A GNSS parallel baseband signal processing method in cluster autonomous cooperation

Abstract

The invention discloses a GNSS parallel baseband signal processing method in cluster autonomous cooperation. The GNSS parallel baseband signal processing method comprises the following steps: channelmultiplexing, auxiliary tracking, signal relative tracking, carrier phase rapid recovery, carrier phase tracking adaptive adjustment and baseband anti-multipath. According to the invention, a channelmultiplexing technology is used, and 576 paths of independent satellite signals can be tracked at the same time by using one hardware channel. The hardware scale and the power consumption are effectively reduced. An auxiliary tracking technology is used, the main frequency point bears the dynamic state of the carrier, and other frequency points only track the dynamic residual part between the frequency point and the main frequency point. The residual dynamic state is generally small, so that the bandwidth for auxiliary tracking can be very narrow, the precision of observed quantity is improved, and the burden of a CPU is greatly reduced. Meanwhile, relative tracking only performs relative dynamic tracking on two frequency points, higher tracking precision can be obtained by reducing the bandwidth, and the variance is small.

Description

technical field [0001] The invention relates to the technical field of cluster autonomous coordination, in particular to a GNSS parallel baseband signal processing method in cluster autonomous coordination. Background technique [0002] In the future informationized battlefield, drones will be more and more widely used to perform various lethal combat tasks. Under the prospect of highly informationized battlefields, the combat mode of drones will also change. The autonomous combat mode has been transformed into a combat mode in which the fleet is against the fleet and the fleet is attacking ground / surface targets. This is the UAV swarm coordinated operations. The UAV swarm forms a scale advantage and has excellent battlefield survivability and mission completion capabilities. It can be used to complete tasks such as coordinated search, coordinated interference, coordinated attack, coordinated inspection / strike, and cluster confrontation in complex confrontation environments;...

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Problems solved by technology

[0003] Among them, the key issues that need to be solved include large-scale UAV management and control, multi-UAV autonomous formation flight, swarm perception and situation sharing, swarm penetration and attack, swarm combat mission control station, etc., which require the use of Satellite navigation system, with the successive completion of various satellite navigation systems, more and more satellite signals are available in the sky. In recent years, the receivers on the market have the characteristics of multi-system and multi-frequency points, and usually can receive more than 200 channels at the same time. Satellite signals; the receiver tracks multiple satellite signals, resulting in a huge hardware scale and a significant increase in power consumption, which is contrary to the low cost, low power consumption, and small size requirements of the market. In order to provide enough To improve the reliability and output accuracy of the receiver, a special baseband design is required. Therefore, the present invention proposes a GNSS parallel baseband signal processing method in cluster autonomous coordination to solve the problems existing in the prior art

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