, 2008: 84~88
3 J. B. Berner, S. H. Bryant. Operations Comparison of Deep Space Ranging Types: Sequential Tone vs. Pseudo-Noise. IEEE Aerospace Conference Proceedings. 2002, 3: 1313~1326
4任松,陈剑红,李改芹.伪码扩频航天测控体制设计.信息与电子工程. 2007, 5(3): 102~107
5文贻军,杨文革.航天测控体制的现状与发展.国外电子测量技术. 2008, 27(7): 44~49
6 R. L. Easton. The Role of Time/Frequency in Navy Navigation Satellites. Proceedings of the IEEE. 1972, 60(5 ): 557~563
7 C. Rosetti, C. arnebianca. NAVSAT: A Global Satellite Based Navigation System. Aerospace and Electronic Systems Magazine, IEEE. 1987:15~22
8李俊生.伪码测距算法研究与仿真.国防科学技术大学硕士学位论文. 2006:1~45
9郭庆,曾宏波.卫星测控系统中伪随机码测距方法分析.通信技术. 2003, (10): 64~6
10 A. Chen. GNSS Over China: The Compass MEO Satellite Codes. Inside GNSS. 2007: 36~42
11 A. Simsky, D. Mertens, Wim De Wilde. Tracking China's MEO Satellite on a Hardware Receiver. Inside GNSS. 2007: 44~48
12 C. J. Hegarty, E. Chatre. Evolution of the Global Navigation Satellite System. Proceedings of the IEEE. 2008, 96(12): 1902–1917
13 Hui Hu, Chao Yuan. Performance Analysis of Galileo Global Position System. 2009 2nd International Conference on Power Electronics and Intelligent Transportation System (PEITS). 2009, 1: 396~399
14 CCSDS RECOMMENDED STANDARD FOR PSEUDO-NOISE RANGINGSYSTEMS. Http://public.ccsds.org/publications/archive/414x1b1.pdf
15张守信. GPS卫星测量定位理论与应用.国防科技大学出版社,1996: 92~103
16 Gary Mitchell. High Accuracy Ranging Using Spread Spectrum Technology.
15th AIAA/USU Small Satellite Conference. 2001: 662~667
17 J. F. Raquet. Multiple GPS Receiver Multipath Mitigation Technique. IEEE Radar Sonar Navigation. 2002, 149(4): 195~201.
18 M. Sahmoudi, M. G. Amin. Improved Maximum Likelihood Time Delay Estimation for GPS Positioning in Multipath. Interference and Low SNR Environments. 2006: 876~882
19 Masateru Minami, Hiroyuki Morikawa, Tomonori Aoyama. An Adaptive Multipath Mitigation Technique for GPS Signal Reception. 2000: 1625~1629.
20 D. M. Akos, P. Normark, J. Lee, K. G. Gromov, J. B. Y. Tsui. Low Power Global Navigation Satellite System Signal Detection and Processing. Proc. ION GPS, Salt Lake City, 2000: 784~791
21 M. D. Karunanayake, M. E. Cannon, G. Lachapelle. Evaluation of Assisted GPS in Weak Signal Environments Using a Hardware Simulator. ION GNSS 2004 Conference, Long Beach, 2004: 1~11
22 Ming Yu Chuang, Kai Ten Feng. Adaptive GPS Acquisition Technique in Weak Signal Environment. Proceedings of the IEEE. 2006: 2612~2616
23 B. C. Barker. Overview of the GPS M Code Signal. Proceedings of ION 2000 National Technical Meeting, Institute of Navigation, Anaheim, 2000: 542~549
24徐颖娣.在信号处理中时间延迟估计方法的研究.上海机电学院学报. 2006, 9(2): 3~45
25王琦,吴斌.航天测控系统中伪码测距精度分析.无线电工程. 2009, 39(1): 39~44
26 W. Kinmanp. Regenerative Pseudo-Noise Ranging for Deep Space Applications. Pasadena, California: Jet Propulsion Lab, 2004: 1~35
27 P. W. Kinman. Pseudo-Noise and Regenerative Ranging. DSMS Telecommunications Link Design Handbook. 2003: 483~502
28 Berner J B, Kayalar S, Perret J. The NASA Spacecraft Transponding Modem. 2000 IEEE Aerospace Conference Proceedings. 2000: 1043~1051
29 J. Betz, K. Kolodziejski. Extended Theory of Early-Late Code Tracking for a Bandlimited GPS Receiver. Navigation Journal. 2000, 47: 211~226
30 J. Kevin. Quick. PN Code Tracking Using Noncommensurate Sampling. IEEETransactions on Communications. 2006, 54 (10): 102~109
31刘进.高动态下码元快速同步在北斗用户机中的应用研究.武汉理工大学硕士论文. 2007: 2~56
32 D. J. Jwo. Optimization and Sensitivity Analysis of GPS Receiver Tracking Loops in Dynamic Environments. IEEE Proc. Sonar Navigation. 2001, 148(4): 241~250
33 W. J. Hurd, J. I. Statman. High Dynamic GPS Receiver Using Maximum Likelihood Estimation and Frequency Tracking. IEEE Trans. on AES. 1987, 23(4): 425~437
34 Lv Yanmei, Li Xiaomin, Sun Jiangsheng, Guo Xinyu. Study of the Comparison of GPS Signal Parameter Estimation Algorithms in High Dynamic Circumstances. Proceedings of 6th International Symposium on Test and Measurement, Nanjing, China. 2005, 8: 77~83
35刘立龙.动态对动态GPS高精度定位理论及其应用研究.武汉大学博士论文. 2005: 1~78
36 F. Butsch. A Concept for GNSS Interference Monitoring. Proceedings of ION GPS, 1999(9): 14~17
37 Wei Sun, G. Moeness Amin. A Self-coherence Antijamming GPS Receiver. IEEE Transactions on Signal Processing. 2005, 53(10): 3910~3915
38 P. W. Ward. Performance Comparisons between FLL, PLL and a Novel FLL-Assisted PLL Carrier Tracking Loop under RF Interference Conditions. ION GPS. Nashville, 2008: 783~795
39 P. T. Capozza. Measured Effects of a Narrowband Interference Suppressor on GPS Receivers. Proc. 55th Int. Annual Meeting of the Institute of Navigation. Cambridge, 2006: 645~651
40 S. Deshpande. Modulated Signal Interference in GPS Acquisition. Proc. 17th Int. Tech. Meeting Satellite Division of the Institute of Navigation, Long Beach, 2004: 76~86
41郑利龙.复杂环境下GPS信号参数估计与定位方法研究.清华大学博士论文. 2005:16~36
42 Jerome Soubie. GPS Positioning in Multipath Environment. IEEE Trans. on Signal Processing. 2002, 50(1): 141~151
43 R. L. Fante, J. J. Vaccaro. Evaluation and Reduction of Multipath Induced Bias on GPS Time of Arrival Estimates. IEEE PLANS 2002. Doral Palm SpringsResort, Palm Springs, California. 2002: 1023~1030
44 L. R. Fante, J. J. Vaccaro. Evaluation and Reduction of Multipath Induced Bias on GPS Time of Arrival. IEEE Trans. Aerospace and Electronic Systems. 2007, 39(3): 911~920
45杨铁军. GPS实时姿态测量技术与多径误差研究.电子科技大学博士论文. 2007: 1~67
46刘荟萃,许晓勇,王飞雪.扩频测距系统中多径信号伪码跟踪误差分析及消除技术.全球定位系统. 2005, (6): 72~78