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CN111190206A - An Inertial Assisted Tracking Loop Frequency Offset Compensation Method - Google Patents

An Inertial Assisted Tracking Loop Frequency Offset Compensation Method Download PDF

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CN111190206A
CN111190206A CN201811357961.2A CN201811357961A CN111190206A CN 111190206 A CN111190206 A CN 111190206A CN 201811357961 A CN201811357961 A CN 201811357961A CN 111190206 A CN111190206 A CN 111190206A
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filter
time
carrier
tracking loop
frequency offset
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CN111190206B (en
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王腾
洪诗聘
左启耀
李峰
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Beijing Automation Control Equipment Institute BACEI
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Beijing Automation Control Equipment Institute BACEI
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides an inertia-assisted tracking loop frequency offset self-adaptive compensation method. In the method, a receiver firstly utilizes a filter to filter speed and acceleration information provided by an INS, adaptively adjusts the filter gain of the filter according to the mean square error of speed and acceleration measurement information in the filtering process, improves the accuracy of auxiliary information in a high dynamic environment, and finally utilizes the speed auxiliary information output by filtering to compensate the frequency deviation of a carrier tracking loop, thereby improving the dynamic stress and stability of the tracking loop of the satellite navigation receiver.

Description

Frequency offset self-adaptive compensation method for tracking loop assisted by inertia
Technical Field
The invention belongs to the technical field of satellite navigation, and particularly relates to an inertia-assisted tracking loop frequency offset self-adaptive compensation method.
Background
The satellite navigation receiver is one of the most widely applied positioning systems at present, and the normal work of a tracking loop is the premise of the normal work of the satellite navigation receiver. The tracking loop consists of a carrier tracking loop and a code tracking loop, wherein the carrier tracking loop is used for tracking the carrier of the received signal so as to ensure that the local carrier sample signal and the received carrier signal keep consistent as much as possible.
When the satellite navigation receiver is in a high dynamic environment, the doppler frequency shift of the satellite navigation signal changes rapidly with time, the local sample signal is difficult to track the carrier frequency of the received signal, and the frequency deviation between the sample signal and the received signal even exceeds the loop bandwidth of the carrier loop, thereby causing the loss of lock of the carrier tracking loop. In order to adapt to higher dynamics, the receiver can increase the carrier loop bandwidth, but extra loop noise is introduced, and the sensitivity of loop tracking is reduced; higher order tracking loops may also be used, however, the design of the higher order loops is more complicated and it is not possible to design the order too high in practical applications.
Compensating for receiver tracking loop frequency offset using velocity and acceleration measurements provided by an Inertial Navigation System (INS) is a very effective means to improve the dynamic adaptability of the tracking loop. With the assistance of the INS, the bandwidth of the tracking loop of the high dynamic satellite navigation receiver can be designed to be narrow, and the loop order and the design complexity of the tracking loop can also be reduced. However, the auxiliary measurement information provided by the INS is usually discrete, the update frequency of the commonly used INS measurement information is about 100Hz, the update speed of the auxiliary information is difficult to match with the processing speed of a receiver, and the measurement result of the INS also has certain random measurement errors, which all restrict the effect of INS assistance in a high dynamic environment.
Disclosure of Invention
Aiming at the existing problems, the receiver firstly utilizes an α - β filter to carry out prediction filtering on speed and acceleration information provided by an INS, and meanwhile, the receiver self-adaptively adjusts the filtering gain of a α - β filter according to the filtering output result in the filtering process, improves the accuracy of the INS auxiliary information in a high dynamic environment, and finally utilizes the speed information output by filtering to carry out accurate compensation on the frequency deviation of a carrier tracking loop, thereby achieving the purpose of effectively improving the dynamic adaptive capacity and stability of the tracking loop.
In order to realize the purpose, the invention adopts the technical scheme that:
an inertia-assisted tracking loop frequency offset self-adaptive compensation method, which utilizes an α - β filter to predict and filter the carrier speed and acceleration information measured by INS, in the filtering process, a receiver performs self-adaptive adjustment on the filter gain of the filter according to the mean square error of the filtering output result of the previous period of time, finally converts the speed information obtained by filtering into the frequency offset compensation value of each satellite channel carrier tracking loop through line-of-sight projection to compensate the carrier loop digital oscillator,
step one, INS measures a carrier three-dimensional velocity vector obtained at the moment k
Figure BDA0001866574250000021
And three-dimensional acceleration vector
Figure BDA0001866574250000022
Transmitting the data to a satellite navigation receiver, wherein k is not less than 0 and is an integer;
step two, the satellite navigation receiver utilizes α - β filter to the received speed
Figure BDA0001866574250000023
And acceleration
Figure BDA0001866574250000024
Smoothing the filter according to the formula (1) and the formula (2), and setting the gain of the filter to α ═ pxpypz]T， β＝[qxqyqz]TAnd satisfies 0 < px＜1，0＜py＜1，0＜pz＜1，0＜qx＜4-2px， 0＜qy＜4-2py，0＜qz＜4-2pz：
Figure BDA0001866574250000025
Figure BDA0001866574250000026
Wherein the state quantity
Figure BDA0001866574250000027
A state prior estimated value at the k moment, a state transition matrix
Figure BDA0001866574250000031
K＝[α β/T]TAnd T is the interval between adjacent time instants,
Figure BDA0001866574250000032
representing the a priori estimate of the velocity at time k,
Figure BDA0001866574250000033
representing the a priori estimate of the acceleration at time k,
Figure BDA0001866574250000034
representing the filter output state quantity at time k,
Figure BDA0001866574250000035
the velocity vector is output for the filter at time k,
Figure BDA0001866574250000036
outputting a acceleration vector for the filter at the time k;
thirdly, outputting the speed estimated value output by the filter by using line-of-sight projection
Figure BDA0001866574250000037
Converting the carrier NCO compensation amount into a carrier NCO compensation amount to compensate a carrier loop, wherein the compensation method is shown as a formula (3):
Figure BDA0001866574250000038
wherein f isI,kFrequency, f, of local carrier NCO at time kI,k-1Frequency, v, of local carrier NCO at time k-1s,k＝[vs,x,kvs,y,kvs,z,k]TVelocity of movement of the satellite at time k, pk＝[px,kpy,kpz,k]TCarrier coordinate position at time k, ps,k＝[ps,x,kps,y,kps,z,k]TAs the satellite coordinate position at time k, fcThe carrier frequency of the satellite navigation signal, c represents the speed of light;
step four, repeating the steps one to three, and after the filter works for N sampling observation moments, estimating the acceleration variance output by the filter according to a formula (4):
Figure BDA0001866574250000039
where represents the hadamard product of the matrix. The gain adjustment factor γ is then obtained according to equation (5):
Figure BDA00018665742500000310
wherein
Figure BDA00018665742500000311
Is the variance of the INS velocity measurements;
step five, updating the filter gains α and β according to the gain adjustment factor γ obtained in step four, wherein the filter gain updating method is as shown in formula (6) to formula (11):
px＝((γ(1)+4γ(1)1/2)/2)((1+4(γ(1)+4γ(1)1/2))1/2-1)
qx＝2(2-px)-4(1-px)1/2
py＝((γ(2)+4γ(2)1/2)/2)((1+4(γ(2)+4γ(2)1/2))1/2-1)
qy＝2(2-py)-4(1-py)1/2
pz＝((γ(3)+4γ(3)1/2)/2)((1+4(γ(3)+4γ(3)1/2))1/2-1)
qz＝2(2-pz)-4(1-pz)1/2
wherein γ (1), γ (2), γ (3) respectively represent the 1 st, 2 nd, 3 rd elements of the gain adjustment factor γ;
and step six, repeating the step one to the step five until the satellite navigation receiver finishes the positioning calculation task.
The invention has the beneficial effects that:
the invention improves the accuracy of the speed and acceleration auxiliary information provided by the INS under the high dynamic environment through the self-adaptive α - β filter, and compensates the carrier NCO of the tracking loop by using the speed information output by filtering, thereby effectively improving the dynamic stress and stability of the tracking loop of the receiver.
Drawings
FIG. 1 is a block flow diagram of the present invention.
Detailed Description
The specific embodiment of the invention is as follows:
an inertia-assisted tracking loop frequency offset self-adaptive compensation method utilizes an α - β filter to predict and filter carrier speed and acceleration information measured by an INS, in the filtering process, a receiver performs self-adaptive adjustment on filter gain of the filter according to the mean square error of a filtering output result of a previous period of time, finally speed information obtained by filtering is converted into frequency offset compensation values of carrier tracking loops of satellite channels through line-of-sight projection, and compensation of a carrier loop digital oscillator (NCO) can be realized by the following steps:
step one, INS measures a carrier three-dimensional velocity vector obtained at the moment k
Figure BDA0001866574250000041
And three-dimensional acceleration vector
Figure BDA0001866574250000051
And transmitting the data to a satellite navigation receiver, wherein k is more than or equal to 0 and is an integer.
Step two, the satellite navigation receiver utilizes α - β filter to the received speed
Figure BDA0001866574250000052
And acceleration
Figure BDA0001866574250000053
Smoothing the filter according to the formula (1) and the formula (2), and setting the gain of the filter to α ═ pxpypz]T， β＝[qxqyqz]TAnd satisfies 0 < px＜1，0＜py＜1，0＜pz＜1，0＜qx＜4-2px， 0＜qy＜4-2py，0＜qz＜4-2pz：
Figure BDA0001866574250000054
Figure BDA0001866574250000055
Wherein the state quantity
Figure RE-GDA0002003156540000056
A state prior estimated value at the k moment, a state transition matrix
Figure RE-GDA0002003156540000057
K＝[α β/T]TAnd T is the interval between adjacent time instants,
Figure RE-GDA0002003156540000058
representing the a priori estimate of the velocity at time k,
Figure RE-GDA0002003156540000059
representing the a priori estimate of the acceleration at time k,
Figure RE-GDA00020031565400000510
representing the filter output state quantity at time k,
Figure RE-GDA00020031565400000511
the velocity vector is output for the filter at time k,
Figure RE-GDA00020031565400000512
the acceleration vector is output for the filter at time k.
Thirdly, outputting the speed estimated value output by the filter by using line-of-sight projection
Figure BDA00018665742500000513
Converting the carrier NCO compensation amount into a carrier NCO compensation amount to compensate a carrier loop, wherein the compensation method is shown as a formula (3):
Figure BDA00018665742500000514
wherein f isI,kFrequency, f, of local carrier NCO at time kI,k-1Frequency, v, of local carrier NCO at time k-1s,k＝[vs,x,kvs,y,kvs,z,k]TVelocity of movement of the satellite at time k, pk＝[px,kpy,kpz,k]TCarrier coordinate position at time k, ps,k＝[ps,x,kps,y,kps,z,k]TAs the satellite coordinate position at time k, fcThe carrier frequency of the satellite navigation signal, c, represents the speed of light.
Step four, repeating the steps one to three, and after the filter works for N sampling observation moments, estimating the acceleration variance output by the filter according to a formula (4):
Figure BDA0001866574250000061
where represents the hadamard product of the matrix. The gain adjustment factor γ is then obtained according to equation (5):
Figure BDA0001866574250000062
wherein
Figure BDA0001866574250000063
Is the variance of the INS velocity measurements.
Step five, updating the filter gains α and β according to the gain adjustment factor γ obtained in step four, wherein the filter gain updating method is as shown in formula (6) to formula (11):
px＝((γ(1)+4γ(1)1/2)/2)((1+4(γ(1)+4γ(1)1/2))1/2-1) (6)
qx＝2(2-px)-4(1-px)1/2(7)
py＝((γ(2)+4γ(2)1/2)/2)((1+4(γ(2)+4γ(2)1/2))1/2-1) (8)
qy＝2(2-py)-4(1-py)1/2(9)
pz＝((γ(3)+4γ(3)1/2)/2)((1+4(γ(3)+4γ(3)1/2))1/2-1) (10)
qz＝2(2-pz)-4(1-pz)1/2(11)
wherein γ (1), γ (2), and γ (3) respectively represent the 1 st, 2 nd, and 3 rd elements of the gain adjustment factor γ.
And step six, repeating the step one to the step five until the satellite navigation receiver finishes the positioning calculation task.

Claims (7)

1.一种惯性辅助的跟踪环路频偏自适应补偿方法，利用α-β滤波器对INS测量的载体速度以及加速度信息进行预测和滤波，在滤波过程中，接收机根据前一段时间滤波输出结果的均方误差对滤波器的滤波增益进行自适应调整，最后将滤波得到的速度信息经视距投影转化为各个卫星通道载波跟踪环路的频偏补偿值，对载波环路数字振荡器进行补偿，其特征在于：方法分为六个步骤，步骤一，INS将数据传送给卫星导航接收机，步骤二，卫星导航接收机进行滤波平滑，步骤三，利用视距投影对载波环路进行补偿，步骤四，估计INS速度测量值的方差，步骤五，更新滤波增益，步骤六、重复步骤一到步骤五。1. An inertial-assisted tracking loop frequency offset adaptive compensation method, which uses an α-β filter to predict and filter the carrier speed and acceleration information measured by the INS. During the filtering process, the receiver filters the output according to the previous period of time. The mean square error of the result is used to adaptively adjust the filter gain of the filter. Finally, the velocity information obtained by filtering is converted into the frequency offset compensation value of the carrier tracking loop of each satellite channel through line-of-sight projection. Compensation is characterized in that: the method is divided into six steps, step 1, the INS transmits data to the satellite navigation receiver, step 2, the satellite navigation receiver performs filtering and smoothing, and step 3, utilizes line-of-sight projection to compensate the carrier loop , Step 4, estimate the variance of the INS velocity measurement value, Step 5, update the filter gain, Step 6, repeat Step 1 to Step 5. 2.如权利要求1所述的一种惯性辅助的跟踪环路频偏自适应补偿方法，其特征在于：2. a kind of inertial-assisted tracking loop frequency offset adaptive compensation method as claimed in claim 1, is characterized in that: 所述步骤一、INS将k时刻测量所得的载体三维速度矢量
Figure RE-FDA0002100793290000011
和三维加速度矢量
Figure RE-FDA0002100793290000012
传输给卫星导航接收机，其中k≥0且为整数。Described step 1, INS will measure the carrier three-dimensional velocity vector obtained at time k
Figure RE-FDA0002100793290000011
and the 3D acceleration vector
Figure RE-FDA0002100793290000012
transmitted to the satellite navigation receiver, where k ≥ 0 and is an integer. 3.如权利要求1所述的一种惯性辅助的跟踪环路频偏自适应补偿方法，其特征在于：所述步骤二、卫星导航接收机利用α-β滤波器对接收到的速度
Figure RE-FDA0002100793290000013
和加速度
Figure RE-FDA0002100793290000014
按照公式(1)和公式(2)进行滤波平滑，滤波器增益设定为α＝[px py pz]T，β＝[qx qy qz]T，且满足0＜px＜1，0＜py＜1，0＜pz＜1，0＜qx＜4-2px，0＜qy＜4-2py，0＜qz＜4-2pz：3. A kind of inertial-assisted tracking loop frequency offset adaptive compensation method as claimed in claim 1, it is characterized in that: described step 2, satellite navigation receiver utilizes α-β filter to receive speed
Figure RE-FDA0002100793290000013
and acceleration
Figure RE-FDA0002100793290000014
Perform filtering and smoothing according to formula (1) and formula (2), the filter gain is set as α=[p x p y p z ] T , β=[q x q y q z ] T , and 0<p x <1, 0<p y <1, 0<p z <1, 0<q x <4-2p x , 0<q y <4-2p y , 0<q z <4-2p z :
Figure RE-FDA0002100793290000015
Figure RE-FDA0002100793290000015
Figure RE-FDA0002100793290000016
Figure RE-FDA0002100793290000016
 其中状态量
Figure RE-FDA0002100793290000017
为k时刻的状态先验估计值，状态转移矩阵
Figure RE-FDA0002100793290000021
K＝[α β/T]T，T为相邻时刻间隔，
Figure RE-FDA0002100793290000022
表示k时刻的速度先验估计值，
Figure RE-FDA0002100793290000023
表示k时刻的加速度先验估计值，
Figure RE-FDA0002100793290000024
表示k时刻的滤波器输出状态量，
Figure RE-FDA0002100793290000025
为k时刻滤波器输出速度矢量，
Figure RE-FDA0002100793290000026
为k时刻滤波器输出加速度矢量。of which state
Figure RE-FDA0002100793290000017
is the a priori estimate of the state at time k, the state transition matrix
Figure RE-FDA0002100793290000021
K=[α β/T] T , T is the interval between adjacent times,
Figure RE-FDA0002100793290000022
represents the velocity prior estimate at time k,
Figure RE-FDA0002100793290000023
represents the prior estimate of the acceleration at time k,
Figure RE-FDA0002100793290000024
represents the filter output state quantity at time k,
Figure RE-FDA0002100793290000025
is the output velocity vector of the filter at time k,
Figure RE-FDA0002100793290000026
Output acceleration vector for the filter at time k. 4.如权利要求1所述的一种惯性辅助的跟踪环路频偏自适应补偿方法，其特征在于：所述步骤三、利用视距投影将滤波器输出的速度估计值
Figure RE-FDA0002100793290000027
换算成载波NCO补偿量，对载波环路进行补偿，补偿方法如公式(3)所示：4. a kind of inertial-assisted tracking loop frequency offset adaptive compensation method as claimed in claim 1, is characterized in that: described step 3, utilizes line-of-sight projection to the velocity estimation value of filter output
Figure RE-FDA0002100793290000027
Converted to the carrier NCO compensation amount, the carrier loop is compensated, and the compensation method is shown in formula (3):
Figure RE-FDA0002100793290000028
Figure RE-FDA0002100793290000028
 其中fI,k为k时刻本地载波NCO的频率，fI,k-1为k-1时刻本地载波NCO的频率，vs,k＝[vs,x,kvs,y,k vs,z,k]T为k时刻卫星的运动速度，pk＝[px,k py,k pz,k]T为k时刻载体坐标位置，ps,k＝[ps,x,k ps,y,k ps,z,k]T为k时刻卫星坐标位置，fc卫星导航信号的载波频率，c表示光速；Where f I,k is the frequency of the local carrier NCO at time k, f I,k-1 is the frequency of the local carrier NCO at time k-1, v s,k =[v s,x,k v s,y,k v s,z,k ] T is the motion speed of the satellite at time k, p k =[p x,k p y,k p z,k ] T is the coordinate position of the carrier at time k, p s,k =[p s,x ,k p s,y,k p s,z,k ] T is the satellite coordinate position at time k, f c is the carrier frequency of the satellite navigation signal, and c is the speed of light; 5.如权利要求1所述的一种惯性辅助的跟踪环路频偏自适应补偿方法，其特征在于：所述步骤四、重复步骤一到三，在滤波器工作N个采样观测时刻之后，按照公式(4)对滤波器输出的加速度方差进行估计：5. a kind of inertial-assisted tracking loop frequency offset adaptive compensation method as claimed in claim 1, is characterized in that: described step 4, repeating step 1 to 3, after filter works N sampling observation moments, The acceleration variance of the filter output is estimated according to formula (4):
Figure RE-FDA0002100793290000029
Figure RE-FDA0002100793290000029
 其中*代表矩阵的哈达玛乘积。随后根据公式(5)得到增益调整因子γ：where * represents the Hadamard product of the matrix. Then the gain adjustment factor γ is obtained according to formula (5):
Figure RE-FDA00021007932900000210
Figure RE-FDA00021007932900000210
 其中
Figure RE-FDA00021007932900000211
为INS速度测量值的方差。in
Figure RE-FDA00021007932900000211
is the variance of the INS velocity measurements. 6.如权利要求1所述的一种惯性辅助的跟踪环路频偏自适应补偿方法，其特征在于：所述步骤五、根据步骤四所得的增益调整因子γ来更新滤波增益α和β，滤波增益更新方法如公式(6)至公式(11)所示：6. A kind of inertial-assisted tracking loop frequency offset adaptive compensation method as claimed in claim 1, it is characterized in that: described step 5, according to the gain adjustment factor γ gained in step 4 to update filter gain α and β, The filter gain update method is shown in Equation (6) to Equation (11): px＝((γ(1)+4γ(1)1/2)/2)((1+4(γ(1)+4γ(1)1/2))1/2-1) (6)p x =((γ(1)+4γ(1) 1/2 )/2)((1+4(γ(1)+4γ(1) 1/2 )) 1/2 -1) (6) qx＝2(2-px)-4(1-px)1/2 (7)q x = 2(2-p x )-4(1-p x ) 1/2 (7) py＝((γ(2)+4γ(2)1/2)/2)((1+4(γ(2)+4γ(2)1/2))1/2-1) (8)p y =((γ(2)+4γ(2) 1/2 )/2)((1+4(γ(2)+4γ(2) 1/2 )) 1/2 -1) (8) qy＝2(2-py)-4(1-py)1/2 (9)q y =2(2- py )-4(1- py ) 1/2 (9) pz＝((γ(3)+4γ(3)1/2)/2)((1+4(γ(3)+4γ(3)1/2))1/2-1) (10)p z =((γ(3)+4γ(3) 1/2 )/2)((1+4(γ(3)+4γ(3) 1/2 )) 1/2 -1) (10) qz＝2(2-pz)-4(1-pz)1/2 (11)q z =2(2-p z )-4(1-p z ) 1/2 (11) 其中γ(1)、γ(2)、γ(3)分别表示增益调整因子γ的第1、2、3个元素。γ(1), γ(2), and γ(3) represent the first, second, and third elements of the gain adjustment factor γ, respectively. 7.如权利要求1所述的一种惯性辅助的跟踪环路频偏自适应补偿方法，其特征在于：所述步骤六、重复步骤一到步骤五，直至卫星导航接收机完成本次定位解算任务。7. A kind of inertial-assisted tracking loop frequency offset adaptive compensation method as claimed in claim 1, it is characterized in that: described step 6, repeat step 1 to step 5, until satellite navigation receiver completes this positioning solution count tasks.
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