差分GPS的原理和实现方法

GPS卫星无线电导航系统预计在1995年投入正式运行。GPS信号中的P码仅供美军和特别用户使用,C/A码则向全世界民用开放。C/A码受选择可用性(SA)影响,导航静度下降到一个适当水平。为提高GPS定位精度,各国都争相研究差分GPS(DGPS)。本文从GPS误差入手,主要就DGPS原理和实现方法进行讨论。     

Attitude determination with GPS: experimental results

An approach to global positioning system (GPS) attitude determination and the results of an experimental evaluation are presented. The most outstanding features of the method are the fundamental observable used for attitude calculation, the triple difference, and the introduction of a new parameter, the differential dilution of precision (DDOP), which relates the GPS satellite geometry to the GPS accuracy when measuring angular magnitudes. The experiment used two commercial off-the-shelf GPS C/A code receivers delivering integrated Doppler measurements. The algorithm is robust with respect to phase cycle slips and does not require solving the usual integer ambiguity of the measurements. The preliminary results show that absolute attitude determination requires a calibration of the baseline and that the relative attitude accuracy is on the order of 0.1° or 2 mrads for the case of a 2-m-long baseline     

基于调制域增强副载波剥离的 GPS M码授权码流提取方法

针对 GPS M码授权码流获取问题,提出 1种新的基于调制域增强副载波剥离的方法。该方法利用 GPS C/A码和 M码码片起始位的相关性,在调制域上利用 BOC调制短码信息对 GPS M码信号进行累加增强,获取授权码流。首先,利用公开的 GPS C/A码辅助获取 GPS信号载波相位和 C/A码码相位;然后,分别利用获得的 GPS信号载波相位和 C/A码码相位,完成 GPS C/A码与交调量的剥离以及 M码授权码的初始相位对准;进一步,利用 BOC调制短码信息在调制域上实现累加增强,完成副载波剥离,获得 GPS M码授权码流;最后,利用实际采集信号对所提方法有效性进行了验证,并与现有方法进行了对比。结果表明,所提方法能够克服带宽内 P(Y)信号旁瓣能量对 M码授权码提 取的影响,可带来 3.5 dB左右的性能改善。     

面向空间导航系统设计的GPS量测仿真增强研究(英文)

在星载导航系统的初步方案规划和算法设计阶段,出于对潜在的折中考虑,高保真的GPS软件仿真器是一种必要且可行的实验室测试手段。本文研究开发了面向空间导航系统设计的GPS量测软件仿真器,它主要针对L1C/A码和载波信号,也就是说该仿真器使用MATLAB编程语言产生C/A码伪距量测和载波量测。论文推导了基于地心惯性坐标系(ECI)的数学模型,用来仿真GPS星座并产生GPS量测数据;在星历数据选择、空间电离层模型和伪距率计算等方面,深入研究并应用一系列增效措施以合理化实现该仿真器。建立的增强型GPS量测仿真器推进了我们现有的星载GPS/INS组合导航系统设计工作,将进一步提升在星载导航系统设计领域的研究。     

惯导速度辅助下GPS接收机码环的噪声响应和动态跟踪性能分析

 本文推导了C/A码信号相干和非相干接收的GPS接收机码环的动力学方程,分析了码环的噪声响应和动态跟踪性能对码环带宽的矛盾要求,并提出了解决矛盾的方法:惯导速度辅助。分析结果表明:窄带宽码环经精度为1nmile/h的惯导系统速度辅助后,动态跟踪误差为无辅助时的1/1000,接收机将兼有抗强干扰和跟踪高动态的性能。     

Performance analysis of GPS carrier phase observable

The accuracy analysis of Global Positioning System (GPS) carrier phase observable measured by a digital GPS receiver is presented. A digital phase-locked loop (DPLL) is modeled to extract the carrier phase of the received signal after a pseudorandom noise (PRN) code synchronization system despreads the received PRN coded signal. Based on phase noise characteristics of the input signal, the following performance of the first, second, and third-order DPLLs is analyzed mathematically: (1) loop stability and transient process; (2) steady-state probability density function (pdf), mean and variance of phase tracking error; (3) carrier phase acquisition performance; and (4) mean time to the first cycle-slipping. The theoretical analysis is verified by Monte Carlo computer simulations. The analysis of the dependency of the phase input noise and receiver design parameters provides with an important reference in designing the carrier phase synchronization system for high accuracy GPS positioning     

Subspace array processing for the suppression of FM jamming in GPS receivers

The mitigation of FM interference in GPS receivers is considered. In difference to commonly assumed wideband and narrowband interferers, the FM interferers are wideband, but instantaneously narrowband, and as such, have clear time-frequency (TF) signatures that are distinct from the GPS coarse acquisition (C/A) spread spectrum code. In the proposed technique, the estimate of the FM interference instantaneous frequency (IF) and the interference spatial signature are used to construct the spatiotemporal interference subspace. The IF estimates can be provided using existing effective linear or bilinear TF methods. The undesired signal arrival is suppressed by projecting the input data on the interference orthogonal subspace. With a multisensor receiver, the distinctions in both the spatial and TF signatures of signal arrivals allow effective interference suppressions. The deterministic nature of the signal model is considered and the known underlying structure of the GPS C/A code is utilized. We derive the receiver signal-to-interference-plus-noise ratio (SINR) under exact and perturbed IF values. The effect of IF estimation errors on both pseudorange measurements and navigation data recovery is analyzed. Simulation results comparing the receiver performances under IF errors in single and multiantenna GPS receivers are provided.     

Codes cross-correlation analysis and data/pilot code pairs optimization for Galileo E1 OS and GPS L1C

The Galileo E1 open service (OS) and the global positioning system (GPS) L1C are intending to use the multiplexed binary offset carrier (MBOC) modulation in E1/L1 band, including both pilot and data components. The impact of data and pilot codes cross-correlation on the distortion of the discriminator function (i.e., the S-curve) is investigated, when only the pilot (or data) components of MBOC signals are tracked. It is shown that the modulation schemes and the receiver configuration (e.g., the correlator spacing) strongly affect the S-curve bias. In this paper, two methods are proposed to optimize the data/pilot code pairs of Galileo E1 OS and GPS L1C. The optimization goal is to obtain the minimum average S-curve bias when tracking only the pilot components a the specific correlator spacing. Figures of merit, such as S-curve bias, correlation loss and code tracking variance have been adopted for analyzing and comparing the un-optimized and optimized code pairs. Simulation results show that the optimized data/pilot code pairs could significantly mitigate the intra-channel codes cross-correlation, and then improve the code tracking performance of MBOC signals.     

Gating Functions for Multipath Mitigation in GNSS BOC Signals

A new multipath mitigation technique is proposed for binary offset carrier (BOC) signals in global navigation satellite systems (GNSS) using the concept of gating function originally conceived for the GPS coarse-acquisition (C/A) code. Specially-tailored pulses are utilized to diminish the number of false-lock points of the code discriminator response and to improve the multipath mitigation capability. The code loop includes only four real correlators (two extra correlators are required for the simplified bump-jumping algorithm with BOC(n,n) signals). Results obtained with BOC(n,n) and BOC(2n,n) signals show that this technique eliminates the multipath ranging errors for reflected rays with relative delays typically above twenty percent of the spreading code chip duration, thus comparing favorably with the conventional receiver correlation techniques.     

弹道辅助的弹载接收机伪卫星信号快速捕获方案

 为实现导航式弹道修正弹在高动态环境下对导航信号的快速捕获且摆脱全球定位系统(GPS)的限制,提出了一个完整的基于伪卫星区域定位系统的弹载接收机信号快速捕获方案。首先利用期望弹道辅助获得多普勒频移初始值以缩小多普勒频移搜索范围,然后采用改进的搜索策略进一步减小多普勒频移搜索时间,最后利用三次样条插值法处理相关谱谱峰及邻近采样点的数据以提高低频采样下粗捕获(C/A)码相位的测量精度。算法分析及仿真结果表明,所提方案能有效缩短多普勒频移搜索时间,提高PN码相位测量精度。     

Analysis of GPS and Loran-C performance for land vehicle navigationin the Canadian Rockies

Loran-C and GPS were assessed for vehicular navigation along selected roads of British Columbia during the winter of 1991. The general topography of this mountainous area is described, together with the specific topographic features and tree coverage characteristics of the 2000 km of roads tested on the mainland and on Vancouver Island. The configuration and characteristics of the Loran C Canadian West Coast chain along the roads used are described. The portable vehicle-mounted system used to collect and analyze the Loran-C and GPS signals along road profiles is described. The performance of Loran-C is analyzed in terms of signal to noise ratios (SNR), field strength, and time-difference distortions, as measured by differential GPS. These distortions, which can reach several hundred meters over distances of less than 20 km, are analyzed in terms of topographic features. The possibility of using these time-independent distortions to calibrate Loran-C for use along the above roads is discussed. Masking of GPS signals due to topographic features and tree coverage along the roads is analyzed. A comparative analysis of both Loran-C and GPS is presented in terms of signal availability and accuracy     

伪距解除相关法在GPS/SINS紧组合系统中的应用研究

介绍了伪距解除相关法的原理 ,设计了一种加权平均跟踪误差估计器 ,用以估计 GPS接收机码环跟踪误差。研究结果表明 ,与未对伪距测量值进行修正时相比 ,应用伪距解除相关技术可以减小组合系统的导航误差 ,提高系统的导航精度     

遗传算法在微弱GPS信号捕获方法中的应用

 研究了微弱GPS信号的捕获问题，以捕获时较低的虚警概率和较高的检测概率为目标，以累加时的粗捕获(C/A)码周期数和导航数据数，以及捕获门限等参数为决策变量，应用遗传算法(GA)来解决这一多目标优化问题。仿真结果表明，该方法能够有效地解决所提出的问题，所得解能够优化捕获时欲选取的参数，从而提高捕获性能。     

基于GPS／DR的车辆导航系统研究

本文研究了GPS和航位推算系统的组合导航技术，给出了GPS／DR组合导航系统的设计方案。由GPS接收机、压电陀螺仪和车载里程仪组成的多传感器系统通过卡尔曼滤波器实现信息融合，以提高GPS／DR组合系统导航精度。同时也对GPS／DR系统的MAP图像处理、软件流程和工程实现做了简要说明。     

Modeling and analysis for the GPS pseudo-range observable

In this paper, a digital system for the Global Positioning System (GPS) pseudo-range observable is modeled and analyzed theoretically. The observable is measured in a GPS receiver by accurately tracking the pseudorandom noise (PRN) code phase of the input GPS signal using a digital energy detector and a digital delay lock loop (DDLL). The following issues are presented: (1) mathematical modeling of the digital PRN code acquisition and tracking system, (2) the closed-form expression derivation for the detection and false-alarm probabilities of the acquisition process and for the variance of code phase tracking error, and (3) the linear and nonlinear performance analysis of the DDLL for optimizing the receiver structures and parameters with tradeoff between the tracking errors due to receiver dynamics and due to input noise     

Forward error correction for radiobeacon broadcast of differentialGPS data

Marine radiobeacon networks are being used to broadcast differential Global Positioning System (DGPS) corrections to marine users. The correction data digitally modulate signals from some of the existing marine radiobeacons, which operate in the 285 to 325 kHz band, creating DGPS/radiobeacons. The corrections improve the accuracy of the GPS fix from 100 m to 5-10 m, and provide position fixing service for many marine applications which are too demanding for the normal GPS service. Forward error correction can be used to improve the reliability or range of the DGPS/radiobeacon signal. The improvements made possible by channel coding are analyzed, and a code for DGPS/radiobeacons is recommended     

Ground-multi path mitigation via polarization steering of GPS signal

Multipath (MP) is the dominant error source in Global Positioning System (GPS) code-based position solutions requiring high accuracy. A technique is introduced here to mitigate error due to ground-reflected MP signals. The technique uses two orthogonal dipoles to capture the direct GPS signal and the ground-reflected GPS signal. Adjusting the amplitude and phase of the received voltage between the two dipoles can reduce the impact of MP error. Theoretical derivations of this technique are performed for a GPS signal upon reflection from dry soil, seawater, and fresh water. The theoretical results are verified with a real world experiment on the aforementioned surfaces. GPS pseudo-range (PR) and carrier-to-noise ratio (C/No) measurements for specific satellites are used to verify the predicted theoretical results.     

Performance evaluation of GPS augmentation using Quasi-Zenith Satellite System

The current global positioning system (GPS) provides limited availability and capability for a country like Japan where mountainous terrain and urban canyons do not allow a clear skyline to the horizon. At present, the Japanese Quasi-Zenith Satellite System (QZSS) is under investigation through a cooperative effort between the government and the private sector. QZSS is considered a multi-function satellite system, as it is able to provide communication, broadcasting, and positioning services for mobile users in a specified region with a high elevation angle. The additional GPS compatible signals from QZSS can remarkably improve the availability, accuracy, and capability of GPS positioning. This work focuses on the performance of GPS augmentation using the proposed QZSS. The QZSS satellite constellation and signal structure are briefly reviewed. Positioning with pseudo-range and carrier phase are discussed. The performance of GPS augmentation using QZSS in the Asian-Pacific and Australian area is studied using software simulations. The results are presented using the number of visible satellites as a measure of availability, GDOP as a measure of accuracy, and ambiguity success rate as a measure of capability of carrier-phase-based positioning with spatial and temporal variations. The results show that the QZSS will improve not only the availability and accuracy of GPS positioning, but will also enhance the capability of the GPS carrier-phase-based positioning in Japan and neighboring regions.     

New approach for suppression of FM jamming in GPS receivers

A new approach is proposed for the suppression of FM jammers in C/A code GPS receivers. This approach is based on the cascading of the augmented-state approximate conditional mean (ASACM) filter and the discrete wavelet transform (DWT) filter. An ASACM filter for single interference suppression in spread-spectrum systems has been reported in the recent literature. However, the formulation of the ASACM filter and its performance analysis is lacking in the case of suppression of multiple FM interferences. The ASACM filter is formulated here for the suppression of multiple FM jammers. Further, a DWT filter using biorthogonal wavelet is suggested for the suppression of FM jammers. Finally, these two filters are cascaded to get an optimum performance for higher jammer to signal ratio, which is of importance in the GPS, for the case of suppression of multiple FM jammers. The performance of the proposed filters is analyzed through simulation examples for the suppression of single and multiple FM jammers in GPS receivers