智能GPS软件接收机载波跟踪环路设计

传统的GPS接收机设计较为固定,用户不能改变接收机各类参数以适应不同导航信号处理的需要.而软件接收机只需做较小改动就可以适应不同信号,能够迅速分析、仿真、实现各类算法.在GPS软件接收机的基础上,利用鉴频器辅助鉴相器的输出,引入一个模糊逻辑控制器,使得环路能够智能跟踪GPS信号的动态变化.实验结果证明所提出的设计方法与传统环路相比可大幅度缩短跟踪时间,减小环路滤波器带宽,并能消除周跳.      

RNSS/INS深耦合高动态导航接收机测试方法研究CSCD

卫星导航和惯性导航采用深耦合方式实现导航作为世界上最先进的导航形式,在国防中的应用越来越广泛,但其在高动态下的性能需要验证。当前针对深耦合高动态下导航接收机的测试研究较少,本文介绍了基于卫星信号模拟器的测试系统组成及测试用高动态场景,运用模拟测试原理,通过对导航接收机在高动态下定位速度和跟踪灵敏度的测试及其结果分析,验证了导航接收机的深耦合功能,对此类接收机的测试方法进行了初步探究。     

一种用于电离层TEC监测的GNSS信号载波跟踪算法

全球卫星导航系统（GNSS）是电离层TEC监测中应用最普遍的手段. 目前方法通常是在传统导航用途的GNSS接收机输出的原始观测量基础上,经过数据后处理得到电离层TEC信息,其GNSS信号的跟踪处理算法依然采用GNSS导航接收机的算法. 针对GNSS系统用于电离层TEC监测的特殊性,提出一种称为GNSS双频信号和差联合跟踪的新算法,与传统方法相比,该算法直接跟踪电离层TEC的变化,可以提高电离层TEC跟踪的灵敏度和TEC的观测精度,改善电离层TEC监测性能.      

基于高轨航天器的GNSS接收机技术

全球导航卫星系统（GlobalNavigationSatelliteSystem,GNSS）应用于高轨航天器时,因轨道高于导航卫星,可见星数量急剧减少,空间信号功率微弱,信号的快速捕获和跟踪十分困难。文章对高轨地球同步轨道（GeosynchronousEarthOrbit,GEO）接收技术进行了研究。以中国实践十七号卫星为研究对象,采用官方正式发布的发射天线方向图对GEO下GNSS信号特征及可用性开展研究分析,并针对高轨道航天器GNSS信号微弱的特点,采用长时间积分处理的梳状滤波方法、差分相干累加比特同步算法和基于动力学模型补偿的扩展卡尔曼滤波自主定轨算法设计GNSS接收机,并在半物理仿真平台进行了测试验证。试验结果表明：GNSS接收机捕获灵敏度优于-173dBW,跟踪灵敏度优于-175dBW,定轨位置精度优于50m,速度精度优于0.01m/s。     

一种新的SINS/GPS深组合导航系统设计

为了提高GPS在高动态、强干扰条件下的跟踪性能和导航精度,提出了一种新的SINS/GPS深组合导航方案.利用卡尔曼滤波器反馈回路取代了传统接收机中独立、并行的跟踪回路,能够同时完成所有可视卫星信号和组合导航信息处理的任务;利用矢量跟踪算法加强各跟踪通道相互关联,增强跟踪通道对信号载噪比变化的适应能力,从而提高接收机在信号中断条件下的导航性能;利用相关器输出的I和Q路测量值直接作为导航滤波器的观测量,减小滤波过程残差,可以提高组合导航系统的导航精度和跟踪性能.仿真验证表明,这种基于矢量跟踪的深组合导航方案不仅在GPS信号中断期间能够保证系统的导航精度和可靠性,而且在低载噪比条件下可以增强导航系统的跟踪性能以及抗干扰能力.     

GPS软件接收机原理样机设计与实现

为了满足GPS/INS(Global Positioning System/Inertial Navigation System)超紧组合导航系统研究的需要,克服硬件接收机参数固定,适应性差的弱点,设计了一种参数可调、灵活控制的GPS软件接收机.采用GPS L1频率的中频采样信号,运用FFT(Fast Fourier Transform)频域捕获算法和锁相环与锁频环相互辅助的载波环路,实现了信号捕获、码环和载波环路跟踪、导航电文提取与解码、伪距及导航定位解算,并与NovAtel公司的FlexPax型硬件接收机进行了比较.跑车测试结果表明,该GPS软件接收机捕获迅速、跟踪准确,导航定位精度小于10m,动态抗干扰能力明显优于一般GPS硬件接收机,适合于GPS/INS超紧组合导航系统的应用.     

高精度SINS/CCD/GPS组合导航系统研究与仿真

选取捷联惯导系统误差作为系统状态,利用捷联惯导系统(SINS)与电荷耦合器件(CCD)星敏感器各自的姿态矩阵输出构造量测,设计SINS/CCD组合导航算法;利用SINS与全球定位系统(GPS)各自的速度、位置输出构造量测,设计SINS/GPS组合导航算法。然后,利用联邦型卡尔曼滤波技术,将各子滤波器输出的系统状态局部最优估计值送入主滤波器,通过全局最优融合算法计算得到系统状态的全局最优估计值。仿真结果表明,基于SINS/CCD/GPS的组合导航系统具有很高的导航精度,达到了3.5m的定位精度和9″的航向精度,非常适用于飞行器的高精度导航定位。     

新一代卫星导航信号测量性能分析

导航信号的测量性能最终影响系统定位、测速、授时等服务精度, 是系统顶层设计的重要论证内容之一. 结合COMPASS系统新一代卫星导航信号体制框架设计, 分析了各种应用条件下的伪距、载波相位和多普勒测量精度, 并以典型设计参数为例进行了数值计算. 结果表明, 在接收机典型设计参数和工作条件下, 各信号分量均能够实现0.1m的伪距测量精度、0.006周的载波相位测量精度以及0.005m·s-1的多普勒测量精度. 首次给出的针对新信号体制各项测量性能的研究结果可为卫星导航系统信号体制设计、 导航接收机关键参数设计以及卫星导航系统用户测距误差预算等顶层设计提供参考.      

基于高轨航天器的GNSS接收机技术

全球导航卫星系统(Global Navigation Satellite System,GNSS)应用于高轨航天器时,因轨道高于导航卫星,可见星数量急剧减少,空间信号功率微弱,信号的快速捕获和跟踪十分困难。文章对高轨地球同步轨道(Geosynchronous Earth Orbit,GEO)接收技术进行了研究。以中国实践十七号卫星为研究对象,采用官方正式发布的发射天线方向图对GEO下GNSS信号特征及可用性开展研究分析,并针对高轨道航天器GNSS信号微弱的特点,采用长时间积分处理的梳状滤波方法、差分相干累加比特同步算法和基于动力学模型补偿的扩展卡尔曼滤波自主定轨算法设计GNSS接收机,并在半物理仿真平台进行了测试验证。试验结果表明:GNSS接收机捕获灵敏度优于-173dBW,跟踪灵敏度优于-175dBW,定轨位置精度优于50m,速度精度优于0.01m/s。     

Demonstration of a high sensitivity GNSS software receiver for indoor positioning

Advances in signal processing techniques contributed to the significant improvements of GNSS receiver performance in dense multipath environments and created the opportunities for a new category of high-sensitivity GNSS (HS-GNSS) receivers that can provide GNSS location services in indoor environments. The difficulties in improving the availability, reliability, and accuracy of these indoor capable GNSS receivers exceed those of the receivers designed for the most hostile urban canyon environments. The authors of this paper identified the vector tracking schemes, signal propagation statistics, and parallel processing techniques that are critical to a robust HS-GNSS receiver for indoor environments and successfully incorporated them into a fully functional high-sensitivity software receiver. A flexible vector-based receiver architecture is introduced to combine these key indoor signal processing technologies into GSNRx-hs™ – the high sensitivity software navigation receiver developed at the University of Calgary. The resulting receiver can perform multi-mode vector tracking in indoor environment at various levels of location and timing uncertainties. In addition to the obvious improvements in time-to-first-fix (TTFF) and signal sensitivity, the field test results in indoor environments surrounded by wood, glass, and concrete showed that the new techniques effectively improved the performance of indoor GNSS positioning. With fine GNSS timing, the proposed receiver can consistently deliver indoor navigation solution with the horizontal accuracy of 2–15 m depending on the satellite geometry and the indoor environments. If only the coarse GNSS timing is available, the horizontal accuracy of the indoor navigation solution from the proposed receiver is around 30 m depending on the coarse timing accuracy, the satellite geometry, and the indoor environments. From the preliminary field test results, it has been observed that the signal processing sensitivity is the dominant factor on the availability of the indoor navigation solution, while the GNSS timing accuracy is the dominant factor on the accuracy of the indoor navigation solution.     

GNSS模拟器中频调制卡设计与实现

GNSS(Global Navigation Satellite System)信号模拟器能够根据用户所设置的GNSS系统和信号形式、载体动态和环境参数,精确模拟出载体收到的卫星信号,这为GNSS系统级仿真试验和接收机的测试提供一种高效的工具.主要研究兼容多系统多频点的卫星信号模拟器中频信号发生器和数字信号处理技术,提出了数字合路与功率控制的方法和信号相位精确模拟的途径;在基于PCIE+DSP+FPGA+DAC架构的中频板卡上完成了与PC通信、波形控制参数计算和更新、基带信号调制以及模拟中频信号的产生;最后给出了与相应的GNSS接收机的对接结果,验证了所产生中频信号的正确性和信号质量.     

An unbiased carrier-phase anti-interference filter based on mirror frequency amplitude compensation

Anti-interference and high-precision measurement are two important indicators of the performance of a satellite navigation receiver. However, current receiver designs do not simultaneously satisfy these two criteria. While the carrier-phase ranging technique is necessary for high-precision receivers, frequency domain interference suppression (FDIS) results in tracking error biases for nonideal analog receiver channels. Importantly, as the FDIS filter is adaptive, the bias will vary with the jamming pattern, particularly when the frequency of interference varies. For precision navigation applications, this bias must be mitigated. Therefore, a new FDIS filter based on the mirror frequency amplitude compensation (MFAC) method is proposed in this paper. The amplitude at the symmetry position of the notch frequency is doubled in the MFAC method to mitigate this carrier-phase bias. The simulation results showed that the MFAC method can reduce the range of the carrier-phase bias by more than 60% for different interference bandwidths, which substantially exceeds that achieved using the conventional FDIS and calibration filter methods of 20 orders.     

高轨微弱信号的跟踪算法分析及仿真

高轨航天器自主导航技术是中国迫切需要发展的航天新技术之一,广泛应用于通信、导航、气象、预警等领域.高轨导航接收机为高轨航天器自主导航定位提供了便捷有效的手段.在高动态环境下,载波频率和相位、伪码相位均随载体运动发生较大变化.由于载体动态引入的多普勒频率变化对伪码跟踪环的影响可通过载波辅助消除,接收机的动态性能主要取决于...     

北斗和GPS双模接收机干扰抑制算法的设计与实现

目前北斗/GPS双模接收系统的抗干扰研究还比较少,主要是针对GPS的抗干扰研究。北斗和GPS接收机易被干扰,为了改善强干扰环境下接收机的性能,研究不同阵列、不同算法对接收机抗干扰性能的影响,在GPS的抗干扰研究的基础上设计并实现了一套北斗和GPS双模接收系统的抗干扰平台。实验结果表明,该系统能使北斗和GPS双模接收机在-30dBm强干扰的环境下搜到6颗北斗导航卫星和5颗GPS导航卫星,并正常定位,说明该系统能达到干扰抑制的目的。该系统也可推广至多种卫星导航接收机的抗干扰平台。     

A novel predictive algorithm for double difference observations of obstructed BeiDou geostationary earth orbit (GEO) satellites

Transmission link disturbances and device failure cause global navigation satellite system (GNSS) receivers to miss observations, leading to poor accuracy in real-time kinematic (RTK) positioning. Previously described solutions for this problem are influenced by the length of the prediction period, or are unable to account for changes in receiver state because they use information from previous epochs to make predictions. We propose an algorithm for predicting double difference (DD) observations of obstructed BeiDou navigation system (BDS) GEO satellites. Our approach adopts the first-degree polynomial function for predicting missing observations. We introduce a Douglas-Peucker algorithm to judge the state of the rover receiver to reduce the impact of predictive biases. Static and kinematic experiments were carried out on BDS observations to evaluate the proposed algorithm. The results of our navigation experiment demonstrate that RTK positioning accuracy is improved from meter to decimeter level with fixed ambiguity (horizontal?<?2?cm, vertical?<?18?cm). Horizontal accuracy is improved by over 50%, and the vertical accuracies of the results of the static and kinematic experiments are increased by 47% and 27% respectively, compared with the results produced by the classical approach. Though as the baseline becomes longer, the accuracy is weakened, our predictive algorithm is an improvement over existing approaches to overcome the issue of missing data.     

SINS辅助GPS跟踪环误差分析与最优带宽设计

SINS(Strapdown Inertial Navigation System)辅助GPS(Global Positioning System)跟踪环路的结构设计是SINS/GPS超紧组合系统实现的主要环节,而环路带宽是决定不同误差源作用下GPS跟踪环路性能的关键.首先对SINS/GPS超紧组合系统中影响载波锁相环(PLL,Phase Lock Loop)跟踪性能的各误差源进行了详细的建模与分析,进而设计了一种最优环路带宽的调节方法.该方法基于最小化跟踪误差的准则,根据接收机检测到的信号载噪比实时调节PLL带宽,以使环路保持最优跟踪状态.结果表明,所设计的最优环路带宽调节方法能够有效提高SINS辅助PLL的抗干扰性能与跟踪精度.