CN102436000B - Signal quality monitoring method and device - Google Patents
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Abstract
本发明提供一种信号质量监测方法和装置。监视通道和观测通道均作为跟踪通道，同时跟踪同一卫星并进入稳定跟踪状态，接收来自卫星的信号，移动码片n次，每次向前和向后移动1/n码片，分别确定一个超前采样点和滞后采样点，分别获取超前采样点和滞后采样点延迟预设等待时间的采样数据和超前采样点和滞后采样点持续预设累加时间的超前累加值和滞后累加值，从采样数据中去除抖动值，对采样数据通过对应的超前累加值或滞后累加值进行归一化处理，根据归一化处理后的采样数据拟合相关峰曲线，根据相关峰曲线判决信号质量。采用本发明提供的信号质量监测方法和装置，能够提高导航系统定位准确性。
The invention provides a signal quality monitoring method and device. Both the monitoring channel and the observation channel are used as tracking channels, simultaneously tracking the same satellite and entering a stable tracking state, receiving signals from the satellite, moving the chip n times, moving 1/n chip forward and backward each time, and determining a lead Sampling point and lagging sampling point, respectively obtain the sampling data of the advanced sampling point and the lagging sampling point delaying the preset waiting time and the leading accumulation value and the lagging accumulation value of the leading sampling point and the lagging sampling point continuing the preset accumulation time, from the sampling data The jitter value is removed, and the sampled data is normalized through the corresponding advanced accumulated value or lagged accumulated value, and the correlation peak curve is fitted according to the normalized sampled data, and the signal quality is judged according to the correlated peak curve. By adopting the signal quality monitoring method and device provided by the invention, the positioning accuracy of the navigation system can be improved.
Description
Technical field
The present invention relates to Satellite Navigation Technique, relate in particular to a kind of signal quality monitoring method and device.
Background technology
GPS (Global Position System) (Global Navigation Satellite System, guide number SS) is applied to the performance requirement that civil aviation must be satisfied International Civil Aviation Organization's regulation.State of development according to international GNSS system, GPS (Global Positioning System, be called for short GPS) be unique available navigational system of present stage, gps system has selection availability (Selective Availability in cancellation, be called for short SA) after, bearing accuracy is horizontal 13m (95%), vertical 22m (95%), this only can satisfy the air route to the precision property requirement of non-precision approach mission phase, can not satisfy civil aviation far away to the requirement of navigational system accuracy, integrity.The integrity of satellite navigation system is defined as: prescribe a time limit when error surpasses alarm, system should have the ability of timely alarm; The integrity risk exceeds for accurate positioning error the probability that thresholding does not have timely alarm.Navsat may consecutive numbers locator data that hour broadcasting is wrong and transport the control system and can not monitor, this is that civil aviation can not put up with.Therefore, satellite navigation is applied to the civil aviaton field, the problem of necessary resolution system integrity deficiency.
Ground strengthens (the Ground Based Augmentation Systems of system, abbreviation GBAS) ultimate principle is to utilize the correlativity of positioning error room and time, think that the positioning error that airborne user and ground monitoring stand in 100km is identical, common error, precision and integrity that the pseudo range difference corrected value that airborne user can broadcast by satellite receiver and system health information improve navigation.The integrity of GNSS spacing wave is the important component part of GBAS integrity.Because the configuration of GBAS ground monitoring station and receiver user is different, so the positioning error that the GNSS abnormal signal causes can't be eliminated by difference enhancing technology.
The positioning principle of GNSS is to utilize navigation message to calculate satellite actual position and receiver to the pseudorange of satellite, and obtains the position coordinates of receiver to the three dimensions range equation of receiver by resolving at least 4 satellites.Wherein, the travel-time that pseudorange equals the GNSS signal be multiply by the light velocity, and its distance of being introduced by various error terms such as actual distance and ionosphere time-delay, troposphere time-delay, receiver clock correction forms.Receiver carries out related operation to this locality spreading code that produces and the spreading code that receives the GNSS signal, spreading code to above-mentioned two signals multiplies each other rear cumulative, two signal complete matchings when correlation is maximum, just can demodulate the spread-spectrum code signals of emission, this spread-spectrum code signals comprises navigation message, then can obtain receiving the launch time of signal by navigation message and local spreading code.Receiver is completed two signal alignment according to the symmetry of spreading code related function.
Due to the above-mentioned principle of work of receiver employing of navigational system, so spreading code relevant peaks symmetry is the basis of receiver positioning calculation.When the symmetry abnormal of relevant peaks, just will inevitably cause positioning error, reduce the accuracy of navigational system positioning result.
Summary of the invention
First aspect of the present invention is to provide a kind of signal quality monitoring method, in order to solve defective of the prior art, improves the navigational system accurate positioning.
Another aspect of the present invention is to provide a kind of signal quality monitoring device, in order to solve defective of the prior art, improves the navigational system accurate positioning.
First aspect of the present invention is to provide a kind of signal quality monitoring method, comprising:
Monitor passage and observe passage all as tracking channel, follow the tracks of simultaneously same satellite and enter the tenacious tracking state, receive the signal from described satellite;
Mobile chip n time, move forward the 1/n chip at every turn and determine a leading sampled point, obtain described leading sampled point and postpone the sampled data of default stand-by period and the leading accumulated value that described leading sampled point continues the default cumulative time, and, mobile 1/n chip is determined a late samples point backward at every turn, obtain described late samples point and postpone the sampled data of default stand-by period and the hysteresis accumulated value that described late samples point continues the default cumulative time, described n is positive integer;
Remove jitter value from described sampled data;
Leading accumulated value or hysteresis accumulated value to described sampled data by correspondence carry out normalized;
According to the sampled data match relevant peaks curve after normalized;
According to described relevant peaks curve decision signal quality.
Method as above, wherein, described mobile chip n time, move forward the 1/n chip at every turn and determine a leading sampled point, obtain described leading sampled point and postpone the sampled data of default stand-by period and the leading accumulated value that described leading sampled point continues the default cumulative time, and, mobile 1/n chip is determined a late samples point backward at every turn, after obtaining the sampled data and the hysteresis accumulated value of lasting default cumulative time of described late samples point of default stand-by period of described late samples point delay, also comprise:
Accumulated value leading according to last and last hysteresis accumulated value calculate channel noise and passage signal to noise ratio (S/N ratio).
Method as above, wherein, described according to also comprising after described relevant peaks curve decision signal quality:
Set up the signal quality monitoring model according to the signal quality court verdict that described judgement is obtained
Method as above, wherein, the described jitter value of removing from described sampled data comprises:
The sampled data of the leading sampled point that is positioned at relevant peaks peak waist and late samples point is calculated rejected jitter value;
The leading sampled point that is positioned at relevant peaks peak body and the sampled data of late samples point are carried out the summit normalized.
Method as above wherein, describedly comprises according to described relevant peaks curve decision signal quality:
Calculate the summit numerical value of described relevant peaks curve and the ratio of edge value, obtain signal to noise ratio (S/N ratio), according to the grade of described signal to noise ratio (S/N ratio) division signals quality;
And/or, described relevant peaks curve is carried out uniformly-spaced continuous sampling, carry out the minimum variance linear fit for sampled point, obtain mean square value, according to described mean square value decision signal quality;
And/or, deduct the summit sampled value of described relevant peaks curve with the maximal value of the actual signal that receives, obtain error amount, according to described error amount decision signal quality.
Another aspect of the present invention is to provide a kind of signal quality monitoring device, comprising:
The Satellite Tracking unit is used for monitoring passage and observes passage all as tracking channel, follows the tracks of simultaneously same satellite and enters the tenacious tracking state, receives the signal from described satellite;
The chip mobile unit, be used for mobile chip n time, move forward the 1/n chip at every turn and determine a leading sampled point, obtain described leading sampled point and postpone the sampled data of default stand-by period and the leading accumulated value that described leading sampled point continues the default cumulative time, and, mobile 1/n chip is determined a late samples point backward at every turn, obtain described late samples point and postpone the sampled data of default stand-by period and the hysteresis accumulated value that described late samples point continues the default cumulative time, described n is positive integer;
The unit is removed in shake, is used for removing jitter value from described sampled data;
The normalization unit is used for that leading accumulated value or the hysteresis accumulated value by correspondence carries out normalized to described sampled data;
The curve unit is used for according to the sampled data match relevant peaks curve after normalized;
The signal quality decision unit is used for according to described relevant peaks curve decision signal quality.
Device as above wherein, also comprises:
The channel noise computing unit is used for accumulated value leading according to last and last hysteresis accumulated value calculates channel noise and passage signal to noise ratio (S/N ratio).
Device as above wherein, also comprises:
Signal quality monitoring model unit is used for setting up the signal quality monitoring model according to the signal quality court verdict that described judgement is obtained.
Device as above, wherein, described shake is removed the unit and specifically is used for the leading sampled point that is positioned at relevant peaks peak waist and the sampled data of late samples point are calculated the rejecting jitter value, and the leading sampled point that is positioned at relevant peaks peak body and the sampled data of late samples point are carried out the summit normalized.
Device as above, wherein, described signal quality decision unit specifically is used for calculating the summit numerical value of described relevant peaks curve and the ratio of edge value, obtains signal to noise ratio (S/N ratio), according to the grade of described signal to noise ratio (S/N ratio) division signals quality;
And/or described signal quality decision unit specifically is used for described relevant peaks curve is carried out uniformly-spaced continuous sampling, carries out the minimum variance linear fit for sampled point, obtains mean square value, according to described mean square value decision signal quality;
And/or described signal quality decision unit specifically is used for deducting with the maximal value of the actual signal that receives the summit sampled value of described relevant peaks curve, obtains error amount, according to described error amount decision signal quality.
The technique effect of one aspect of the invention is: by sampled point is carried out continuous n time, the movement of each 1/n chip, obtain sampled data, after adopting data to carry out debounce and normalized, match relevant peaks curve, according to this relevant peaks curve decision signal quality, thereby can be fully, effectively utilize receiver and get navigation signal relevant peaks sampled value, carry out the signal quality monitoring according to the relevant peaks that match obtains, when navigational system is located, the signal abnormal to the relevant peaks symmetry abandons, thereby improves the navigational system accurate positioning.
the technique effect of another aspect of the present invention is: by the chip mobile unit, sampled point is carried out continuous n time, the movement of each 1/n chip, obtain sampled data, shake is removed unit and normalization unit respectively to after adopting data to carry out debounce and normalized, curve unit match relevant peaks curve, the signal quality decision unit is according to this relevant peaks curve decision signal quality, thereby can be abundant, effectively utilize receiver and get navigation signal relevant peaks sampled value, carry out the signal quality monitoring according to the relevant peaks that match obtains, when navigational system is located, the signal abnormal to the relevant peaks symmetry abandons, thereby improve the navigational system accurate positioning.
Description of drawings
Fig. 1 is the process flow diagram of the signal quality monitoring method of the embodiment of the present invention one;
Fig. 2 is the process flow diagram of the signal quality monitoring method of the embodiment of the present invention two;
Fig. 3 is the structural representation of the signal quality monitoring device of the embodiment of the present invention three.
Embodiment
Fig. 1 is the process flow diagram of the signal quality monitoring method of the embodiment of the present invention one.As shown in Figure 1, the method comprises following process.
Step 101: monitor passage and observe passage all as tracking channel, follow the tracks of simultaneously same satellite and enter the tenacious tracking state, receive the signal from satellite.
Step 102: mobile chip n time, move forward the 1/n chip at every turn and determine a leading sampled point, obtain leading sampled point and postpone the sampled data of default stand-by period and the leading accumulated value that leading sampled point continues the default cumulative time, and, mobile 1/n chip is determined a late samples point backward at every turn, obtain late samples point and postpone the sampled data of default stand-by period and the hysteresis accumulated value that late samples point continues the default cumulative time, n is positive integer.
Step 103: remove jitter value from sampled data.
Step 104: leading accumulated value or hysteresis accumulated value to sampled data by correspondence carry out normalized.
Step 105: according to the sampled data match relevant peaks curve after normalized.
Step 106: according to relevant peaks curve decision signal quality.
In the embodiment of the present invention one, by sampled point is carried out continuous n time, sampled data is obtained in the movement of each 1/n chip, and after adopting data to carry out debounce and normalized, match relevant peaks curve is according to this relevant peaks curve decision signal quality.Thereby can be fully, effectively utilize receiver and get navigation signal relevant peaks sampled value, carry out the signal quality monitoring according to the relevant peaks that match obtains, when navigational system was located, the signal abnormal to the relevant peaks symmetry abandoned, thereby improved the navigational system accurate positioning.
Fig. 2 is the process flow diagram of the signal quality monitoring method of the embodiment of the present invention two.As shown in Figure 2, the method comprises following process.
Step 201: monitor passage and observe passage all as tracking channel, follow the tracks of simultaneously same satellite and enter the tenacious tracking state, receive the signal from satellite.
In this step, make to monitor passage and observe passage follow the tracks of simultaneously same satellite, and enter the tenacious tracking state.Particularly, at first make the observation passage carry out satellite acquisition, monitor that passage enters waiting status, its objective is and to determine at first that satellite exists.The observation passage passes through two-dimensional search, catch satellite when accumulated value during greater than decision threshold, next encircle and carrier wave ring tracking satellite by code, when the observation passage capable of being provides continuously stable accumulated value and guarantees signal to noise ratio (S/N ratio), namely judge satellite as seen, the observation passage enters tracking mode.Then, monitor that for monitoring that passage repeats above-mentioned flow process, making passage enters tracking mode equally.
Step 202: mobile chip n time, move forward the 1/n chip at every turn and determine a leading sampled point, obtain leading sampled point and postpone the sampled data of default stand-by period and the leading accumulated value that leading sampled point continues the default cumulative time, and, mobile 1/n chip is determined a late samples point backward at every turn, obtain late samples point and postpone the sampled data of default stand-by period and the hysteresis accumulated value that late samples point continues the default cumulative time, n is positive integer.
In this step, specifically can carry out according to following process.
The first step moves forward 1/n chip (being called for short chip) with the former leading sampled point of tracking channel, obtains new leading sampled point, and with former late samples point mobile 1/n chip backward, obtains new late samples point.Wait for t
0After time span, carry out data recording, obtain the sampled data of above-mentioned new leading sampled point and the sampled data of above-mentioned new late samples point.Above-mentioned t
0Be the default stand-by period.Due in actual applications, the signal quality monitoring device will be carried out above-mentioned this and move the instruction of sampled point when next one sampling is interrupted arriving, therefore have one group of sampled data because the saltus step of sampled point is affected, in order to exempt this kind impact, after getting above-mentioned new leading sampled point and above-mentioned new late samples point, can not read sampled data at once, and need to add a stand-by period, after the default stand-by period, then read sampled data.
Second step keeps t
1Time, record leading accumulated value and hysteresis accumulated value that tracking channel obtains, and ask for average.Above-mentioned t
1Be the default cumulative time.
After having completed second step, return to the first step, again the former leading sampled point of tracking channel is moved forward 1/n chip and with former late samples point mobile 1/n chip backward.So repeatedly carry out the above-mentioned first step and second step, until till leading sampled point and late samples point moved 1chip respectively, in this process, obtaining altogether sampling interval was 2n the sampled point of 1/n chip.
Step 203: accumulated value leading according to last and last hysteresis accumulated value calculate channel noise and passage signal to noise ratio (S/N ratio).
Step 5: utilize the accumulated value at edge to calculate channel noise and signal to noise ratio (S/N ratio).
In this step, particularly, due to the their cross correlation of pseudo-random code, when 1chip was above, correlated results can be thought white Gaussian noise when pseudorandom chip side-play amount.Therefore, when the monitoring channel chip offset was 1chip, the correlated results that monitoring channel reads was the Gaussian noise value, and the result that tracking channel reads is signal power, by both calculating signal to noise ratio (S/N ratio).
C/A code take gps signal L1 frequency range is relevant as example: the noise power observed quantity of selecting is as the 1ms accumulated value, so signal bandwidth has been compressed to 2KHz by original 2.046MHz, due to
Therefore, noise power has reduced 30dB accordingly.The root mean square eigenwert that receiver 1ms accumulated value white noise is corresponding is 890.In order to obtain more excellent signal to noise ratio (S/N ratio), the average of the continuous 20ms accumulated value after the employing bit synchronization is calculated, due to
Therefore, noise power can further reduce 13.1dB in the case, reaches-183.97dBW.Due to-130dBm+20dB=-160dBW+20dB=-140dBW, therefore, be-140dBW have the loss of about 17dB due to signal wire and repeater antennae, so the signal power that radio-frequency front-end is received to be about-157dBW for the transmitting terminal peak power.Snr computation is as follows: SNR=-157-(183.97)=26.97dB.Monitor that the channel setting sampled point is leading passage and instant passage spaced furthest, the sampled value of leading passage can be considered noise figure.
Step 204: remove jitter value from sampled data.
In this step, the concrete grammar of removing jitter value comprises: the leading sampled point that is positioned at relevant peaks peak waist and the sampled data of late samples point are calculated the rejecting jitter value; The leading sampled point that is positioned at relevant peaks peak body and the sampled data of late samples point are carried out the summit normalized.
This step is rejected Doppler's sudden change for the impact of relevant peaks sampling by removing jitter value.Particularly, because the relative position of satellite and receiver, relative velocity are all constantly changing, so the carriers rate that receiver also will be by the continuous adjustment of phaselocked loop itself in tracking satellite and bit rate are to reach and the synchronizeing of satellite-signal.In this process, be subject to the impact of carrier synchronization, correlation peak can occur and shake the even situation of passage losing lock.The relevant peaks sampled value error that obtains in the case is larger, therefore need to reject above-mentioned error by de-jitter.
Data shake occurred owing to relocking, and these shakes are to be caused by the phaselocked loop of passage itself and Doppler shift, have following characteristics: 1, a plurality of passages produce simultaneously, and the shake data have very strong correlativity; 2, little for the relative ratio impact of sampled point, but for definitely only having certain influence.Therefore, when removing jitter value, can adopt following two kinds of main methods.Disposal route 1: adopt the summit normalized for correlation.Particularly, this disposal route thinks that the summit correlation is 1, as benchmark, obtains the ratio that signal intensity corresponding to sampled point account for summit and characterizes correlation peak shape, this disposal route can keep the relevant peaks distortion that produces due to reasons such as Doppler, but has lost the signal noise of summit.Disposal route 2: adopt to calculate and reject jitter value, this disposal route is the quality of monitor satellite signal itself preferably, but can lose real-time relevant peaks qualitative data and the position reference amount important for receiver.Therefore, in conjunction with above-mentioned disposal route 1 and disposal route 2 characteristics separately, in the embodiment of the present invention one, summit monitoring for relevant peaks, adopt above-mentioned disposal route 2 to process, and for the recovery of relevant peaks integral body, namely for the peak waist portions except summit in relevant peaks, adopt above-mentioned disposal route 1 to process.In the embodiment of the present invention one, in above-mentioned disposal route 2, calculate when rejecting jitter value, adopt consequent method than preceding paragraph value, for sampled point square value a
i, adopt abs (a
i/ a
i-1-1), preferably, in the embodiment of the present invention one, to the consequent thresholding employing 0.1 of carrying out data judging than preceding paragraph value, if abs is (a
i/ a
i-1-1) and abs (a
i+1/ a
i-1) all less than 0.1, illustrate that the data vibration amplitude is very little, i.e. a
iAvailable, otherwise, if abs is (a
i/ a
i-1-1) with abs (a
i+1/ a
iOne or two are arranged more than or equal to 0.1-1), a
iUnavailable.
Step 205: leading accumulated value or hysteresis accumulated value to sampled data by correspondence carry out normalized.
Because there is thermonoise in receiver itself, therefore can exert an influence to correlation peak shape, in this step, eliminate above-mentioned impact by normalized.Particularly, because modulus (Analog/Digital the is called for short AD) sampled value of receiver only has one group, different passages uses local data and the AD sampled result that produces independently to carry out related operation, and upgrades cumulative data take cumulative the interruption as sign.Therefore, be the signal correction peak of synchronization for what guarantee each channel monitoring, and the impact of noise decrease as far as possible, use same section AD sampled data.But, due to the independence of each passage, the moment that begins to calculate accumulated value is not strict unified, and this just caused within same cumulative interrupt cycle, the AD data that different passages use have certain skew, but this skew can be greater than a cumulative interrupt cycle.Simultaneously, after passage carries out bit synchronization to data, much smaller than the spreading code frequency, will produce the identical accumulated value of continuous a plurality of data symbol due to navigation message data bit frequency, i.e. the convolution of continuous a plurality of AD data and local data.For two different passages, though a plurality of accumulated values that produce on a data each small skew is arranged, but this long data and still only have the side-play amount that begins most.Can further reduce the error that data-bias causes correlation time by continuous lengthening after the specified data symbol.Simultaneously, even there is such skew, for each passage, be still that code aligns, therefore the actual error that causes is very little.Therefore, can think that the accumulated value that different in the case passages read is the relevant peaks accumulated value of synchronization, same satellite-signal.according to a plurality of continuous measurements of two different passages of the actual synchronization that obtains for a period of time of the supervision result of certain satellite power, the signal that can find out two passages within continuous time has very strong correlativity, and due to the correlativity of channel data, thermonoise is almost consistent, therefore by removing the impact of passage thermonoise for the normalization of correlation peak, and, illustrated also that not the sampled value of relevant peaks has correlation properties in the same time, therefore can carry out that relevant peaks is recovered and carry out signal quality and monitor with the sampled value of same passage in different time.
Step 206: according to the sampled data match relevant peaks curve after normalized.
Step 207: according to relevant peaks curve decision signal quality.
In this step, according to the relevant peaks data, signal quality is judged.Owing to collecting a large amount of signal datas in said process, therefore can pass judgment on signal quality based on this.Specifically can adopt one or more the combined decision signal quality in following method.Following method is only as preferred specific implementation method, and the not restriction of conduct to the signal quality decision method can also be adopted other decision method in actual applications.
Method one: calculate the summit numerical value of relevant peaks curve and the ratio of edge value, obtain signal to noise ratio (S/N ratio), according to the grade of signal to noise ratio (S/N ratio) division signals quality.
Employing method one, the signal to noise ratio (S/N ratio) by signal judge signal quality, and can be considered the signal to noise ratio (S/N ratio) of signal due to summit correlation and the ratio of edge correlation, the higher signal quality of this signal to noise ratio (S/N ratio) is more excellent, can be on this basis, and the grade of division signals quality.
Method two: the relevant peaks curve is carried out uniformly-spaced continuous sampling, carry out the minimum variance linear fit for sampled point, obtain mean square value, according to mean square value decision signal quality.
Adopt method two, carry out the judgement of signal quality by square error, for continuous n point sampling uniformly-spaced, after carrying out the minimum variance linear fit for n sampled point, the mean square value that obtains can be considered the factor such as noise to the impact of relevant peaks, and mean square value more novel clear signal quality is better.
Method three: deduct the summit sampled value of relevant peaks curve with the maximal value of the actual signal that receives, obtain error amount, according to error amount decision signal quality.
Employing method three is by relevant peaks end shape judgement signal quality.Owing to being at last the accumulated value that instantaneous code produces for pseudorange generation effect, most of receiver also adopts the lead and lag code that relatively approaches apart from summit to carry out the loop judgement in order to reach higher precision, so the shape of summit is prior basis for estimation.Slope is as the relevant peaks of k as example after the match of n point sampling, and chip-spaced represents with c, and the summit sampled value is with m
0Expression, the sampled point mathematical expectation nearest apart from summit is m
0-kc passes through m
0For actual sample value m
1-m
0The error that obtains can judge signal quality.
Step 208: set up the signal quality monitoring model according to the signal quality court verdict that judgement is obtained.
In this step, particularly, the principle because GNSS adopts the four stars location can more than 6, therefore, if obtain better locating effect, need to select star in satellites in view quantity under most of condition.In the signal quality monitoring model, can utilize above-mentioned signal quality monitoring result for selecting star that foundation is provided, particularly, can utilize the monitoring result of the parameters in various decision methods in above-mentioned steps 207 to be weighted calculating.The method of weighted calculation is: p=k
1* p
1+ k
2* p
2+ k
3* p
3+ ...Wherein, k
iBe the weighted value of the monitoring result of parameters, p
iBe the monitoring result of parameters, i=1,2 ...
And, after determining position location satellite, may produce larger error because the effects such as multipath make monitored result signal, therefore, in the signal quality monitoring model, during greater than threshold value, can carry out alarm when a certain monitoring numerical value to the user.
In the embodiment of the present invention two, by sampled point is carried out continuous n time, sampled data is obtained in the movement of each 1/n chip, and after adopting data to carry out debounce and normalized, match relevant peaks curve is according to this relevant peaks curve decision signal quality.Thereby can be fully, effectively utilize receiver and get navigation signal relevant peaks sampled value, carry out the signal quality monitoring according to the relevant peaks that match obtains, when navigational system was located, the signal abnormal to the relevant peaks symmetry abandoned, thereby improved the navigational system accurate positioning.And, can also according to sampled data Acquisition channel noise situations, set up the signal quality monitoring model according to above-mentioned signal quality court verdict.Due to the deviation of having rejected detection statistic, therefore improved the sensitivity that the GNSS signal quality detects.Owing to adopting single channel to carry out above-mentioned chip move operation, therefore adopt the signal quality monitoring method of the embodiment of the present invention two in receiver, can improve the channel utilization index of this receiver, reduce the manufacturing cost of monitor-type receiver.
Fig. 3 is the structural representation of the signal quality monitoring device of the embodiment of the present invention three.As shown in Figure 3, this device comprises at least: unit 33, normalization unit 34, curve unit 35, signal quality decision unit 36 are removed in Satellite Tracking unit 31, chip mobile unit 32, shake.
Wherein, Satellite Tracking unit 31 is used for monitoring that passage and observation passage all as tracking channel, follow the tracks of simultaneously same satellite and enter the tenacious tracking state, and reception is from the signal of satellite.
Chip mobile unit 32 is used for mobile chip n time, move forward the 1/n chip at every turn and determine a leading sampled point, obtain leading sampled point and postpone the sampled data of default stand-by period and the leading accumulated value that leading sampled point continues the default cumulative time, and, mobile 1/n chip is determined a late samples point backward at every turn, obtain late samples point and postpone the sampled data of default stand-by period and the hysteresis accumulated value that late samples point continues the default cumulative time, n is positive integer.
Shake is removed unit 33 and is used for removing jitter value from sampled data.
Signal quality decision unit 36 is used for according to relevant peaks curve decision signal quality.
On the basis of technique scheme, further, this signal quality monitoring device can also comprise: channel noise computing unit 37.Channel noise computing unit 37 is used for accumulated value leading according to last and last hysteresis accumulated value calculates channel noise and passage signal to noise ratio (S/N ratio).
On the basis of technique scheme, further, this signal quality monitoring device can also comprise: signal quality monitoring model unit 38.Signal quality monitoring model unit 38 is used for setting up the signal quality monitoring model according to the signal quality court verdict that judgement is obtained.
On the basis of technique scheme, further, shake is removed unit 33 concrete being used for the leading sampled point that is positioned at relevant peaks peak waist and the sampled data of late samples point is calculated the rejecting jitter value, and the leading sampled point that is positioned at relevant peaks peak body and the sampled data of late samples point are carried out the summit normalized.
On the basis of technique scheme, further, the concrete summit numerical value of calculating relevant peaks curve and the ratio of edge value of being used for of signal quality decision unit 36 obtains signal to noise ratio (S/N ratio), according to the grade of signal to noise ratio (S/N ratio) division signals quality.And/or signal quality decision unit 36 is concrete carries out the minimum variance linear fit for the relevant peaks curve is carried out uniformly-spaced continuous sampling for sampled point, obtains mean square value, according to mean square value decision signal quality.And/or the concrete summit sampled value that is used for deducting with the maximal value of the actual signal that receives the relevant peaks curve of signal quality decision unit 36 obtains error amount, according to error amount decision signal quality.
in the embodiment of the present invention three, signal quality measured device carries out continuous n time sampled point by the chip mobile unit, the movement of each 1/n chip, obtain sampled data, the shake of signal quality measured device is removed unit and normalization unit respectively to after adopting data to carry out debounce and normalized, the curve unit match relevant peaks curve of signal quality measured device, the signal quality decision unit of signal quality measured device is according to this relevant peaks curve decision signal quality, thereby can be abundant, effectively utilize receiver and get navigation signal relevant peaks sampled value, carry out the signal quality monitoring according to the relevant peaks that match obtains, when navigational system is located, the signal abnormal to the relevant peaks symmetry abandons, thereby improve the navigational system accurate positioning.And, the channel noise computing unit of signal quality measured device can also be according to sampled data Acquisition channel noise situations, and the signal quality monitoring model can also be set up according to above-mentioned signal quality court verdict in the signal quality monitoring model unit of signal quality measured device.Reject the deviation of detection statistic due to this signal quality measured device, therefore improved the sensitivity that the GNSS signal quality detects.Carry out above-mentioned chip move operation because this signal quality measured device adopts single channel, therefore can improve the channel utilization index of this receiver, should be arranged in receiver by signal quality measured device, can reduce the manufacturing cost of monitor-type receiver.
One of ordinary skill in the art will appreciate that: all or part of step that realizes above-mentioned each embodiment of the method can be completed by the hardware that programmed instruction is correlated with.Aforesaid program can be stored in a computer read/write memory medium.This program is carried out the step that comprises above-mentioned each embodiment of the method when carrying out; And aforesaid storage medium comprises: the various media that can be program code stored such as ROM, RAM, magnetic disc or CD.
It should be noted that at last: above each embodiment is not intended to limit only in order to technical scheme of the present invention to be described; Although with reference to aforementioned each embodiment, the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps some or all of technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the scope of various embodiments of the present invention technical scheme.
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| CN102508263B (en) * | 2011-11-08 | 2013-04-24 | 北京航空航天大学 | Method for monitoring signal quality by adopting multichannel parallel correlation peak sampling mode |
| CN107064969B (en) * | 2017-03-06 | 2019-11-26 | 哈尔滨工程大学 | A kind of GNSS receiver phase estimator and compensation method |
| CN109239740B (en) * | 2018-09-13 | 2021-05-25 | 深圳思凯微电子有限公司 | Data sending method and device and data receiving method and device |
| CN110456390B (en) * | 2019-07-24 | 2021-04-13 | 北京空间飞行器总体设计部 | Device and method for monitoring on-orbit integrity risk of navigation satellite |
| CN112526563B (en) * | 2020-11-30 | 2022-05-03 | 北京航空航天大学 | GNSS signal quality monitoring method and system |
| CN114879229B (en) * | 2022-05-25 | 2023-07-18 | 中国民用航空飞行学院 | A satellite navigation signal distortion detection method suitable for GBAS system |
| CN116794690B (en) * | 2023-08-17 | 2023-11-17 | 中国科学院国家空间科学中心 | DDM data quality real-time monitoring method and system |
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