Adaptive extended Kalman tracking method and device and storage medium

Abstract

The invention discloses an adaptive extended Kalman tracking method and device and a storage medium, and belongs to the technical field of satellite navigation. The method comprises that a carrier-to-noise ratio is estimated accurately in real time, a state noise covariance matrix and an observation noise covariance matrix at present time are determined by utilizing a pre-established nonlinear mapping relation according to the carrier-to-noise ratio at present time, further a system state vector and state covariance matrix of present time is obtained according to the state noise covariance matrix and an observation noise covariance matrix at present time, adjustment amount of carrier NCO and code NCO are generated according a system state vector of the present time, the local carrier waveand local pseudo random code are adjusted according to the adjustment amount of carrier NCO and code NCO, and a satellite signal is tracked in real time. Thus, a loop parameter is adjusted adaptivelyby using the carrier-to-noise ratio to match different scenes and signal environments, and the satellite signal tracking precision and sensitivity are improved greatly.

Description

technical field [0001] The invention relates to the technical field of satellite navigation, in particular to an adaptive extended Kalman tracking method, device and storage medium. Background technique [0002] In recent years, the global satellite navigation system has developed extremely rapidly. So far, the global satellite navigation systems mainly include the GPS system of the United States, the GLONASS system of Russia, the GALILEO system of the European Union, and the Beidou satellite navigation system of my country. In addition, there are many regional enhancement systems. . These satellite navigation systems compete with each other in application, and are technically integrated with each other, which promotes the continuous update and development of satellite navigation systems. It is not only widely used in the military, but also penetrates into every aspect of people's lives. The continuous expansion of navigation system applications also puts forward higher requ...

AI Technical Summary

Problems solved by technology

[0003] Since the navigation satellite is relatively far away from the earth, the transmission power is not large, and now there are many high-rise buildings in the city, the multipath effect cannot be ignored, and various unintentional radio frequency interference occurs from time to time. In extreme cases, the satellite signal power may be lower than -160dBm. This poses a serious challenge to the tracking of navigation signals

Images