Tracking method, receiver and storage medium for ionospheric scintillation signal

Abstract

The embodiment of the present invention relates to the field of communications, and discloses a tracking method for ionospheric scintillation signals, a receiver, and a storage medium to solve the influence of ionospheric scintillation on receiver tracking. Applied to a receiver, the receiver includes a multi-satellite multi-frequency point joint filter, and a plurality of tracking channel structures connected to the multi-satellite multi-frequency point joint filter, each tracking channel structure corresponds to a satellite, each tracking channel structure includes a plurality of tracking channels, each tracking channel corresponds to a frequency point of the satellite, and there is inter-frequency assistance between the plurality of tracking channels, and the tracking method for ionospheric scintillation signals includes: the multi-satellite multi-frequency point joint filter obtains the correlation result provided by the tracking channel; the multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of communications, and in particular to a tracking method, a receiver and a storage medium for ionospheric scintillation signals. Background Art

[0002] Ionospheric scintillation refers to the rapid fluctuation of the amplitude and phase of the Global Navigation Satellite System (GNSS) signal over time caused by the irregular distribution of ionospheric electrons on the propagation path of the radio frequency signal. The most serious scintillation occurs in the Earth's polar regions and the equatorial region (within the latitude of ±20 degrees of the equator). In particular, ionospheric scintillation in the equatorial region will seriously affect the receiver's carrier and pseudo-code tracking, and will affect the quality of pseudo-range and carrier phase observations. Even long-term scintillation can cause the tracking loop to lose lock.

[0003] Therefore, how to solve the impact of ionospheric scintillation signals in the equatorial region on receiver tracking has become an urgent problem to be solved. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a tracking method, a receiver and a storage medium for ionospheric scintillation signals, aiming to solve the above-mentioned technical problems.

[0005] To solve the above technical problems, an embodiment of the present invention provides a method for tracking ionospheric scintillation signals, which is applied to a receiver. The receiver includes a multi-satellite multi-frequency point joint filter and a plurality of tracking channel structures connected to the multi-satellite multi-frequency point joint filter, each of the tracking channel structures corresponds to a satellite, each of the tracking channel structures includes a plurality of tracking channels, each of the tracking channels corresponds to a frequency point of the satellite, and there is inter-frequency assistance between the plurality of tracking channels. The method for tracking ionospheric scintillation signals includes: the multi-satellite multi-frequency point joint filter obtains a correlation result provided by the tracking channel; the multi-satellite multi-frequency point joint filter tracks a pseudo code and a carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel.

[0006] An embodiment of the present invention further provides a receiver suitable for tracking multi-frequency multi-satellite signals in an ionospheric scintillation environment, the receiver comprising: a multi-satellite multi-frequency joint filter, and a plurality of tracking channel structures connected to the multi-satellite multi-frequency joint filter;

[0007] Each of the tracking channel structures corresponds to a satellite, each of the tracking channel structures includes a plurality of tracking channels, each of the tracking channels corresponds to a frequency point of the satellite, and there is inter-frequency assistance between the plurality of tracking channels;

[0008] The multi-satellite multi-frequency joint filter is used to track the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation results provided by the tracking channel.

[0009] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the above-mentioned method for tracking ionospheric scintillation signals.

[0010] The technical solution provided by the embodiment of the present invention is not limited to the modification of a single tracking channel, but rather integrates the relevant results provided by the tracking channels corresponding to each frequency point owned by each satellite, and adopts the assistance between multiple satellites and multiple frequencies to improve the traditional receiver structure, thereby greatly improving the robustness of the overall tracking and positioning of the receiver, overcoming the shortcomings of single-channel tracking, and thus when using a receiver of such a structure to track ionospheric scintillation signals, it is possible to achieve high-precision tracking of the pseudo-code and carrier of the ionospheric scintillation signals, thereby greatly improving the accuracy of the tracking results.

[0011] In addition, the multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, including: the multi-satellite multi-frequency point joint filter performs PVT solution according to the correlation result of the tracking channel to obtain the position information, speed information and time information of the receiver; generates a feedback control signal of the tracking channel corresponding to the correlation result according to the position information, the speed information and the time information; and tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the feedback control signal.

[0012] In addition, each of the tracking channels includes a correlator, a local signal generator and a carrier loop; the multi-satellite multi-frequency point joint filter obtains the correlation result provided by the tracking channel, including: the multi-satellite multi-frequency point joint filter obtains the correlation result provided by each of the tracking channels; the multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, including: the multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel corresponding to the correlation result according to the correlation result of each of the tracking channels.

[0013] In addition, each of the tracking channels includes a correlator, a local signal generator, a carrier loop and a pseudo code loop; the multi-satellite multi-frequency point joint filter obtains the correlation result provided by the tracking channel, including: the multi-satellite multi-frequency point joint filter selects one of the plurality of tracking channels in the tracking channel structure corresponding to the satellite as the observation input tracking channel; the multi-satellite multi-frequency point joint filter obtains the correlation result provided by the observation input tracking channel; the multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, including: the multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in each of the tracking channels according to the correlation result of the observation input tracking channel.

[0014] In addition, each of the tracking channels includes a correlator, a local signal generator and a carrier loop; wherein, when tracking the ionospheric scintillation signal, the correlator of each tracking channel provides correlation results to the carrier loop and the multi-satellite multi-frequency point joint filter respectively; the multi-satellite multi-frequency point joint filter performs fusion filtering according to the correlation results provided by each tracking channel, provides carrier Doppler assistance to the carrier loop of each tracking channel according to the obtained fusion filtering results of each tracking channel, and provides pseudo code error parameters to the local signal generator of each tracking channel; the carrier loop provides carrier error parameters to the local signal generator according to the correlation results provided by the correlator and the carrier Doppler assistance provided by the multi-satellite multi-frequency point joint filter; the local signal generator realizes tracking of the pseudo code phase and carrier frequency of the signal in the correlator according to the pseudo code error parameters and the carrier error parameters.

[0015] In addition, the multi-satellite multi-frequency point joint filter includes a multi-frequency fusion carrier loop and a multi-frequency fusion pseudo code loop.

[0016] In addition, each of the tracking channels includes a correlator, a local signal generator, a carrier loop and a pseudo code loop; wherein, when tracking the ionospheric scintillation signal, one of the tracking channels in the tracking channel structure corresponding to the satellite is selected as the observation input tracking channel; for the observation input tracking channel, the correlator of the observation input tracking channel provides correlation results to the multi-satellite multi-frequency point joint filter, the pseudo code loop of the observation input tracking channel and the carrier loop of the observation input tracking channel respectively; the multi-satellite multi-frequency point joint filter performs fusion filtering according to the correlation results provided by the observation input tracking channel, and generates the observation input tracking channel according to the obtained fusion filtering results. The carrier loop of the measurement input tracking channel provides carrier Doppler assistance and provides a pseudo-code reference value for the pseudo-code loop of the observation input tracking channel; the carrier loop of the observation input tracking channel provides pseudo-code Doppler assistance for the pseudo-code loop of the observation input tracking channel according to the carrier Doppler assistance and the correlation result, provides carrier error parameters for the local signal generator of the observation input tracking channel, and provides carrier Doppler assistance for the carrier loop of the tracking channel except the observation input tracking channel in the tracking channel structure corresponding to the satellite; the pseudo-code loop of the observation input tracking channel provides pseudo-code Doppler assistance for the observation input tracking channel according to the pseudo-code parameter value and the pseudo-code Doppler assistance. The local signal generator of the tracking channel provides a pseudo code error parameter to provide pseudo code assistance for the pseudo code loop of the tracking channel except the observation input tracking channel in the tracking channel structure corresponding to the satellite; the local signal generator of the observation input tracking channel realizes tracking of the pseudo code phase and carrier frequency of the signal in the correlator of the observation input tracking channel according to the pseudo code error parameter and the carrier error parameter; for the tracking channels except the observation input tracking channel in the tracking channel structure corresponding to the satellite, the correlators of the tracking channels respectively provide correlation results to the pseudo code loop and the carrier loop of the tracking channel; the carrier loop of the tracking channel realizes tracking of the pseudo code phase and carrier frequency of the signal in the correlator of the observation input tracking channel according to the pseudo code error parameter and the carrier error parameter; The carrier Doppler assistance provided by the correlation result and the carrier ring of the observation input tracking channel provides pseudo-code Doppler assistance for the pseudo-code loop of the tracking channel, and provides carrier error parameters for the local signal generator of the tracking channel; the pseudo-code loop of the tracking channel provides pseudo-code error parameters for the local signal generator of the tracking channel based on the correlation result, the carrier Doppler assistance provided by the carrier ring of the tracking channel and the pseudo-code assistance provided by the pseudo-code loop of the observation input tracking channel; the local signal generator of the tracking channel tracks the pseudo-code phase and carrier frequency of the signal in the correlator of the tracking channel based on the pseudo-code error parameters and the carrier error parameters.

[0017] In addition, the multi-satellite multi-frequency point joint filter includes a single-frequency fusion carrier loop and a pseudo code phase estimator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0019] Figure 1 is a schematic structural diagram of a receiver provided by a first embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of a receiver provided by a second embodiment of the present invention;

[0021] Figure 3 is a schematic diagram of the structure of a receiver provided by a third embodiment of the present invention;

[0022] Figure 4 is a flow chart of a method for tracking ionospheric scintillation signals provided by a fourth embodiment of the present invention;

[0023] Figure 5 is a flow chart of a method for tracking ionospheric scintillation signals provided by a fifth embodiment of the present invention;

[0024] Figure 6 It is a flow chart of the method for tracking ionospheric scintillation signals provided by the sixth embodiment of the present invention. DETAILED DESCRIPTION

[0025] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0026] The first embodiment of the present invention relates to a receiver, which is mainly suitable for tracking multi-frequency multi-satellite signals in an ionospheric scintillation environment, and is particularly suitable for tracking ionospheric scintillation signals in the equatorial region.

[0027] Specifically, in this embodiment, the receiver includes a multi-satellite multi-frequency point joint filter and a plurality of tracking channel structures connected to the multi-satellite multi-frequency point joint filter.

[0028] For ease of understanding and explanation, the following Figure 1 The receiver structure is given for detailed description.

[0029] like Figure 1 As shown, the tracking channel structure in this embodiment specifically refers to Figure 1 The box structure corresponding to each satellite.

[0030] It is not difficult to find that each of the tracking channel structures corresponds to a satellite, such as Figure 1 Satellite 1, satellite 2...satellite N, each of the tracking channel structures includes a plurality of tracking channels, and each of the tracking channels corresponds to a frequency point of the satellite.

[0031] In addition, since the signals of different frequencies of the same satellite have strong correlation in time and space, there will be mutual assistance between the frequencies of the same satellite, and therefore there is inter-frequency assistance between the several tracking channels mentioned above.

[0032] It should be understood that Figure 1 What is provided is only a specific receiver structure, which does not constitute a limitation on the technical solution of the present invention. In practical applications, the number of tracking channels included in the tracking channel structure corresponding to each satellite only needs to be the same as the number of frequency points owned by the satellite, that is, to ensure that each frequency point corresponds to a separate tracking channel.

[0033] Accordingly, based on Figure 1 From the structure of the receiver shown, it can be seen that the multi-satellite multi-frequency point joint filter is used to track the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation results provided by the tracking channel.

[0034] It should be noted that, in practical applications, the correlation result provided by the tracking channel to the multi-satellite multi-frequency point joint filter may be obtained by correlation accumulation by a correlator in the tracking channel, or may be output after being processed by a discriminator, and this embodiment does not impose any limitation on this.

[0035] In addition, it is worth mentioning that, in a specific implementation, when the multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, it is specifically as follows:

[0036] First, according to the correlation result of the tracking channel, PVT solution is performed to obtain the position information, velocity information and time information of the receiver; then, according to the position information, the velocity information and the time information, a feedback control signal of the tracking channel corresponding to the correlation result is generated; finally, according to the feedback control signal, the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel are tracked.

[0037] That is to say, in the specific implementation, a PVT solution engine is also required inside the above-mentioned multi-satellite multi-frequency filter, so that the navigation information of the calculation carrier can be calculated based on the PVT solution, and the feedback control information of each tracking channel can be generated in combination with the satellite position and speed results of the ephemeris solution.

[0038] It is understandable that the PVT solution engine is generally implemented using an extended Kalman filter (EKF). The PVT algorithm used in this structure must be very reliable, because the generation of multi-satellite multi-frequency auxiliary information depends on the solution results of the PVT algorithm.

[0039] From the above description, it can be seen that the receiver provided in this embodiment is not limited to the modification of a single tracking channel, but integrates the relevant results provided by the tracking channel corresponding to each frequency point owned by each satellite, and adopts the assistance between multiple satellites and multiple frequencies to improve the traditional receiver structure, thereby greatly improving the robustness of the overall tracking and positioning of the receiver, overcoming the shortcomings of single-channel tracking, and thus when using a receiver of such a structure to track ionospheric scintillation signals, it is possible to achieve high-precision tracking of the pseudo-code and carrier of the ionospheric scintillation signals, thereby greatly improving the accuracy of the tracking results.

[0040] The second embodiment of the present invention relates to a receiver, which is mainly suitable for tracking multi-frequency multi-satellite signals in an ionospheric scintillation environment.

[0041] In this embodiment, each tracking channel in the receiver includes a correlator, a local signal generator and a carrier loop.

[0042] Furthermore, in order to enable the multi-satellite multi-frequency point joint filter to cooperate with the tracking channel of the above structure, the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel can be tracked. In this embodiment, the multi-satellite multi-frequency point joint filter adopts the form of a multi-frequency fusion carrier loop + a multi-frequency integration pseudo code loop, that is, the multi-satellite multi-frequency point joint filter includes a multi-frequency fusion carrier loop and a multi-frequency integration pseudo code loop.

[0043] For better understanding and explanation, this embodiment takes the tracking of B1I, B2I and B3I frequency signals of the Beidou system as an example to introduce a receiver based on the above structure, and the working process of each physical unit in the receiver when realizing the tracking of multi-frequency multi-satellite signals in the ionospheric scintillation environment in the equatorial region.

[0044] from Figure 2 It can be seen that in this structure of the receiver, the internal structure of the tracking channel corresponding to each frequency point of each satellite is the same, and the interaction between the physical unit inside each tracking channel and the multi-satellite multi-frequency point joint filter in the form of multi-frequency fusion carrier loop + multi-frequency integration pseudo code loop is the same.

[0045] Based on this, the following only takes the interaction between the functional entities in the B1I tracking channel and the multi-satellite multi-frequency point joint filter in the form of a multi-frequency fusion carrier loop + a multi-frequency integration pseudo code loop as an example to illustrate the process of tracking ionospheric scintillation signals.

[0046] First, the correlator of the B1I tracking channel provides correlation results to the carrier loop and the multi-frequency fusion carrier loop and the multi-frequency fusion pseudo code loop in the multi-satellite multi-frequency point joint filter respectively.

[0047] It is understandable that the relevant results mentioned here can be the output results after being processed by the discriminator in practical applications.

[0048] Then, the multi-satellite multi-frequency point joint filter performs fusion filtering according to the correlation results provided by the B1I tracking channel, and provides carrier Doppler assistance for the carrier ring of the B1I tracking channel according to the obtained fusion filtering results, and provides pseudo code error parameters for the local signal generator of the B1I tracking channel.

[0049] Next, the carrier loop of the B1I tracking channel provides carrier error parameters to the local signal generator according to the correlation result provided by the correlator and the carrier Doppler assistance provided by the multi-satellite multi-frequency point joint filter.

[0050] Finally, the local signal generator of the B1I tracking channel tracks the pseudo code phase and carrier frequency of the signal in the correlator according to the pseudo code error parameter and the carrier error parameter.

[0051] It is understandable that the above is an explanation of the process of tracking ionospheric scintillation signals by taking the interaction of the functional entities in the B1I tracking channel and the multi-satellite multi-frequency point joint filter in the form of a multi-frequency fusion carrier loop + a multi-frequency fusion pseudo code loop as an example. Therefore, the correlator, local signal generator, and carrier loop mentioned above are all in the B1I tracking channel.

[0052] It is not difficult to find from the above description that the receiver provided in this embodiment, since the carrier loop in each tracking channel will be assisted by the carrier Doppler of the upper multi-satellite multi-frequency point joint filter, only needs to track the residual Doppler, that is, the Doppler caused by ionospheric scintillation, to achieve tracking of the carrier and pseudo code of the ionospheric scintillation signal.

[0053] In addition, in the receiver provided in this embodiment, each tracking channel realizes control of the local signal generator based on its own estimated carrier error parameters and the pseudo code error parameters provided by the upper multi-satellite multi-frequency point joint filter, so that the local signal generator can realize local adjustment of the frequency point signal in the correlator.

[0054] The third embodiment of the present invention relates to a receiver, which is mainly suitable for tracking multi-frequency multi-satellite signals in an ionospheric scintillation environment.

[0055] In this embodiment, each tracking channel in the receiver includes a correlator, a local signal generator, a carrier loop and a pseudo code loop.

[0056] Furthermore, in order to enable the multi-satellite multi-frequency point joint filter to cooperate with the tracking channel of the above structure, the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel can be tracked. In this embodiment, the multi-satellite multi-frequency point joint filter adopts the form of a single-frequency fusion carrier loop + pseudo code phase estimator, that is, the multi-satellite multi-frequency point joint filter includes a single-frequency fusion carrier loop and a pseudo code phase estimator.

[0057] For better understanding and explanation, this embodiment still takes the tracking of B1I, B2I and B3I frequency signals of the Beidou system as an example to introduce a receiver based on the above structure, and the working process of each physical unit in the receiver when realizing the tracking of multi-frequency multi-satellite signals in the ionospheric scintillation environment in the equatorial region.

[0058] from Figure 3 It can be seen that the main differences between the receiver provided in this embodiment and the receiver provided in the second embodiment are: (1) each tracking channel has an independent carrier loop and pseudo code loop, and the pseudo code loop of each tracking channel is Doppler-assisted by the carrier loop; (2) the correlator output of only one frequency point for each visible satellite will be input into the upper multi-satellite multi-frequency point joint filter as an observation quantity, and the upper multi-satellite multi-frequency point joint filter only generates the carrier Doppler-assisted and pseudo code Doppler-assisted feedback quantities of the tracking channel corresponding to the frequency point; (3) the carrier loop and pseudo code loop of the tracking channel of each satellite participating in the upper fusion filtering assist the carrier loop and pseudo code loop of other channels of the same satellite; (4) the multi-satellite multi-frequency point joint filter in the form of multi-frequency fusion carrier loop + multi-frequency fusion pseudo code loop in the second embodiment is replaced by a multi-satellite multi-frequency point joint filter in the form of single-frequency fusion carrier loop + pseudo code phase estimator.

[0059] That is to say, when tracking ionospheric scintillation signals, for each satellite, it is necessary to select one of the several tracking channels in the tracking channel structure corresponding to the satellite as the observation input tracking channel.

[0060] For the sake of convenience, the following takes the B1I tracking channel as the observation input tracking channel as an example, and takes the interaction of each functional entity in each tracking channel (B1I tracking channel, B2I tracking channel and B3I tracking channel) in satellite 1 with the multi-satellite multi-frequency point joint filter replacement in the form of a single-frequency fusion carrier loop + pseudo-code phase estimator as an example to illustrate the process of tracking ionospheric scintillation signals.

[0061] For B1I tracking channel:

[0062] First, the correlator of the B1I tracking channel provides correlation results to the multi-satellite multi-frequency point joint filter, the pseudo code loop of the observation input tracking channel, and the carrier loop of the observation input tracking channel respectively.

[0063] Then, the multi-satellite multi-frequency joint filter performs fusion filtering according to the correlation results provided by the B1I tracking channel, and provides carrier Doppler assistance for the carrier ring of the B1I tracking channel and provides a pseudo code reference value for the pseudo code ring of the B1I tracking channel according to the obtained fusion filtering results.

[0064] Next, the carrier loop of the B1I tracking channel provides pseudo-code Doppler assistance for the pseudo-code loop of the B1I tracking channel according to the carrier Doppler assistance and the correlation result, provides carrier error parameters for the local signal generator of the B1I tracking channel, and provides carrier Doppler assistance for the carrier loops of the tracking channels of the B2I tracking channel and the B3I tracking channel.

[0065] Next, the pseudo code loop of the B1I tracking channel provides a pseudo code error parameter for the local signal generator of the B1I tracking channel according to the pseudo code parameter value and the pseudo code Doppler assistance, and provides pseudo code assistance for the pseudo code loops of the B2I tracking channel and the B3I tracking channel.

[0066] Finally, the local signal generator of the B1I tracking channel tracks the pseudo code phase and carrier frequency of the signal in the correlator of the B1I tracking channel according to the pseudo code error parameter and the carrier error parameter.

[0067] It is understandable that, since the above description uses the B1I tracking channel as the observation input tracking channel, the correlator, local signal generator and carrier loop mentioned above are all in the B1I tracking channel.

[0068] It should be noted that in practical applications, the selection of the observation input tracking channel is based on the rule of selecting a high carrier frequency. This is because the higher the carrier frequency, the better the anti-interference performance to the ionospheric scintillation signal, and the better the quality of the feedback control signal generated by the upper multi-satellite multi-frequency point joint filter after fusion filtering based on the relevant results provided by the observation input tracking channel.

[0069] For the B2I tracking channel and the B3I tracking channel, since the signal tracking methods of these two channels are the same, the following is a specific description based on the B2I tracking channel:

[0070] First, the correlator of the tracking channel provides correlation results to the pseudo code loop and the carrier loop of the tracking channel respectively.

[0071] Then, the carrier loop of the B2I tracking channel provides pseudo code Doppler assistance for the pseudo code loop of the B2I tracking channel according to the correlation result and the carrier Doppler assistance provided by the carrier loop of the B1I tracking channel, and provides carrier error parameters for the local signal generator of the B2I tracking channel.

[0072] Next, the pseudo code loop of the B2I tracking channel provides a pseudo code error parameter for the local signal generator of the B2I tracking channel according to the correlation result, the carrier Doppler assistance provided by the carrier loop of the B2I tracking channel and the pseudo code assistance provided by the pseudo code loop of the B1I tracking channel.

[0073] Finally, the local signal generator of the B2I tracking channel tracks the pseudo code phase and carrier frequency of the signal in the correlator of the B2I tracking channel according to the pseudo code error parameter and the carrier error parameter.

[0074] It can be seen from the above description that in the receiver provided in this embodiment, the pseudo code loop of each tracking channel is Doppler-assisted by the carrier loop of the same tracking channel, thereby ensuring that low-noise pseudo range observations are provided in a smaller bandwidth.

[0075] At the same time, since the upper-layer multi-satellite multi-frequency joint filter performs carrier Doppler assistance on a certain frequency of each satellite, even though the upper-layer multi-satellite multi-frequency joint filter does not contain a pseudo-code loop and not all frequency observations participate in the fusion filtering, the influence of multi-satellite single-frequency fusion assistance can also be indirectly transmitted to the carrier loop and pseudo-code loop of all frequencies through the carrier loop of this frequency, thereby realizing the tracking of the carrier and pseudo-code of the ionospheric scintillation signal.

[0076] In addition, it is worth mentioning that in this embodiment, the pseudo code phase estimated by the pseudo code phase estimator in the multi-satellite multi-frequency point joint filter is not used to adjust the digitally controlled oscillator (NCO), but is used to detect the tracking status of the pseudo code, or to adjust the pseudo code loop filter when the pseudo code is lost.

[0077] In addition, the receiver provided in this embodiment can perform multi-satellite assistance and multi-frequency assistance separately according to business needs during specific implementation. For example, if only multi-frequency assistance is needed, the feedback assistance of the upper-layer multi-satellite multi-frequency point joint filter to each tracking channel can be directly cut off.

[0078] In addition, the receiver provided in this embodiment greatly reduces the amount of calculation and is easy to implement in engineering because the last multi-satellite multi-frequency point joint filter only needs to perform fusion filtering on the observation quantity of a certain frequency point of all visible satellites, that is, the provided correlation results.

[0079] In addition, it is worth mentioning that no matter which of the above embodiments provides the receiver, the carrier loop involved in the tracking channel can be in the form of a phase-locked loop or a frequency-locked loop.

[0080] Specifically, the dynamic tracking range of the frequency-locked loop is larger, but the tracking accuracy is not as good as that of the phase-locked loop; the dynamic tracking range of the phase-locked loop is narrower than that of the frequency-locked loop, but the tracking accuracy is higher. Therefore, in specific implementation, when the ionospheric scintillation is enhanced, the frequency-locked loop can be considered; when the ionospheric scintillation is weakened, the phase-locked loop can be considered.

[0081] A fourth embodiment of the present invention relates to a method for tracking ionospheric scintillation signals, which is applied to a receiver. The receiver includes a multi-satellite multi-frequency point joint filter and a plurality of tracking channel structures connected to the multi-satellite multi-frequency point joint filter. Each of the tracking channel structures corresponds to a satellite. Each of the tracking channel structures includes a plurality of tracking channels. Each of the tracking channels corresponds to a frequency point of the satellite, and there is inter-frequency assistance between the plurality of tracking channels.

[0082] like Figure 4 As shown, the tracking method of the ionospheric scintillation signal includes:

[0083] Step 401: The multi-satellite multi-frequency point joint filter obtains the correlation result provided by the tracking channel.

[0084] Step 402: The multi-satellite multi-frequency joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel.

[0085] It should be noted that, in practical applications, the correlation result provided by the tracking channel to the multi-satellite multi-frequency point joint filter may be obtained by correlation accumulation by a correlator in the tracking channel, or may be output after being processed by a discriminator, and this embodiment does not impose any limitation on this.

[0086] In addition, it is worth mentioning that, in a specific implementation, when the multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, it is specifically as follows:

[0087] First, according to the correlation result of the tracking channel, PVT solution is performed to obtain the position information, velocity information and time information of the receiver; then, according to the position information, the velocity information and the time information, a feedback control signal of the tracking channel corresponding to the correlation result is generated; finally, according to the feedback control signal, the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel are tracked.

[0088] That is to say, in the specific implementation, a PVT solution engine is also required inside the above-mentioned multi-satellite multi-frequency filter, so that the navigation information of the calculation carrier can be calculated based on the PVT solution, and the feedback control information of each tracking channel can be generated in combination with the satellite position and speed results of the ephemeris solution.

[0089] It is understandable that the PVT solution engine is generally implemented using an extended Kalman filter (EKF). The PVT algorithm used in this structure must be very reliable, because the generation of multi-satellite multi-frequency auxiliary information depends on the solution results of the PVT algorithm.

[0090] Compared with the prior art, the embodiments of the present invention are not limited to the modification of a single tracking channel, but rather integrate the relevant results provided by the tracking channels corresponding to each frequency point owned by each satellite, and adopt the assistance between multiple satellites and multiple frequency points to improve the traditional receiver structure, thereby greatly improving the robustness of the overall tracking and positioning of the receiver, overcoming the shortcomings of single-channel tracking, so that when using a receiver of such a structure to track ionospheric scintillation signals, it is possible to achieve high-precision tracking of the pseudo code and carrier of the ionospheric scintillation signals, thereby greatly improving the accuracy of the tracking results.

[0091] In addition, it is not difficult to find that this embodiment is a method embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0092] A fifth embodiment of the present invention relates to a method for tracking ionospheric scintillation signals, which is applied to a receiver. The receiver includes a multi-satellite multi-frequency point joint filter and a plurality of tracking channel structures connected to the multi-satellite multi-frequency point joint filter. Each of the tracking channel structures corresponds to a satellite. Each of the tracking channel structures includes a plurality of tracking channels. Each of the tracking channels corresponds to a frequency point of the satellite, and there is inter-frequency assistance between the plurality of tracking channels.

[0093] In this embodiment, each of the tracking channels includes a correlator, a local signal generator and a carrier loop; the multi-satellite multi-frequency point joint filter includes a multi-frequency fusion carrier loop and a multi-frequency fusion pseudo code loop.

[0094] Based on this structure, the tracking method of ionospheric scintillation signals provided in this embodiment specifically includes: Figure 5 Steps shown:

[0095] Step 501: The multi-satellite multi-frequency point joint filter obtains the correlation result provided by each tracking channel.

[0096] Step 502: The multi-satellite multi-frequency joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel corresponding to the correlation result according to the correlation result of each tracking channel.

[0097] It is not difficult to find from the above description that the tracking method of ionospheric scintillation signals provided in this embodiment, since the carrier loop in each tracking channel will be assisted by the carrier Doppler of the upper multi-satellite multi-frequency point joint filter, it is only necessary to track the residual Doppler, that is, the Doppler caused by ionospheric scintillation, to achieve the tracking of the carrier and pseudo code of the ionospheric scintillation signal.

[0098] In addition, in the receiver provided in this embodiment, each tracking channel realizes control of the local signal generator based on its own estimated carrier error parameters and the pseudo code error parameters provided by the upper multi-satellite multi-frequency point joint filter, so that the local signal generator can realize local adjustment of the frequency point signal in the correlator.

[0099] In addition, it is not difficult to find that this embodiment is a method embodiment corresponding to the second embodiment, and this embodiment can be implemented in conjunction with the second embodiment. The relevant technical details mentioned in the second embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the second embodiment.

[0100] A sixth embodiment of the present invention relates to a method for tracking ionospheric scintillation signals, which is applied to a receiver. The receiver includes a multi-satellite multi-frequency point joint filter and a plurality of tracking channel structures connected to the multi-satellite multi-frequency point joint filter. Each of the tracking channel structures corresponds to a satellite. Each of the tracking channel structures includes a plurality of tracking channels. Each of the tracking channels corresponds to a frequency point of the satellite, and there is inter-frequency assistance between the plurality of tracking channels.

[0101] In this embodiment, each of the tracking channels includes a correlator, a local signal generator, a carrier loop and a pseudo code loop; the multi-satellite multi-frequency point joint filter includes a single-frequency fusion carrier loop and a pseudo code phase estimator.

[0102] Based on this structure, the tracking method of ionospheric scintillation signals provided in this embodiment specifically includes: Figure 6 Steps shown:

[0103] Step 601: The multi-satellite multi-frequency point joint filter selects one from a plurality of the tracking channels in the tracking channel structure corresponding to the satellite as an observation input tracking channel.

[0104] Step 602: The multi-satellite multi-frequency point joint filter obtains the correlation result provided by the observation input tracking channel.

[0105] Step 603: The multi-satellite multi-frequency joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in each tracking channel according to the correlation result of the observation input tracking channel.

[0106] From the above description, it can be seen that in the tracking method of ionospheric scintillation signals provided in this embodiment, the pseudo-code loop of each tracking channel is Doppler-assisted by the carrier loop of the same tracking channel, thereby ensuring the provision of low-noise pseudo-range observations in a smaller bandwidth.

[0107] At the same time, since the upper-layer multi-satellite multi-frequency joint filter performs carrier Doppler assistance on a certain frequency of each satellite, even though the upper-layer multi-satellite multi-frequency joint filter does not contain a pseudo-code loop and not all frequency observations participate in the fusion filtering, the influence of multi-satellite single-frequency fusion assistance can also be indirectly transmitted to the carrier loop and pseudo-code loop of all frequencies through the carrier loop of this frequency, thereby realizing the tracking of the carrier and pseudo-code of the ionospheric scintillation signal.

[0108] In addition, it is worth mentioning that in this embodiment, the pseudo code phase estimated by the pseudo code phase estimator in the multi-satellite multi-frequency point joint filter is not used to adjust the digitally controlled oscillator (NCO), but is used to detect the tracking status of the pseudo code, or to adjust the pseudo code loop filter when the pseudo code is lost.

[0109] In addition, the tracking method of the ionospheric scintillation signal provided in this embodiment can be implemented separately according to business needs, and multi-satellite assistance and multi-frequency assistance can be performed separately. For example, if only multi-frequency assistance is needed, the feedback assistance of the upper multi-satellite multi-frequency point joint filter to each tracking channel can be directly cut off.

[0110] In addition, the tracking method of ionospheric scintillation signals provided in this embodiment greatly reduces the amount of calculation and is easy to implement in engineering because the last multi-satellite multi-frequency point joint filter only needs to perform fusion filtering on the observation quantity of a certain frequency point of all visible satellites, that is, the provided related results.

[0111] In addition, it is not difficult to find that this embodiment is a method embodiment corresponding to the third embodiment, and this embodiment can be implemented in conjunction with the third embodiment. The relevant technical details mentioned in the third embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the third embodiment.

[0112] A seventh embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0113] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0114] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and that in actual applications, various changes may be made in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for tracking ionospheric scintillation signals, applied to a receiver, wherein the receiver comprises a multi-satellite multi-frequency point joint filter and a plurality of tracking channel structures connected to the multi-satellite multi-frequency point joint filter, each of the tracking channel structures corresponds to a satellite, each of the tracking channel structures comprises a plurality of tracking channels, each of the tracking channels corresponds to a frequency point of the satellite, and there is inter-frequency assistance between the plurality of tracking channels, characterized in that: The tracking method of the ionospheric scintillation signal comprises: The multi-satellite multi-frequency point joint filter obtains the correlation result provided by the tracking channel; The multi-satellite multi-frequency joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel; Among them, the multi-satellite multi-frequency joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, specifically as follows: according to the correlation result of the tracking channel, PVT solution is performed to obtain the position information, speed information and time information of the receiver; according to the position information, the speed information and the time information, a feedback control signal of the tracking channel corresponding to the correlation result is generated; according to the feedback control signal, the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel are tracked.

2. The method according to claim 1, characterized in that The multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, including: The multi-satellite multi-frequency joint filter performs PVT solution according to the correlation result of the tracking channel to obtain the position information, speed information and time information of the receiver; generating a feedback control signal for the tracking channel corresponding to the correlation result according to the position information, the speed information and the time information; According to the feedback control signal, the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel are tracked.

3. The method according to claim 1 or 2, characterized in that: Each of the tracking channels includes a correlator, a local signal generator and a carrier loop; The multi-satellite multi-frequency point joint filter obtains the relevant results provided by the tracking channel, including: The multi-satellite multi-frequency point joint filter obtains the correlation result provided by each tracking channel; The multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, including: The multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel corresponding to the correlation result according to the correlation result of each tracking channel.

4. The method according to claim 1 or 2, characterized in that: Each of the tracking channels includes a correlator, a local signal generator, a carrier loop and a pseudo code loop; The multi-satellite multi-frequency point joint filter obtains the relevant results provided by the tracking channel, including: The multi-satellite multi-frequency point joint filter selects one of the plurality of tracking channels in the tracking channel structure corresponding to the satellite as an observation input tracking channel; The multi-satellite multi-frequency point joint filter obtains the correlation result provided by the observation input tracking channel; The multi-satellite multi-frequency point joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, including: The multi-satellite multi-frequency joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in each tracking channel according to the correlation result of the observation input tracking channel.

5. A receiver suitable for tracking multi-frequency multi-satellite signals in an ionospheric scintillation environment, characterized in that: The receiver comprises: a multi-satellite multi-frequency point joint filter, and a plurality of tracking channel structures connected to the multi-satellite multi-frequency point joint filter; Each of the tracking channel structures corresponds to a satellite, each of the tracking channel structures includes a plurality of tracking channels, each of the tracking channels corresponds to a frequency point of the satellite, and there is inter-frequency assistance between the plurality of tracking channels; The multi-satellite multi-frequency joint filter is used to track the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result provided by the tracking channel; Among them, the multi-satellite multi-frequency joint filter tracks the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel according to the correlation result of the tracking channel, specifically as follows: according to the correlation result of the tracking channel, PVT solution is performed to obtain the position information, speed information and time information of the receiver; according to the position information, the speed information and the time information, a feedback control signal of the tracking channel corresponding to the correlation result is generated; according to the feedback control signal, the pseudo code and carrier of the ionospheric scintillation signal in the tracking channel are tracked.

6. The receiver according to claim 5, characterized in that Each of the tracking channels includes a correlator, a local signal generator and a carrier loop; Wherein, when tracking the ionospheric scintillation signal, the correlator of each tracking channel provides correlation results to the carrier loop and the multi-satellite multi-frequency point joint filter respectively; The multi-satellite multi-frequency point joint filter performs fusion filtering according to the correlation result provided by each tracking channel, provides carrier Doppler assistance for the carrier loop of each tracking channel according to the obtained fusion filtering result of each tracking channel, and provides pseudo code error parameters for the local signal generator of each tracking channel; The carrier loop provides a carrier error parameter to the local signal generator according to the correlation result provided by the correlator and the carrier Doppler assistance provided by the multi-satellite multi-frequency point joint filter; The local signal generator tracks the pseudo code phase and carrier frequency of the signal in the correlator according to the pseudo code error parameter and the carrier error parameter.

7. The receiver according to claim 6, characterized in that The multi-satellite multi-frequency point joint filter includes a multi-frequency fusion carrier loop and a multi-frequency fusion pseudo code loop.

8. The receiver according to claim 5, characterized in that Each of the tracking channels includes a correlator, a local signal generator, a carrier loop and a pseudo code loop; Wherein, when tracking the ionospheric scintillation signal, one of the plurality of tracking channels in the tracking channel structure corresponding to the satellite is selected as the observation input tracking channel; For the observed quantity input tracking channel, the correlator of the observed quantity input tracking channel provides correlation results to the multi-satellite multi-frequency point joint filter, the pseudo-code loop of the observed quantity input tracking channel and the carrier loop of the observed quantity input tracking channel respectively; the multi-satellite multi-frequency point joint filter performs fusion filtering according to the correlation results provided by the observed quantity input tracking channel, provides carrier Doppler assistance for the carrier loop of the observed quantity input tracking channel according to the obtained fusion filtering results, and provides a pseudo-code reference value for the pseudo-code loop of the observed quantity input tracking channel; the carrier loop of the observed quantity input tracking channel provides pseudo-code Doppler assistance for the pseudo-code loop of the observed quantity input tracking channel according to the carrier Doppler assistance and the correlation results, and provides a pseudo-code reference value for the pseudo-code loop of the observed quantity input tracking channel. The local signal generator of the tracking channel provides a carrier error parameter, and provides carrier Doppler assistance for the carrier loop of the tracking channel except the observation input tracking channel in the tracking channel structure corresponding to the satellite; the pseudo code loop of the observation input tracking channel provides a pseudo code error parameter for the local signal generator of the observation input tracking channel according to the pseudo code parameter value and the pseudo code Doppler assistance, and provides pseudo code assistance for the pseudo code loop of the tracking channel except the observation input tracking channel in the tracking channel structure corresponding to the satellite; the local signal generator of the observation input tracking channel realizes tracking of the pseudo code phase and carrier frequency of the signal in the correlator of the observation input tracking channel according to the pseudo code error parameter and the carrier error parameter; For the tracking channels except the observation input tracking channel in the tracking channel structure corresponding to the satellite, the correlators of the tracking channels provide correlation results to the pseudo-code loop and the carrier loop of the tracking channel respectively; the carrier loop of the tracking channel provides pseudo-code Doppler assistance for the pseudo-code loop of the tracking channel according to the correlation results and the carrier Doppler assistance provided by the carrier loop of the observation input tracking channel, and provides carrier error parameters for the local signal generator of the tracking channel; the pseudo-code loop of the tracking channel provides pseudo-code error parameters for the local signal generator of the tracking channel according to the correlation results, the carrier Doppler assistance provided by the carrier loop of the tracking channel and the pseudo-code assistance provided by the pseudo-code loop of the observation input tracking channel; the local signal generator of the tracking channel tracks the pseudo-code phase and carrier frequency of the signal in the correlator of the tracking channel according to the pseudo-code error parameters and the carrier error parameters.

9. The receiver according to claim 8, characterized in that The multi-satellite multi-frequency point joint filter includes a single-frequency fusion carrier loop and a pseudo code phase estimator.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for tracking the ionospheric scintillation signal according to any one of claims 1 to 4 is implemented.

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