Signal tracking method, device, receiver and storage medium

Abstract

The embodiment of the present invention relates to the field of communications, and discloses a signal tracking method, device, receiver and storage medium to solve the problem of inaccurate signal tracking in a weak signal state. The method is applied to a GNSS signal receiver, which includes multiple tracking channels, each of which is used to receive GNSS signals from multiple satellites. The method includes: each tracking channel performs carrier stripping and pseudo code despreading on the GNSS signal according to a preset carrier frequency and pseudo code phase, and obtains parallel correlation results in the signal domain; maps the parallel correlation results in the signal domain of each tracking channel to the space domain, and accumulates the results of mapping all tracking channels to the space domain to obtain parallel correlation results in the space domain; obtains navigation results according to the parallel correlation results in the space domain; and generates feedback control signals for each tracking channel according to the navigation results and the satellite motion state obtained by pre-acquired ephemeris solution.

Description

Technical Field

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

[0002] In the prior art, when a Global Navigation Satellite System (GNSS) receiver tracks a GNSS signal, it is generally necessary to process the received GNSS signal observations through a discriminator. However, in a harsh signal environment, such as signal strength attenuation or multipath, the discriminator may have an adverse effect on the performance of the GNSS receiver due to the weak signal, making the signal tracking result obtained by the GNSS receiver inaccurate. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a tracking method, device, receiver and storage medium, which can accurately track signals in weak signal conditions.

[0004] To solve the above technical problems, an embodiment of the present invention provides a signal tracking method, which is applied to a global navigation satellite system GNSS signal receiver, wherein the GNSS signal receiver includes multiple tracking channels, wherein each of the tracking channels is used to receive GNSS signals from multiple satellites, and the method includes: each of the tracking channels performs carrier stripping and pseudo-code demodulation on the GNSS signal according to a preset carrier frequency and pseudo-code phase, and obtains parallel correlation results in the signal domain; maps the parallel correlation results in the signal domain of each of the tracking channels to the spatial domain, and accumulates the results of mapping all the tracking channels to the spatial domain to obtain parallel correlation results in the spatial domain; obtains a navigation result based on the parallel correlation results in the spatial domain; generates a feedback control signal for each of the tracking channels based on the navigation result and the satellite motion state obtained by pre-acquired ephemeris solution, and performs GNSS signal tracking based on the feedback control signal.

[0005] An embodiment of the present invention further provides a signal tracking device, which is applied to a global navigation satellite system GNSS signal receiver, wherein the GNSS signal receiver includes a plurality of tracking channels, wherein each of the tracking channels is used to receive GNSS signals from a plurality of satellites, and the device includes:

[0006] A first acquisition module is used for each tracking channel to perform carrier stripping and pseudo code despreading on the GNSS signal according to a preset carrier frequency and pseudo code phase, and obtain a parallel correlation result in the signal domain;

[0007] A second acquisition module, used for mapping the parallel correlation result of the signal domain of each tracking channel to the space domain, and accumulating the results of mapping all the tracking channels to the space domain to obtain the parallel correlation result in the space domain;

[0008] A third acquisition module, used to acquire a navigation result according to the parallel correlation result in the spatial domain;

[0009] A generation module is used to generate a feedback control signal for each of the tracking channels according to the navigation result and the satellite motion state solved by the pre-acquired ephemeris, and perform GNSS signal tracking according to the feedback control signal.

[0010] An embodiment of the present invention further provides a receiver, comprising:

[0011] at least one processor; and,

[0012] a memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the signal tracking method described above.

[0014] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program implements the above-mentioned signal tracking method when executed by a processor.

[0015] Compared with the prior art, the technical solution provided by the embodiments of the present invention can directly map the parallel correlation results of the signal domain of each tracking channel to the spatial domain without performing any discriminator processing, and accumulate the results of mapping all tracking channels to the spatial domain to obtain the parallel correlation results of the spatial domain, obtain the navigation results according to the parallel correlation results of the spatial domain, generate a feedback control signal for each tracking channel according to the navigation results and the satellite motion state solved by the pre-acquired ephemeris, and track the GNSS signal according to the feedback control signal. Since no discriminator is used, the technical solution provided by the embodiment of the present invention can accurately track the GNSS signal even in the case of weak signals, thereby avoiding the problem that the discriminator has an adverse effect on the performance of the GNSS receiver due to weak signals, resulting in inaccurate signal tracking results obtained by the GNSS receiver.

[0016] In addition, in the signal tracking method provided by the embodiment of the present invention, each of the tracking channels includes a carrier digitally controlled oscillator NCO and a pseudo-code NCO; the carrier NCO is used to generate local carrier signals at k frequency points, wherein each of the local carrier signals is composed of a local carrier sub-signal of an orthogonal branch and a local carrier sub-signal of an in-phase branch; the pseudo-code NCO is used to generate pseudo-code signals of m branches; wherein k and m are both positive integers; each of the tracking channels performs carrier stripping and pseudo-code despreading on the GNSS signal according to a preset carrier frequency and pseudo-code phase, and obtains a parallel correlation result in the signal domain as follows: each of the tracking channels performs carrier stripping and pseudo-code despreading on the GNSS signal according to the local carrier at k frequency points The signal and the pseudo code signals of the m branches are subjected to carrier stripping and pseudo code despreading to obtain a first sub-parallel correlation result in the signal domain, wherein the first sub-parallel correlation result in the signal domain is 2k*m grids; within a preset accumulation time period, the first sub-parallel correlation result in the signal domain is coherently accumulated, and the local carrier sub-signal of the orthogonal branch and the local carrier sub-signal of the in-phase branch at the same frequency point and the same pseudo code phase are squared and added to obtain a second sub-parallel correlation result in the signal domain, and the second sub-parallel correlation result in the signal domain is used as the parallel correlation result in the signal domain, wherein the parallel correlation result in the signal domain is k*m grids. The signal domain parallel correlation result grid finally generated by each channel represents a series of correlation results between the input signal and the local signal within a certain carrier Doppler and pseudo code phase range, rather than the correlation results at a fixed Doppler frequency or pseudo code phase in the traditional receiver structure. This makes the technical solution provided by the embodiment of the present invention more adaptable to harsh signal environments, such as signal strength attenuation or multipath, and improves the accuracy of signal tracking.

[0017] In addition, in the signal tracking method provided by the embodiment of the present invention, the mapping of the parallel correlation results of the signal domain of each tracking channel to the spatial domain is specifically: mapping each grid of the parallel correlation results of the signal domain to the spatial domain by the following formula:

[0018]

[0019]

[0020] Among them, Δρ and They correspond to the pseudo code phase difference and carrier frequency difference respectively, Δe is the east position deviation, Δn is the north position deviation, Δv is the vertical position deviation, dt is the clock error, c is the speed of light, El is the satellite altitude angle, Az is the satellite azimuth angle, is the rate of change of the variable x.

[0021] In addition, the signal tracking method provided by the embodiment of the present invention maps the parallel correlation results of the signal domain of each tracking channel to the spatial domain, and accumulates the results of mapping all the tracking channels to the spatial domain to obtain the parallel correlation results in the spatial domain, specifically including: mapping the parallel correlation results of the signal domain of each tracking channel to the spatial domain, linearly interpolating the results in the spatial domain, and obtaining uniform distribution results in the spatial domain; incoherently accumulating the uniform distribution results in the spatial domain of all the tracking channels to obtain parallel correlation results in the spatial domain. By fusing the uniform distribution results in the spatial domain of each tracking channel, the carrier phase correlation of each satellite in the spatial domain can be removed, thereby improving the accuracy of signal tracking.

[0022] In addition, the signal tracking method provided by an embodiment of the present invention, wherein obtaining the navigation result based on the parallel correlation result in the spatial domain comprises: searching for a correlation peak of the parallel correlation result in the spatial domain; and obtaining the navigation result using a relatively smooth regional parabolic interpolation method near the correlation peak.

[0023] In addition, in the signal tracking method provided by an embodiment of the present invention, the navigation results include position results and speed results, wherein the search space shape of the position results and the speed results in the horizontal plane is circular, and the radius size depends on the carrier-to-noise ratio, carrier dynamics and navigation result accuracy.

[0024] In addition, the signal tracking method provided by the embodiment of the present invention, after obtaining the navigation result according to the parallel correlation result in the spatial domain, further includes: filtering the navigation result using a pre-set position domain filter to obtain the filtered navigation result; then generating a feedback control signal for each of the tracking channels according to the navigation result and the satellite motion state solved by the pre-acquired ephemeris, and performing GNSS signal tracking according to the feedback control signal, specifically: generating a feedback control signal for each of the tracking channels according to the filtered navigation result and the satellite motion state solved by the pre-acquired ephemeris, and performing GNSS signal tracking according to the feedback control signal. The filtering process can reduce the intensity of the white noise contained in the navigation result, thereby improving the accuracy of signal tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 is a flow chart of a signal tracking method provided by a first embodiment of the present invention;

[0027] Figure 2 is a flow chart of a signal tracking method provided by a second embodiment of the present invention;

[0028] Figure 3 yes Figure 2 The model schematic diagram of obtaining the parallel correlation result of the signal domain of each tracking channel in step 201 in the signal tracking method provided by the second embodiment of the present invention is shown;

[0029] Figure 4 yes Figure 2 The method flow chart of step 201 in the signal tracking method provided by the second embodiment of the present invention is shown;

[0030] Figure 5 yes Figure 2 The method flow chart of step 202 in the signal tracking method provided by the second embodiment of the present invention is shown;

[0031] Figure 6 yes Figure 5 A schematic diagram of a model for obtaining parallel correlation results in the spatial domain in step 502 of the signal tracking method provided by the second embodiment of the present invention is shown;

[0032] Figure 7 yes Figure 2 The method flow chart of step 203 in the signal tracking method provided by the second embodiment of the present invention is shown;

[0033] Figure 8 is a schematic structural diagram of a signal tracking device provided by a third embodiment of the present invention;

[0034] Fig. 9 It is a schematic structural diagram of a receiver provided by the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0035] 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.

[0036] like Figure 1As shown, the first embodiment of the present invention relates to a signal tracking method, which is applied to a global navigation satellite system GNSS signal receiver, the GNSS signal receiver includes a plurality of tracking channels, wherein each tracking channel is used to receive GNSS signals of a plurality of satellites, the method comprising:

[0037] Step 101: Each tracking channel performs carrier stripping and pseudo code despreading on the GNSS signal according to a preset carrier frequency and pseudo code phase to obtain a parallel correlation result in the signal domain.

[0038] Step 102: Map the parallel correlation result of the signal domain of each tracking channel to the space domain, and accumulate the results of mapping all tracking channels to the space domain to obtain the parallel correlation result in the space domain.

[0039] Step 103: Obtain navigation results according to the parallel correlation results in the spatial domain.

[0040] Step 104: Generate a feedback control signal for each tracking channel according to the navigation result and the satellite motion state obtained by pre-acquired ephemeris solution, and perform GNSS signal tracking according to the feedback control signal.

[0041] Compared with the prior art, the technical solution provided by the embodiments of the present invention can directly map the parallel correlation results of the signal domain of each tracking channel to the spatial domain without performing any discriminator processing, and accumulate the results of mapping all tracking channels to the spatial domain to obtain the parallel correlation results of the spatial domain, obtain the navigation results according to the parallel correlation results of the spatial domain, generate a feedback control signal for each tracking channel according to the navigation results and the satellite motion state solved by the pre-acquired ephemeris, and track the GNSS signal according to the feedback control signal. Since no discriminator is used, the technical solution provided by the embodiment of the present invention can accurately track the GNSS signal even in the case of weak signals, thereby avoiding the problem that the discriminator has an adverse effect on the performance of the GNSS receiver due to weak signals, resulting in inaccurate signal tracking results obtained by the GNSS receiver.

[0042] like Figure 2 As shown, a second embodiment of the present invention relates to a signal tracking method, which is applied to a global navigation satellite system GNSS signal receiver, wherein the GNSS signal receiver includes multiple tracking channels, wherein each tracking channel is used to receive GNSS signals from multiple satellites, and the method includes:

[0043] Step 201: Each tracking channel performs carrier stripping and pseudo code despreading on the GNSS signal according to a preset carrier frequency and pseudo code phase to obtain a parallel correlation result in the signal domain.

[0044] In this embodiment, if Figure 3 As shown, each tracking channel includes a carrier digitally controlled oscillator NCO and a pseudo-code NCO; the carrier NCO is used to generate local carrier signals at k frequency points, wherein each local carrier signal is composed of a local carrier sub-signal of an orthogonal branch q and a local carrier sub-signal of an in-phase branch i; the pseudo-code NCO is used to generate pseudo-code signals of m branches; wherein k and m are both positive integers.

[0045] It should be noted that the present embodiment does not limit the specific number of k and m; in the present embodiment, the m branches may include: very early branch (VE), early branch (E), prompt branch (P), late branch (L) and very late branch (VL), etc. Of course, in actual use, other branches may be included as needed, which will not be elaborated here.

[0046] like Figure 4 As shown, step 201 may include:

[0047] Step 401, each tracking channel performs carrier stripping and pseudo code despreading on the GNSS signal according to the local carrier signal of k frequency points and the pseudo code signal of m branches, and obtains the first sub-parallel correlation result in the signal domain, wherein the first sub-parallel correlation result in the signal domain is 2k*m grids.

[0048] Specifically, Figure 3 As shown, the input GNSS signal is first multiplied with 2k local carrier signals to perform carrier stripping; then the 2k signals are multiplied with the local pseudo code signals of m branches respectively, and pseudo code despreading is performed to obtain 2k*m signals as the first sub-parallel correlation result in the signal domain.

[0049] Step 402, within a preset accumulation time period, coherently accumulate the first sub-parallel correlation result in the signal domain, and square the local carrier sub-signal of the orthogonal branch q and the local carrier sub-signal of the in-phase branch i at the same frequency point and the same pseudo-code phase and then add them to obtain the second sub-parallel correlation result in the signal domain, and use the second sub-parallel correlation result in the signal domain as the parallel correlation result in the signal domain, wherein the parallel correlation result in the signal domain is k*m grids.

[0050] The signal domain parallel correlation result grid finally generated by each tracking channel in step 201 represents a series of correlation results between the input signal and the local signal within a certain carrier Doppler and pseudo code phase range, rather than the correlation results at a fixed Doppler frequency or pseudo code phase in the traditional receiver structure. This makes the technical solution provided by the embodiment of the present invention more adaptable to the requirements of signal tracking in harsh signal environments, such as signal strength attenuation or multipath, and improves the accuracy of signal tracking.

[0051] Step 202 : Map the parallel correlation result of each tracking channel in the signal domain to the space domain, and accumulate the results of mapping all tracking channels to the space domain to obtain the parallel correlation result in the space domain.

[0052] Specifically, Figure 5 As shown, step 202 may include:

[0053] Step 501 : Map the parallel correlation result of each tracking channel in the signal domain to the space domain, perform linear interpolation on the result in the space domain, and obtain a uniform distribution result in the space domain.

[0054] In this implementation, step 501 may map each grid of the parallel correlation results in the signal domain to the spatial domain by using the following formula:

[0055]

[0056]

[0057] Among them, Δρ and They correspond to the pseudo code phase difference and carrier frequency difference respectively, Δe is the east position deviation, Δn is the north position deviation, Δv is the vertical position deviation, dt is the clock error, c is the speed of light, El is the satellite altitude angle, Az is the satellite azimuth angle, is the rate of change of the variable x.

[0058] It should be noted that the parallel correlation results in the signal domain are evenly distributed. However, in the process of mapping to the spatial domain, due to the influence of the satellite altitude angle and azimuth angle, the distribution of the parallel correlation results in the spatial domain will be uneven. At this time, in order to ensure the uniform distribution of the spatial domain, the results in the spatial domain will be linearly interpolated.

[0059] Step 502: Incoherently accumulate the uniformly distributed results of all tracking channels in the spatial domain to obtain parallel correlation results in the spatial domain.

[0060] In this embodiment, the model for obtaining the parallel correlation results in the spatial domain in step 502 can be as follows: Figure 6 As shown, the signal domain includes n tracking channels, corresponding to n available satellites: PRN1...PRNn.

[0061] It should be noted that, in actual use, step 502 may also adopt the coherent accumulation method to obtain the parallel correlation results in the spatial domain. However, when adopting the coherent accumulation method, it is necessary to estimate the carrier phase deviation of the parallel correlation results in the spatial domain of each tracking channel signal, which increases the difficulty of implementation. Therefore, the implementation method of the present invention preferably adopts incoherent accumulation.

[0062] It should be noted that the embodiments of the present invention are not limited to accumulating the correlation results of multiple satellites at a certain frequency point, but can also be extended to the incoherent accumulation of the correlation results of multiple satellites at multiple frequencies. As the number of frequency points and the number of satellites increase, the energy of the parallel correlation results in the final spatial domain is stronger, the estimation accuracy of the navigation result is higher, and the feedback control of each channel is more accurate, thereby improving the accuracy of signal tracking.

[0063] By fusing the uniformly distributed results of each tracking channel in the spatial domain, the carrier phase correlation of each satellite in the spatial domain can be removed, thereby improving the accuracy of signal tracking.

[0064] Step 203: Obtain navigation results according to the parallel correlation results in the spatial domain.

[0065] Specifically, Figure 7 As shown, step 203 may include:

[0066] Step 701, searching for correlation peaks of parallel correlation results in the spatial domain.

[0067] There are many methods for searching the peak of the parallel correlation result in the spatial domain. In this embodiment, step 601 is only described by using an exhaustive search method to find the peak.

[0068] In the specific implementation of the present invention, the size of the position search range depends on the maximum change in the user's position between two estimates. It is a function of the maximum speed and the navigation result update rate. The position resolution needs to be a compromise between accuracy and processing power. The size of the speed search range depends on the maximum change in the user's speed between two estimates. It is a function of the maximum acceleration and the navigation result update rate. The selection of speed resolution needs to take into account the influence of accuracy, processing power and coherent integration period.

[0069] Step 702: Obtain navigation results by using a relatively smooth regional parabolic interpolation method near the correlation peak.

[0070] The embodiment of the present invention adopts a parabolic interpolation method to obtain a more accurate navigation parameter estimation result. It should be noted that the parallel correlation result of each dimension of the spatial domain itself is not a parabola shape, but the area near the correlation peak is relatively smooth and close to a parabola shape, so parabolic interpolation is used to improve the navigation parameter estimation accuracy.

[0071] In this embodiment, the navigation results include position results and velocity results; the search space of the navigation results is 8-dimensional in total, among which the search space shape of the horizontal position results and velocity results is circular, and the radius size depends on the carrier-to-noise ratio, carrier dynamics and navigation result accuracy; however, the search space shape of the clock error and clock drift is currently unknown, so the embodiment of the present invention uses a separate estimator to estimate the clock error and clock drift.

[0072] Step 204: filter the navigation result using a preset location domain filter to obtain a filtered navigation result.

[0073] This implementation does not specifically limit the filter. In actual use, the filter may be a Kalman filter, an alpha-beta filter, a moving-average filter, or an exponential filter, etc., which will not be described in detail here.

[0074] The intensity of white noise contained in the navigation results can be reduced through filtering, thereby improving the accuracy of signal tracking.

[0075] Step 205: Generate a feedback control signal for each tracking channel according to the filtered navigation result and the satellite motion state obtained by pre-acquired ephemeris solution, and perform GNSS signal tracking according to the feedback control signal.

[0076] Compared with the prior art, the technical solution provided by the embodiments of the present invention can directly map the parallel correlation results of the signal domain of each tracking channel to the spatial domain without performing any discriminator processing, and accumulate the results of mapping all tracking channels to the spatial domain to obtain the parallel correlation results of the spatial domain, obtain the navigation results according to the parallel correlation results of the spatial domain, generate a feedback control signal for each tracking channel according to the navigation results and the satellite motion state solved by the pre-acquired ephemeris, and track the GNSS signal according to the feedback control signal. Since no discriminator is used, the technical solution provided by the embodiment of the present invention can accurately track the GNSS signal even in the case of weak signals, thereby avoiding the problem that the discriminator has an adverse effect on the performance of the GNSS receiver due to weak signals, resulting in inaccurate signal tracking results obtained by the GNSS receiver.

[0077] like Figure 8As shown, the third embodiment of the present invention relates to a signal tracking device, which is applied to a GNSS signal receiver. The GNSS signal receiver includes multiple tracking channels, wherein each tracking channel is used to receive GNSS signals from multiple satellites. The device includes:

[0078] The first acquisition module 801 is used for each tracking channel to perform carrier stripping and pseudo code despreading on the GNSS signal according to a preset carrier frequency and pseudo code phase, and obtain a parallel correlation result in the signal domain;

[0079] A second acquisition module 802 is used to map the parallel correlation result of the signal domain of each tracking channel to the space domain, and accumulate the results of mapping all the tracking channels to the space domain to obtain the parallel correlation result in the space domain;

[0080] A third acquisition module 803, configured to acquire a navigation result according to the parallel correlation result in the spatial domain;

[0081] The generating module 804 is used to generate a feedback control signal for each of the tracking channels according to the navigation result and the satellite motion state obtained by pre-acquired ephemeris solution, and perform GNSS signal tracking according to the feedback control signal.

[0082] The specific implementation method of the signal tracking device provided in the embodiment of the present invention can refer to the signal tracking method provided in the embodiment of the present invention, which will not be repeated here.

[0083] Compared with the prior art, the technical solution provided by the embodiments of the present invention can directly map the parallel correlation results of the signal domain of each tracking channel to the spatial domain without performing any discriminator processing, and accumulate the results of mapping all tracking channels to the spatial domain to obtain the parallel correlation results of the spatial domain, obtain the navigation results according to the parallel correlation results of the spatial domain, generate a feedback control signal for each tracking channel according to the navigation results and the satellite motion state solved by the pre-acquired ephemeris, and track the GNSS signal according to the feedback control signal. Since no discriminator is used, the technical solution provided by the embodiment of the present invention can accurately track the GNSS signal even in the case of weak signals, thereby avoiding the problem that the discriminator has an adverse effect on the performance of the GNSS receiver due to weak signals, resulting in inaccurate signal tracking results obtained by the GNSS receiver.

[0084] like Fig. 9 As shown, the fourth embodiment of the present invention relates to a receiver, comprising:

[0085] at least one processor 901; and,

[0086] A memory 902 that is communicatively connected to the at least one processor 901; wherein,

[0087] The memory 902 stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor 901, so that the at least one processor 901 can perform the signal tracking method described in the embodiment of the present invention.

[0088] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0089] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0090] A fifth 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.

[0091] 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.

[0092] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A signal tracking method, applied to a global navigation satellite system (GNSS) signal receiver, wherein the GNSS signal receiver includes a plurality of tracking channels, wherein: Each of the tracking channels is used to receive GNSS signals from multiple satellites, and the method comprises: Each of the tracking channels performs carrier stripping and pseudo code despreading on the GNSS signal according to a preset carrier frequency and pseudo code phase to obtain a parallel correlation result in the signal domain; Mapping the parallel correlation result of the signal domain of each tracking channel to the spatial domain, and accumulating the results of mapping all the tracking channels to the spatial domain to obtain the parallel correlation result in the spatial domain; Acquire navigation results according to the parallel correlation results in the spatial domain; According to the navigation result and the satellite motion state obtained by pre-acquired ephemeris solution, a feedback control signal for each tracking channel is generated, and GNSS signal tracking is performed according to the feedback control signal.

2. The method according to claim 1, characterized in that Each of the tracking channels comprises a carrier digitally controlled oscillator NCO and a pseudo-code NCO; the carrier digitally controlled oscillator NCO is used to generate local carrier signals of k frequency points, wherein each of the local carrier signals is composed of a local carrier sub-signal of an orthogonal branch and a local carrier sub-signal of an in-phase branch; the pseudo-code NCO is used to generate pseudo-code signals of m branches; wherein k and m are both positive integers; Each of the tracking channels performs carrier stripping and pseudo code despreading on the GNSS signal according to the preset carrier frequency and pseudo code phase, and obtains the parallel correlation result in the signal domain as follows: Each of the tracking channels performs carrier stripping and pseudo code despreading on the GNSS signal according to the local carrier signal at k frequency points and the pseudo code signals of m branches, and obtains a first sub-parallel correlation result in the signal domain, wherein the first sub-parallel correlation result in the signal domain is 2k*m grids; Within a preset accumulation time period, the first sub-parallel correlation result of the signal domain is coherently accumulated, and the local carrier sub-signal of the orthogonal branch and the local carrier sub-signal of the in-phase branch at the same frequency point and the same pseudo-code phase are squared and added to obtain the second sub-parallel correlation result of the signal domain, and the second sub-parallel correlation result of the signal domain is used as the parallel correlation result of the signal domain, wherein the parallel correlation result of the signal domain is k*m grids.

3. The method according to claim 2, characterized in that The mapping of the parallel correlation result of the signal domain of each tracking channel to the spatial domain is specifically as follows: Each grid of the parallel correlation results in the signal domain is mapped to the spatial domain by the following formula: in, and They correspond to the pseudo code phase difference and carrier frequency difference respectively. is the eastward position deviation, is the north position deviation, is the vertical position deviation, It's the clock difference. is the speed of light, is the satellite altitude angle, is the satellite azimuth, is a variable The rate of change.

4. The method according to claim 1, characterized in that: Mapping the parallel correlation result of the signal domain of each tracking channel to the spatial domain, and accumulating the results of mapping all the tracking channels to the spatial domain, to obtain the parallel correlation result in the spatial domain specifically includes: Mapping the parallel correlation results of the signal domain of each tracking channel to the spatial domain, performing linear interpolation on the results of the spatial domain, and obtaining uniformly distributed results in the spatial domain; The uniformly distributed results in the spatial domain of all the tracking channels are incoherently accumulated to obtain parallel correlation results in the spatial domain.

5. The method according to claim 1, characterized in that The obtaining of navigation results according to the parallel correlation results in the spatial domain comprises: Searching for a correlation peak of the parallel correlation results in the spatial domain; A relatively smooth regional parabolic interpolation method near the correlation peak is used to obtain the navigation result.

6. The method according to claim 1 or 5, characterized in that: The navigation result includes a position result and a speed result, wherein the search space shape of the position result and the speed result in the horizontal plane is circular, and the radius size depends on the carrier-to-noise ratio, carrier dynamics and navigation result accuracy.

7. The method according to claim 1, characterized in that After obtaining the navigation result according to the parallel correlation result in the spatial domain, the method further includes: Using a preset location domain filter to filter the navigation result to obtain a filtered navigation result; Then, according to the navigation result and the satellite motion state solved by the pre-acquired ephemeris, a feedback control signal for each tracking channel is generated, and the GNSS signal tracking is performed according to the feedback control signal in detail as follows: A feedback control signal for each of the tracking channels is generated according to the filtered navigation result and the satellite motion state obtained by pre-acquired ephemeris solution, and GNSS signal tracking is performed according to the feedback control signal.

8. A signal tracking device, applied to a global navigation satellite system (GNSS) signal receiver, wherein the GNSS signal receiver comprises a plurality of tracking channels, wherein: Each of the tracking channels is used to receive GNSS signals from multiple satellites, and is characterized in that the device comprises: A first acquisition module is used for each tracking channel to perform carrier stripping and pseudo code despreading on the GNSS signal according to a preset carrier frequency and pseudo code phase, and obtain a parallel correlation result in the signal domain; A second acquisition module, used for mapping the parallel correlation result of the signal domain of each tracking channel to the space domain, and accumulating the results of mapping all the tracking channels to the space domain to obtain the parallel correlation result in the space domain; A third acquisition module, used to acquire navigation results according to the parallel correlation results in the spatial domain; A generation module is used to generate a feedback control signal for each of the tracking channels according to the navigation result and the satellite motion state solved by the pre-acquired ephemeris, and perform GNSS signal tracking according to the feedback control signal.

9. A receiver, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the signal tracking method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the signal tracking method according to any one of claims 1 to 7 is implemented.

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