CN104502924A - GPS (global position system) signal processing method and device - Google Patents

Abstract

The invention discloses a GPS signal processing method and device, wherein the method includes: receiving a GPS signal, the GPS signal including a plurality of multipath signals; The time domain information and the spatial domain information including the propagation direction; according to the time delay two-dimensional degree of freedom and the propagation direction, using super-resolution technology to calculate the first signal parameters of the multiple multipath signals; for the multipath The signal is filtered, and the multiple filtered multipath signals are separated according to the first signal parameter. The GPS signal processing method of the present invention, by developing an effective multipath signal separation technology, researches the use of multichannel space information to realize the distinction and extraction of multipath signals. Multipath signals can be used to enhance the signal-to-noise ratio. Therefore, through the research of effective multipath signal combination and coherent superposition methods, the separation and enhancement of navigation signals under multipath conditions are realized.

Description

A GPS signal processing method and device

technical field

The present invention relates to the technical field of GPS communication, in particular to a GPS signal processing method and device.

Background technique

The traditional global satellite positioning system receiver adopts a single-antenna design, and its antenna pattern has an upper hemispherical coverage characteristic, but because the multi-path signals reflected by the ground and other ground interference signals generally have a low elevation angle, in order to eliminate these useless interference The signal requires very low elevation and the gain is very low.

Usually, the GPS signal and the interference come in different directions, and the adaptive antenna array is used to form a spatial beam to enhance the signal and suppress the interference. Adaptive antenna array technology adjusts the array weighting coefficients adaptively. The adaptive antenna array uses the spatial characteristics to distinguish signals and interferences. It can form beams in the signal direction and form nulls in the interference.

In terms of the engineering application of adaptive antenna array global satellite positioning and navigation anti-jamming, British Raytheon Systems Company produced the GAS-1 type aviation analog GPS receiver zero trap anti-jamming receiving antenna. In 2002, Raytheon Systems proposed the "Precision Guidance System" program and obtained the support of the U.S. Navy Air Sea Warfare System Center. The first step of PGS is to improve GAS-1 into a digital receiver and form a fully digital system. The new generation of high-gain navigation receiver developed by Navsys combines the array signals from up to 16 antennas, and has strong airspace anti-jamming capability. An adaptive zeroing anti-jamming global positioning and inertial navigation guidance system developed by the U.S. Air Force Laboratory.

Contents of the invention

In order to solve the problem of poor communication efficiency caused by global satellite positioning system communication signal power existing in the prior art, the present invention proposes a GPS signal processing method and device.

The method includes:

receiving a GPS signal, the GPS signal comprising a plurality of multipath signals;

Acquiring time domain information including time delay two-dimensional degrees of freedom and space domain information including propagation direction in the multiple multipath signals;

calculating first signal parameters of the plurality of multipath signals by using a super-resolution technique according to the time-delay two-dimensional degrees of freedom and the propagation direction;

Filter the multipath signals, and separate the filtered multipath signals according to the first signal parameters.

The GPS signal processing method of the present invention studies the use of multi-channel spatial information to realize the distinction and extraction of multi-path signals by developing an effective multi-path signal separation technology. Multipath signals can be used to enhance the signal-to-noise ratio. Therefore, through the research of effective multipath signal combination and coherent superposition methods, the separation and enhancement of navigation signals under multipath conditions are realized. Through the research on multipath signal separation and enhancement method under the condition of low signal-to-noise ratio, the robust reception of navigation signal in complex electromagnetic environment is realized, and the performance of global satellite positioning system is improved.

The device, including:

A signal receiving module, configured to receive a GPS signal, the GPS signal including a plurality of multipath signals;

An information acquisition module, configured to acquire time-domain information including time-delay two-dimensional degrees of freedom and space-domain information including propagation directions in the plurality of multipath signals;

The first calculation module is used to calculate the first signal parameters of the plurality of multipath signals by using super-resolution technology according to the time delay two-dimensional degree of freedom and the propagation direction;

The signal separation module is configured to filter the multipath signals, and separate the filtered multipath signals according to the first signal parameters.

The GPS signal processing device of the present invention researches the use of multi-channel spatial information to realize the distinction and extraction of multi-path signals by developing an effective multi-path signal separation technology. Multipath signals can be used to enhance the signal-to-noise ratio. Therefore, through the research of effective multipath signal combination and coherent superposition methods, the separation and enhancement of navigation signals under multipath conditions are realized. Through the research on multipath signal separation and enhancement method under the condition of low signal-to-noise ratio, the robust reception of navigation signal in complex electromagnetic environment is realized, and the performance of global satellite positioning system is improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:

Fig. 1 is the method flowchart of the embodiment of the present invention;

Fig. 2 is a schematic diagram of the device structure of the embodiment of the present invention.

Detailed ways

The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

In order to solve the problem of poor communication efficiency caused by global satellite positioning system communication signal power existing in the prior art, the present invention proposes a GPS signal processing method and device.

As shown in Figure 1, the method includes:

Step S101: receiving a GPS signal, the GPS signal including a plurality of multipath signals;

Step S102: Obtain time domain information including time delay two-dimensional degrees of freedom and space domain information including propagation direction in the multiple multipath signals;

Step S103: According to the time delay two-dimensional degree of freedom and the propagation direction, using super-resolution technology to calculate the first signal parameters of the plurality of multipath signals;

Step S104: Filter the multipath signals, and separate the filtered multipath signals according to the first signal parameters.

Step S105: performing registration and delay compensation on the multiple multipath signals;

Step S106: Perform correlation and superposition of multiple multipath signals after registration and delay compensation.

Step S107: Transform the multipath signal into the frequency domain for accumulation, and calculate the second signal parameter of the multipath signal by using sparse reconstruction technology;

Step S108: Construct a reference signal according to the second signal parameters, and use the reference signal to correlate with the received GPS signal in a tracking loop.

Step S109: Obtain the delay parameter and direction parameter of the GPS signal;

Step S110: According to the delay parameter and the direction parameter, output signal power is generated by iterative return beam.

The GPS signal processing method of the present invention studies the use of multi-channel spatial information to realize the distinction and extraction of multi-path signals by developing an effective multi-path signal separation technology. Multipath signals can be used to enhance the signal-to-noise ratio. Therefore, through the research of effective multipath signal combination and coherent superposition methods, the separation and enhancement of navigation signals under multipath conditions are realized. Through the research on multipath signal separation and enhancement method under the condition of low signal-to-noise ratio, the robust reception of navigation signal in complex electromagnetic environment is realized, and the performance of global satellite positioning system is improved.

As shown in Figure 2, the GPS signal processing device of the present invention comprises:

Signal receiving module 10, is used for receiving GPS signal, and described GPS signal comprises a plurality of multipath signals;

An information acquisition module 20, configured to acquire time domain information including time delay two-dimensional degrees of freedom and space domain information including propagation direction in the plurality of multipath signals;

The first calculation module 30 is configured to calculate the first signal parameters of the plurality of multipath signals by using super-resolution technology according to the two-dimensional time delay degree of freedom and the propagation direction;

The signal separation module 40 is configured to filter the multipath signals, and separate the filtered multipath signals according to the first signal parameters.

A registration compensation module 50, configured to perform registration and delay compensation on the multiple multipath signals;

The correlation superposition module 60 is configured to correlate and superpose the multiple multipath signals after registration and delay compensation.

The second calculation module 70 is configured to transform the multipath signal into the frequency domain for accumulation, and calculate the second signal parameter of the multipath signal by using a sparse reconstruction technique;

The signal construction module 80 is configured to construct a reference signal according to the second signal parameters, and use the reference signal to correlate with the received GPS signal in a tracking loop.

A parameter acquisition module 90, configured to acquire a delay parameter and a direction parameter of the GPS signal;

The power calculation module 100 is configured to calculate output signal power by using iterative return beams according to the time delay parameter and the direction parameter.

The GPS signal processing device of the present invention researches the use of multi-channel spatial information to realize the distinction and extraction of multi-path signals by developing an effective multi-path signal separation technology. Multipath signals can be used to enhance the signal-to-noise ratio. Therefore, through the research of effective multipath signal combination and coherent superposition methods, the separation and enhancement of navigation signals under multipath conditions are realized. Through the research on multipath signal separation and enhancement method under the condition of low signal-to-noise ratio, the robust reception of navigation signal in complex electromagnetic environment is realized, and the performance of global satellite positioning system is improved.

The technical scheme of the present invention is described in detail below:

The commonly used adaptive algorithms in GPS anti-jamming include: power inversion method, optimal beamforming and beamforming method based on the characteristics of GPS anti-jamming signal. The power inversion method does not require prior information of the signal, and can form deep nulls in the direction of strong interference, but the algorithm is limited to suppressing strong interference, and the suppression performance of weak interference is not good, and there is no constraint on the signal.

Optimal beamforming can obtain different filtering characteristics by using different weighting criteria. The optimal beamformer based on the maximum signal-to-interference-noise ratio criterion can also direct the null to high-power interference by forming a higher gain for the signal direction; the minimum mean square error criterion requires known signal waveform information as a reference signal, and its The goal is to minimize the mean square value of the error between the array output and the reference signal; the optimization goal of the linear constraint minimum variance criterion is to minimize the output power of the antenna array under the preset linear constraints, and its pattern is related to the specific constraints. In the practical application of GPS receivers, the prior information of the signal cannot be obtained accurately, which will result in the degradation of the optimal beamforming performance. A GPS interference suppression method based on constant modulus array is proposed, but its weight vector is difficult to converge to the global optimal solution, and the system structure is relatively complex.

The space-time two-dimensional joint adaptive processing structure can realize two-dimensional adaptive signal processing through the joint space degree of freedom and time degree of freedom, and can overcome the influence of the main lobe interference signal on the reception of navigation signals. Its signal processing method was initially applied to airborne Radar ground moving target detection. In the global satellite positioning system, an FIR filter is added behind each array element of the array, a space-time adaptive processing structure is adopted, a time-domain filtering capability is introduced, and a space-time-domain two-dimensional filtering structure is formed, which can better handle complex forms such as broadband interference.

The STAP is used for GPS broadband interference suppression, and a good interference suppression effect is obtained. Space-time adaptive 2D processing requires the inversion of high-dimensional matrices, resulting in high computational complexity. Using multi-stage Wiener filtering to reduce the computational complexity of space-time two-dimensional processing has become a research hotspot in space-time dimensionality reduction processing. Multi-level Wiener filtering decomposes the solution of vector weights into several solutions of scalar weights through the transformation matrix. This method does not require high-dimensional covariance matrix to participate in the operation. By directly processing data and using filters to obtain scalar weights, it can significantly reduce the computational complexity. , which provides the possibility for the engineering application of space-time adaptive processing.

The main factors affecting the signal waveform of space-time adaptive processing include: antenna, radio frequency channel and adaptive algorithm. The impact of space-time adaptive processing on the signal is mainly manifested as code delay error and carrier phase error. The error can be pre-estimated by offline method and compensated in real time. The signal post-processing method corrects the influence of STAP, uses filter bank correction, corrects the waveform distortion by estimating the inverse filter of the space-time filter, and uses the homomorphic filter to equalize the output signal to correct the distortion.

1. Multipath interference suppression

In the absence of interference of the GPS receiver, the error sources include: satellite clock bias, elapsed time error, ionospheric delay and signal multipath. With the continuous development of the global satellite positioning system, the influence of the global satellite positioning system error sources other than the signal multipath is gradually reduced, and the signal multipath has increasingly become the primary error source.

Multipath effect refers to the phenomenon that a signal reaches the receiver antenna through two or more paths. Global satellite positioning system signals will be affected by obstacles on the propagation path during propagation, resulting in multipath. For satellite signals, since the propagation path of the multipath signal is larger than that of the direct signal, the multipath signal arrives at the receiver later than the direct signal. It is a delayed signal of the direct signal, and its power is weaker than that of the direct signal.

Traditional receivers use code-locked loops and phase-locked loops to track the code phase and carrier phase of GNSS signals, respectively. By adjusting the time delay of the code generator, the DLL makes the leading and lagging two correlation values equal to realize the code phase synchronization of the instant signal and the received signal. The multipath signal distorts the correlation value of the GNSS signal. When the lead and lag correlation values are equal, the code phases of the immediate branch and the received direct signal are not equal, resulting in a code tracking error in the DLL loop. Moreover, in the presence of multipath signals, the carrier phases of the received signal from the global satellite positioning system and the direct signal are different, resulting in carrier tracking errors in the PLL loop.

For fixed receivers such as ground monitoring stations of satellite navigation systems, good site selection is one of the important methods to reduce the impact of multipath. Multipath signals can be suppressed by exploiting the spatial degree of freedom by using array antennas. By improving the internal correlator and tracking loop structure of the receiver, for example, the use of narrow correlators can suppress multipath signals very well. It greatly reduces the time delay range of the multipath signals that can have an impact, but the narrow correlator can only deal with the multipath signals with medium and long delays, and can do nothing for the short delay multipaths.

The improved traditional phase detection function can handle short-delay multipath signals, but loses the ability to suppress long-delay multipath signals. A new phase detection function is obtained by difference of two sets of narrow correlator results, which can improve short-delay multipath suppression performance, but its robustness is average. In order to flexibly cope with complex multipath environments, receivers with anti-multipath capabilities are one of the research hotspots. Someone proposed a delay-locked loop for multipath parameter estimation. In the code tracking loop, the parameters of the multipath signal in the received signal are estimated and the multipath is eliminated, and a good multipath suppression performance is obtained. Using signal processing technology can greatly improve the accuracy of multipath estimation, such as particle filter method based on Bayesian criterion to estimate multipath parameters, genetic algorithm to estimate multipath signal parameters, and maximum likelihood method to estimate.

Aiming at the low signal-to-noise ratio, signal multipath, complex electromagnetic interference and other problems faced by the global positioning navigation system, the present invention carries out the structural design of the multi-channel navigation signal receiver system, the research on the navigation signal reception and adaptive interference suppression method in the complex electromagnetic environment And research on multipath signal separation and enhancement methods under the condition of low signal-to-noise ratio. Realize the robust reception of navigation signals in complex electromagnetic environments and improve the performance of global satellite positioning systems.

2. System structure design of multi-channel navigation signal receiver

Since single-channel navigation signal receivers are usually susceptible to interference signals, it is necessary to study multi-channel navigation signal receivers and carry out research on the structure of multi-channel receiving systems. At the same time, it is noted that although multi-channel technology has good interference suppression capabilities, traditional receivers are usually designed based on the maximum signal ratio criterion. For navigation signal receivers, linear distortion-free receivers need to be studied, so it is necessary to carry out research on multi-channel received signal processing structures .

Aiming at the fact that single-channel navigation signal receivers are usually easily affected by interference signals, a multi-channel navigation signal receiver system structure research is proposed. The multi-channel signal receiver can use the degree of freedom in the airspace to adaptively adjust the weighting value to achieve effective suppression of electromagnetic interference. Aiming at the problem of amplitude-phase distortion that usually exists in multi-channel receivers, it is planned to carry out research on multi-channel signal reception processing methods, refer to the minimum distortion-free beamformer, increase the signal waveform estimation error constraints, and design an adaptive multi-channel reception based on waveform estimation errors machine.

For multi-channel receivers, it is planned to analyze the ability to improve signal reception and interference suppression by using air domain information, time domain information, frequency domain information and joint domain information. By analyzing the influence of adaptive multi-dimensional receiving processing on the code tracking loop and carrier tracking loop in the navigation signal tracking loop, and analyzing the characteristics of the multi-dimensional signal receiving processor structure, a multi-channel navigation signal receiving system method is established.

Aiming at the problem that the space-time adaptive processing lacks constraints on the navigation signal waveform, the signal is distorted when suppressing interference and the positioning accuracy is reduced. The mechanism of signal distortion is analyzed, and the delay in the space-time adaptive processing structure is analyzed. The effect of node structure and weight vector on the correlation function, and considering the constraints of muscle-increasing signal waveform response, using the principle of filter response with linear phase characteristics, a method to solve signal distortion is proposed. The characteristics of the equivalent complex FIR filter of the space-time adaptive processing structure are analyzed, and the space-time two-dimensional domain response of the equivalent filter is constrained to satisfy the two-dimensional linear phase condition, and the space-time adaptive algorithm with linear phase characteristics is obtained. Optimize the model. The closed-form solution of the optimization model is obtained by transforming the constraint conditions.

3. Navigation signal reception and adaptive interference suppression method in complex electromagnetic environment

Navigation signal parameters in complex electromagnetic environments play a key role in signal reception, and it is necessary to carry out research on navigation signal parameter estimation methods. It is necessary to carry out research on the method of coherent accumulation of navigation signals in the space-time-frequency domain to improve the signal-to-noise ratio. In addition, due to the time-varying nature of the electromagnetic environment, it is necessary to carry out research on signal reception methods based on multi-parameters. The navigation signal power of the global satellite positioning system is low, and the signal parameter estimation accuracy is low under the condition of low signal-to-noise ratio, resulting in inaccurate signal steering vector constraints, which makes the performance of traditional adaptive array receivers drop sharply. Research on the blind beamforming method.

In view of the complex electromagnetic interference environment, it is necessary to carry out research on adaptive interference suppression methods. Carry out research on adaptive interference suppression methods in the air domain, time domain, and space-time two-dimensional joint domain. At the same time, aiming at non-ideal factors such as multi-channel receiver channel inconsistency and receiving amplitude-phase response error, a robust adaptive beamforming technology is studied to realize linear distortion-free signal receiving design.

The method of using constrained steering vector in multi-channel reception can greatly improve the signal receiving performance, and the navigation signal parameter estimation is the key to the steering vector constraint. It is proposed to use the time domain characteristics of the navigation signal to estimate the time delay parameter, and use the multi-channel airspace information to estimate the signal Then iteratively returns the output signal power of beamforming, and improves the estimation accuracy of signal parameters through iterative technology. Aiming at the problem of multi-channel interference suppression of navigation signals and the difficulty of obtaining accurate steering vectors in signal reception, it is proposed to use the autocorrelation properties of global satellite positioning system signals to study signal reception and interference suppression methods without accurately knowing the signal steering vectors to realize blind beam form. The covariance matrix of the signal is estimated by using the correlation peaks of multiple cycles of the navigation signal, and the optimal weight is obtained under the criterion of the optimal waveform output by using the covariance matrix before and after the correlation.

Aiming at non-ideal factors such as amplitude-phase response inconsistency in multi-channel, channel position error, and signal propagation distortion, it is planned to study a robust signal receiver in the space domain and space-time two-dimensional domain. The above-mentioned non-ideal factors are expressed in the form of uncertain sets, and an effective uncertain set constraint method is studied. The beamforming method is expressed as a second-order cone programming problem, and convex optimization is used to realize the design of robust airspace and space-time domain receivers. In addition, waveform constraints need to be considered. By adding waveform constraints, the designed receiver can be guaranteed to have robustness and linear distortion-free response characteristics.

4. Research on multipath signal separation and enhancement method under the condition of low signal-to-noise ratio

Navigation signals usually have multipath problems, which have a serious impact on the performance of the navigation signal receiving system, directly resulting in inaccurate correlation peak estimation and increased system positioning errors. It is necessary to carry out effective multipath signal separation technology, and study the use of multi-channel spatial information to realize the distinction and extraction of multipath signals. In addition, multipath signals can be used to enhance the signal-to-noise ratio. Therefore, it is necessary to carry out research on effective multipath signal combination and coherent superposition methods to realize the separation and enhancement of navigation signals under multipath conditions.

The technical solution of the present invention can solve the following problems:

Key technologies for time-sensitive weak target detection based on space platform:

1) Design of multi-channel navigation signal receiver signal processing structure system

2) Navigation signal parameter estimation and signal reception method in complex electromagnetic environment

3) Robust adaptive interference suppression method in complex electromagnetic environment

4) Multi-channel multi-path navigation signal separation and enhancement method

General idea of the present invention:

The present invention aims at the problems faced by the global satellite positioning system navigation signal reception, based on the research of multi-channel navigation signal receiver, by establishing the navigation signal receiver and signal processing structure, researching the navigation signal reception and interference suppression method in complex environment, Carry out research on space-time-frequency multi-dimensional signal reception methods, and use space and time degrees of freedom to achieve robust space-time adaptive interference suppression. At the same time, through the analysis of multipath signals, the space degree of freedom is used to separate and extract multipath signals, and the coherent superposition method of multipath signals is studied to improve the signal-to-noise ratio of navigation signals under multipath conditions and improve positioning accuracy.

Aiming at the low power of global satellite positioning system navigation signals and the difficulty of extracting signal correlation peaks due to the existence of multipath phenomena, it is planned to carry out research on the separation and extraction methods of multipath signals. By using the spatial information of the multipath signal, the multipath signal is distinguished by the two-dimensional freedom of the multipath propagation direction and the multipath time delay, and the optimal signal processing method is used to adopt the super-resolution signal parameters in the two-dimensional space-time domain joint domain Estimation and filtering methods to achieve separation and extraction of multipath signals.

In addition, aiming at the problem of low signal-to-noise ratio in the case of multipath signals, it is planned to improve the receiving signal-to-noise ratio by using multipath signals, and coherently superimpose the multipath signals through methods such as registration and delay compensation of multipath signals. Improve the signal-to-noise ratio. In addition, it can be considered to transform the signal into the frequency domain for accumulation, and then construct a frequency redundancy dictionary to estimate the multipath signal parameters using the sparse reconstruction method. Based on the estimated multipath parameters, a reference signal is constructed. The received signal is then correlated by using the proposed reference signal in a tracking loop.

The present invention can have a variety of specific implementations in different forms. The technical solutions of the present invention are illustrated in conjunction with the accompanying drawings by taking Figures 1-2 as examples above. This does not mean that the specific examples used by the present invention can only be limited to In the specific process or embodiment structure, those of ordinary skill in the art should understand that the specific implementations provided above are only some examples of various preferred usages, and any implementation that embodies the claims of the present invention shall be included in the present invention. Within the scope of protection required by the technical solution.

Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still The technical solutions recorded in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (8)

1. a gps signal disposal route, is characterized in that, comprising:

Receive gps signal, described gps signal comprises multiple multipath signal;

Obtain in described multiple multipath signal and comprise the time-domain information of time delay two-dimensional freedom and comprise the spatial information (si) of the direction of propagation;

According to described time delay two-dimensional freedom and the described direction of propagation, super resolution technology is adopted to calculate the first signal parameter of described multiple multipath signal;

Filtering is carried out to described multipath signal, according to described first signal parameter, filtered multiple multipath signal is separated.

2. gps signal disposal route according to claim 1, is characterized in that, also comprise:

Registration and delay compensation are carried out to described multiple multipath signal;

Multiple multipath signals after registration and delay compensation are carried out Coherent addition.

3. gps signal disposal route according to claim 1, is characterized in that, also comprise:

Described multipath signal is transformed to frequency domain accumulate, adopt sparse reconfiguration technique to calculate the secondary signal parameter of described multipath signal;

According to described secondary signal parametric configuration reference signal, in track loop, described reference signal is used to carry out relevant to the gps signal received.

4. gps signal disposal route according to claim 1, is characterized in that, also comprise:

Obtain delay parameter and the direction parameter of described gps signal;

According to described delay parameter and described direction parameter, utilize iteration echo bundle generating output signal power.

5. a gps signal treating apparatus, is characterized in that, comprising:

Signal receiving module, for receiving gps signal, described gps signal comprises multiple multipath signal;

Data obtaining module, comprises the time-domain information of time delay two-dimensional freedom for obtaining in described multiple multipath signal and comprises the spatial information (si) of the direction of propagation;

First computing module, for according to described time delay two-dimensional freedom and the described direction of propagation, adopts super resolution technology to calculate the first signal parameter of described multiple multipath signal;

Signal separation module, for carrying out filtering to described multipath signal, according to described first signal parameter, is separated filtered multiple multipath signal.

6. gps signal treating apparatus according to claim 5, is characterized in that, also comprise:

Registration compensating module, for carrying out registration and delay compensation to described multiple multipath signal;

Coherent addition module, for carrying out Coherent addition by the multiple multipath signals after registration and delay compensation.

7. gps signal treating apparatus according to claim 5, is characterized in that, also comprise:

Second computing module, accumulates for described multipath signal is transformed to frequency domain, adopts sparse reconfiguration technique to calculate the secondary signal parameter of described multipath signal;

Signal configuration module, for according to described secondary signal parametric configuration reference signal, uses described reference signal to carry out relevant to the gps signal received in track loop.

8. gps signal treating apparatus according to claim 5, is characterized in that, also comprise:

Parameter acquisition module, for obtaining delay parameter and the direction parameter of described gps signal;

Power computation module, for according to described delay parameter and described direction parameter, utilizes iteration echo bundle to calculate output signal power.