Multi-frequency signal joint auxiliary tracking method and device

Abstract

The present invention relates to a method and device for joint auxiliary tracking of multi-frequency point signals. The method comprises: S1. acquiring N+1 frequency point signals and performing down-conversion processing to generate digital intermediate frequency signals of N+1 frequency points; S2. performing carrier stripping, pseudo code stripping, integral clearing, phase detection and filtering processing on the digital intermediate frequency signals of the N+1 frequency points to generate phase detection and filtering results of N+1 frequency points; S3. performing integration processing on the phase detection and filtering results of the first N frequency points to generate local carrier signals of each frequency point for the carrier stripping; S4. using the phase detection and filtering results of the first N frequency points to generate a multi-frequency joint auxiliary tracking amount; S5. using the multi-frequency joint auxiliary tracking amount and the phase detection and filtering result of the N+1th frequency point to generate a local carrier signal of the N+1th frequency point for the carrier stripping. The present invention can effectively aggregate the signal power of multiple auxiliary frequency points, improve the signal-to-noise ratio of the carrier phase detection, and improve the robustness of signal tracking.

Description

Technical Field

[0001] The present invention relates to the technical field of signal tracking and positioning, and in particular to a multi-frequency signal joint auxiliary tracking method and device. Background Art

[0002] Satellite navigation systems can provide all-weather, 24-hour continuous, high-precision three-dimensional position, velocity, and precise time information for various military and civilian vehicles on land, sea, air, and space around the world. Most existing satellite navigation systems broadcast navigation signals on multiple frequencies. For example, the Global Positioning System (GPS) broadcasts navigation signals on the L1, L2, and L5 frequencies; the BeiDou Navigation Satellite System (BDS) broadcasts navigation signals on the B1, B2, and B3 frequencies; and Galileo broadcasts navigation signals on the E1, E5, and E6 frequencies. Existing cross-frequency auxiliary tracking receivers typically use a single frequency signal as the auxiliary signal. Therefore, the auxiliary tracking performance is largely limited by the frequency and signal power of the auxiliary signal, failing to fully utilize the advantage of satellite navigation systems broadcasting navigation signals on multiple frequencies.

[0003] In the military industry, receivers may experience interference at a specific frequency, causing them to malfunction or experience reduced tracking performance. For receivers, lowering the carrier frequency tracking threshold also improves their anti-interference performance, meaning they are more adaptable to complex electromagnetic environments. To achieve the same jamming effect, a jammer must either increase its transmit power or decrease its distance from the receiver. Increasing transmit power increases the jamming cost, while decreasing the distance between the jammer and receiver increases the probability of detection. Furthermore, simultaneously jamming multiple frequency signals is not easy. Therefore, being able to adaptively adjust the tracking strategy based on information from multiple frequencies and lower the carrier phase tracking threshold can also improve the receiver's adaptability to complex environments.

[0004] In the field of high-orbit satellites and deep space exploration, the long distance between satellite navigation receivers will cause significant signal attenuation. The free space propagation loss calculation formula is: Taking the GPS L1 signal (center frequency fc = 1575.42 MHz, wavelength λ = 0.19 m) as an example, the spatial propagation loss of the signal from Earth to the Moon is approximately -208.1 dB (the distance from Earth to the Moon is 384,400 kilometers). Therefore, if the tracking threshold is reduced by 3 dB, the spatial attenuation is allowed to increase by 3 dB. In this case, the propagation distance can reach 543,000 kilometers, an increase of 168,600 kilometers. Therefore, lowering the carrier phase tracking threshold means that satellite navigation can provide navigation services for more distant spacecraft.

[0005] like Figure 10 The existing single-frequency signal assisted tracking receiver shown in the figure. When the receiver is in use, the first frequency signal and the second frequency signal are first received by the receiver antenna, and then down-converted to generate the first frequency digital intermediate frequency signal and the second frequency digital intermediate frequency signal. Then, the first frequency digital intermediate frequency signal and the second frequency digital intermediate frequency signal are subjected to carrier stripping, pseudo code stripping, integral zeroing, phase detection and filtering to generate the first frequency phase detection filtering result. and the second frequency phase detection filtering result Phase detection filtering result of the first frequency point Generate the first frequency carrier phase estimate through NCO Then generate the first frequency local carrier signal Used for carrier stripping of the first frequency signal. At the same time, the first frequency phase detection filter result After proportional transformation, auxiliary tracking volume is generated Using auxiliary tracking volume Δ k and the second frequency phase detection filtering result Generate the second frequency phase error estimate Phase error estimation at the second frequency point Generate the local carrier phase estimate of the second frequency point through NCO Then generate the second frequency local carrier signal Used for carrier stripping of the second frequency signal.

[0006] It can be seen from this that most GNSS systems broadcast navigation signals on multiple frequencies simultaneously, but existing cross-frequency auxiliary tracking receivers do not fully utilize the advantages of the navigation system broadcasting multiple frequency signals simultaneously. Instead, they use a single frequency signal as the auxiliary signal. The auxiliary tracking performance is largely limited by the frequency and signal power of the auxiliary signal. It is unable to fully utilize the coherence between different frequency signals of the same satellite and aggregate the signal power of multiple frequencies to obtain better signal tracking performance. Summary of the Invention

[0007] In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a multi-frequency signal joint auxiliary tracking method and device, which can effectively aggregate the signal power of multiple auxiliary frequency points, improve the signal-to-noise ratio of carrier phase detection, and improve the robustness of signal tracking.

[0008] In order to achieve the above-mentioned object of the invention, the technical solution of the present invention is:

[0009] The present invention provides a multi-frequency signal joint auxiliary tracking method, comprising:

[0010] S1. Obtain N+1 frequency signals and perform down-conversion processing to generate a digital intermediate frequency signal of N+1 frequency points;

[0011] S2. The digital intermediate frequency signal of the N+1 frequency point is subjected to carrier stripping, pseudo-code stripping, integral clearing, phase detection and filtering, and the corresponding phase detection filtering result of the N+1 frequency point is generated;

[0012] S3 integrates the results of the phase-locked filtering of the first N frequencies to generate local carrier signals for the respective frequencies of the carrier stripping;

[0013] S4. Generate multi-frequency joint auxiliary tracking amount using the phase-locked filtering results of the first N frequencies;

[0014] S5. Generate a local carrier signal at the N+1th frequency point for the carrier stripping by using the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point.

[0015] According to one aspect of the present invention, in step S1, the N+1 frequency signals are transmitted by different frequencies of the same satellite.

[0016] According to one aspect of the present invention, step S2 includes:

[0017] S21. The digital intermediate frequency signals of the N+1 frequency points are respectively combined with their respective local carrier signals Mixing to remove the carrier and generate the baseband signal at each frequency point Wherein, i represents the i-th frequency point, and i=1,…,N+1; k is an integer;

[0018] S22. Baseband signal at each frequency point Perform pseudo code stripping to generate the corresponding signal after pseudo code stripping at each frequency point;

[0019] S23. Integrate and clear the signal after the pseudo code stripping of each frequency point to obtain the corresponding correlation integral result of each frequency point

[0020] S24. Correlation integration results for each frequency point Perform phase detection and generate phase detection errors at each frequency point

[0021] S25. Phase detection error at each frequency point Perform filtering processing to generate phase-detection filtering results of N+1 frequency points

[0022] According to one aspect of the present invention, step S24 includes:

[0023] S241. Using the correlation integration results of N+1 frequency points The real part of the correlation integral result corresponding to each frequency point and the imaginary part

[0024] S242. Using the real part of the correlation integral result of each frequency point I i,k and the imaginary part Q i,k , calculate the phase error of N+1 frequency points respectively

[0025] Alternatively, the step S24 includes:

[0026] S241. Using the correlation integration results of N+1 frequency points The imaginary part of the correlation integral result corresponding to each frequency point

[0027] S242. Using the imaginary part Q of the correlation integral result of each frequency point i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0028] Alternatively, the step S24 includes:

[0029] S241. Using the correlation integration results of N+1 frequency points The real part of the correlation integral result corresponding to each frequency point and the imaginary part

[0030] S242. Using the real part of the correlation integral result of each frequency point I i,k and the imaginary part Q i,k , calculate the phase error of N+1 frequency points respectively

[0031] Alternatively, the step S24 includes:

[0032] S241. Using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part

[0033] S242. Using the real part of the integral result of each frequency point I i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively

[0034] Alternatively, the step S24 includes:

[0035] S241. Using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part

[0036] S242. Using the real part of the integral result of each frequency point I i,k , imaginary part Q i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0037] Alternatively, the step S24 includes:

[0038] S241. Using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part

[0039] S242. Using the real part of the integral result of each frequency point I i,k , calculate the real part I of the relevant integral result of each frequency point i,k The symbol sign{I i,k};

[0040] S243. Using the imaginary part Q of the correlation integral results at each frequency point i,k , the real part of the integral result of each frequency point I i,k The symbol sign{I i,k} and the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0041] According to one aspect of the present invention, step S3 includes:

[0042] S31. Phase detection filtering results for the first N frequency points Perform integration processing to generate local carrier phase estimates for each frequency point Where i = 1,…,N;

[0043] S32. Using the local carrier phase estimation of each frequency point Generates the local carrier signal corresponding to the first N frequency points The local carrier signal Used for carrier stripping of the signals at each frequency point in the first N frequency points.

[0044] According to one aspect of the present invention, step S4 includes:

[0045] S41. Using the phase detection filtering results of the first N frequency points and the carrier wavelength λ of the corresponding frequency point i , corresponding to the distance change estimation of the first N frequency points Where i = 1,…,N;

[0046] S42. Estimation of distance change for the first N frequency points Perform linear combination to generate multi-frequency joint auxiliary tracking quantity Among them, the weighting coefficient w i satisfy And w i ≥ 0 constraint.

[0047] According to one aspect of the present invention, step S5 includes:

[0048] S51. Using multi-frequency joint auxiliary tracking And the phase detection filtering result of the N+1th frequency point Generate phase error estimate for the N+1th frequency point Among them, λ N+1 is the carrier wavelength of the N+1th frequency point;

[0049] S52. Phase error estimation for the N+1th frequency point Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point

[0050] S53. Using the local carrier phase estimation of the N+1th frequency point Generate the local carrier signal of the N+1th frequency point The local carrier signal Used for carrier stripping of the frequency signal.

[0051] The present invention also provides a multi-frequency signal joint assisted tracking device using the multi-frequency signal joint assisted tracking method, comprising:

[0052] Receiver antenna, used to obtain N+1 frequency signals;

[0053] A down-conversion module is used to down-convert the N+1 frequency point signals to generate digital intermediate frequency signals of N+1 frequency points;

[0054] A phase detection and filtering module is used to perform carrier stripping, pseudo code stripping, integral clearing, phase detection and filtering on the digital intermediate frequency signals of the N+1 frequency points, and output the phase detection and filtering results of the N+1 frequency points accordingly;

[0055] A first local carrier signal generating module is used to integrate the phase-detection filtering results of the first N frequency points to generate local carrier signals of respective frequency points for the carrier stripping;

[0056] a multi-frequency joint auxiliary tracking quantity generating module, configured to generate a multi-frequency joint auxiliary tracking quantity using the phase-discrimination filtering results of the first N frequency points; and

[0057] The second local carrier signal generating module is used to generate a local carrier signal at the N+1th frequency point for the carrier stripping by using the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point.

[0058] According to another aspect of the present invention, the phase detection and filtering module includes:

[0059] The carrier stripping submodule separates the digital intermediate frequency signals of the N+1 frequency points from their respective local carrier signals. Mixing to remove the carrier and generate the baseband signal at each frequency point Wherein, i represents the i-th frequency point, and i=1,…,N+1; k is an integer;

[0060] Pseudo-code stripping submodule, used to strip baseband signals at each frequency point Perform pseudo code stripping to generate the corresponding signal after pseudo code stripping at each frequency point;

[0061] The integral clearing submodule is used to clear the integral of the signal after the pseudo code of each frequency point is stripped, and obtain the corresponding integral results of each frequency point

[0062] Phase detection submodule, used to integrate the results of each frequency point Perform phase detection and generate phase detection errors at each frequency point

[0063] The filter module is used to detect the phase error of each frequency point Perform filtering processing to generate phase-detection filtering results of N+1 frequency points

[0064] The first local carrier signal generating module includes:

[0065] The first local carrier phase estimation generation submodule is used to generate the phase detection filtering results of the first N frequency points. Perform integration processing to generate local carrier phase estimation for each frequency point Where, i=1,…,N;

[0066] The first local carrier signal calculation submodule is used to estimate the local carrier phase of each frequency point Generate corresponding local carrier signals for each frequency point for carrier stripping of each frequency point signal

[0067] The multi-frequency joint auxiliary tracking quantity generation module includes:

[0068] Distance change estimation generation submodule, used to use the phase detection filtering results of the first N frequency points and the carrier wavelength λ of the corresponding frequency point i , generate the distance change estimate of the first N frequency points Where i = 1,…,N;

[0069] Multi-frequency joint auxiliary tracking amount calculation submodule, used to estimate the distance change of the first N frequency points Perform linear combination to generate multi-frequency joint auxiliary tracking quantity Among them, the weighting coefficient w i satisfy And w i ≥0 constraint;

[0070] The second local carrier signal generating module includes:

[0071] The second phase error estimation generation submodule is used to use the multi-frequency joint auxiliary tracking quantity And the phase detection filtering result of the N+1th frequency point Generate phase error estimate for the N+1th frequency point Among them, λ Nt1 is the carrier wavelength of the N+1th frequency point;

[0072] The second local carrier phase estimation generation submodule is used to estimate the phase error of the N+1th frequency point Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point

[0073] The second local carrier signal calculation submodule is used to estimate the local carrier phase of the N+1th frequency point Generate the local carrier signal of the N+1th frequency point and use it to strip the carrier of the frequency point signal

[0074] According to another aspect of the present invention, the phase detection submodule includes:

[0075] The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part

[0076] The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively

[0077] Alternatively, the phase detection submodule includes:

[0078] The imaginary part acquisition submodule is used to obtain the correlation integral results of N+1 frequency points Generate the imaginary part of the corresponding integral result of each frequency point

[0079] The phase error calculation submodule is used to calculate the imaginary part Q of the relevant integral results of each frequency point. i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0080] Alternatively, the phase detection submodule includes:

[0081] The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part

[0082] The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively

[0083] Alternatively, the phase detection submodule includes:

[0084] The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part

[0085] The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively

[0086] Alternatively, the phase detection submodule includes:

[0087] The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part

[0088] The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k , imaginary part Q i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0089] Alternatively, the phase detection submodule includes:

[0090] The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part

[0091] The symbol acquisition submodule is used to obtain the real part I of the relevant integral result of each frequency point i,k , calculate the real part I of the relevant integral result of each frequency point i,k The symbol sign{I i,k};

[0092] The phase error calculation submodule is used to calculate the imaginary part Q of the relevant integral results of each frequency point. i,k , the real part of the integral result of each frequency point I i,k The symbol sign{I i,k} and the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0093] Compared with the prior art, the present invention has the following advantages:

[0094] According to the present invention, the phase-detection filtering results of the first N frequency points are used to generate multi-frequency joint auxiliary tracking parameters to assist in signal tracking at the N+1th frequency point. This approach utilizes the carrier frequency coherence of the different frequency points broadcast by the same satellite to fuse multiple frequency points, achieving multi-frequency signal joint auxiliary tracking. This effectively aggregates the signal power of multiple auxiliary frequency points, improving the signal-to-noise ratio of signal reception and carrier phase detection, thereby enhancing the robustness of the assisted loop tracking and achieving better signal tracking performance. This reduces the carrier phase tracking threshold of the assisted signal, meeting the requirements of complex electromagnetic environments and deep space exploration applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0096] Figure 1 A flowchart schematically illustrates a multi-frequency signal joint assisted tracking method disclosed in an embodiment of the present invention;

[0097] Figure 2 A diagram schematically illustrates the structure of a multi-frequency signal joint auxiliary tracking device disclosed in an embodiment of the present invention;

[0098] Figure 3 Schematically showing a flow chart of generating N+1 frequency point phase detection errors disclosed in the first embodiment of the present invention;

[0099] Figure 4 Schematically showing a flow chart of generating N+1 frequency point phase detection errors disclosed in the second embodiment of the present invention;

[0100] Figure 5 Schematically showing a flow chart of generating N+1 frequency point phase detection errors disclosed in the third embodiment of the present invention;

[0101] Figure 6 Schematically showing a flow chart of generating N+1 frequency point phase detection errors disclosed in the fourth embodiment of the present invention;

[0102] Figure 7 Schematically showing a flow chart of generating N+1 frequency point phase detection errors disclosed in the fifth embodiment of the present invention;

[0103] Figure 8 Schematically showing a flow chart of generating N+1 frequency point phase detection errors disclosed in the sixth embodiment of the present invention;

[0104] Figure 9 Schematically showing a flow chart of generating multi-frequency joint auxiliary tracking quantities disclosed in an embodiment of the present invention;

[0105] Figure 10 The figure schematically shows the structure of an existing cross-frequency auxiliary tracking receiver. DETAILED DESCRIPTION

[0106] The description of the embodiments in this specification should be combined with the corresponding drawings, which should be considered a complete part of this specification. In the drawings, the shapes and thicknesses of the embodiments may be exaggerated and indicated for simplicity or convenience. Furthermore, the various structural components in the drawings will be described separately. It is worth noting that components not shown in the drawings or not described in words are known to those of ordinary skill in the art.

[0107] The description of the embodiments herein and any references to directions and orientations are for ease of description only and are not to be construed as limiting the scope of the present invention. The following description of the preferred embodiments may involve combinations of features, which may exist independently or in combination. The present invention is not specifically limited to the preferred embodiments. The scope of the present invention is defined by the claims.

[0108] See also Figure 1 and Figure 2 The embodiment of the present invention discloses a multi-frequency signal joint assisted tracking method, comprising the following steps:

[0109] S1. Obtain N+1 frequency signals and perform down-conversion processing to generate a digital intermediate frequency signal of N+1 frequency points;

[0110] S2. Carrier stripping, pseudo-code stripping, integral clearing, phase detection and filtering are performed on the digital intermediate frequency signal of N+1 frequency points to generate the phase detection and filtering results of N+1 frequency points;

[0111] S3 integrates the results of the phase-locked filtering of the first N frequencies to generate local carrier signals for carrier stripping at their respective frequencies;

[0112] S4. Generate multi-frequency joint auxiliary tracking amount using the phase-locked filtering results of the first N frequency points;

[0113] S5. Generate a local carrier signal at the N+1th frequency point for carrier stripping using the multi-frequency joint auxiliary tracking amount and the phase detection filtering result at the N+1th frequency point.

[0114] According to the above scheme, first, N+1 frequency signals are acquired and down-converted to generate a digital intermediate frequency signal for each frequency. Next, carrier stripping, pseudo-code stripping, integral zeroing, phase detection, and filtering are performed on the digital intermediate frequency signals for each frequency (N+1 frequency points), generating corresponding phase detection filtering results for each frequency point (N+1 frequency points). Then, the phase detection filtering results for the first N frequency points are integrated to generate their respective local carrier signals. These local carrier signals can be used to perform carrier stripping on the first N frequency points in step S2. Simultaneously, the phase detection filtering results for the first N frequency points are used to generate a multi-frequency joint auxiliary tracking quantity. Finally, the multi-frequency joint auxiliary tracking quantity and the phase detection filtering result for the N+1th frequency point are used to generate a local carrier signal for the N+1th frequency point. This local carrier signal can be used to perform carrier stripping on the signal for the N+1th frequency point in step S2.

[0115] In the embodiment of the present invention, the N+1 frequency signals in the above step S1 are obtained by transmitting at different frequencies from the same satellite. In step S2, after obtaining the digital intermediate frequency signals of the N+1 frequencies, the carrier stripping, pseudo code stripping, integral zeroing, phase detection and filtering are performed on the signals. i (s) is the filter transfer function of the i-th frequency point, where i = 1, ..., N + 1) and the phase detection filtering results of each frequency point are output. Specifically, first, the digital intermediate frequency signals of N+1 frequencies are respectively combined with the local carrier signals of their respective frequencies. Mixing to remove the carrier and generate baseband signals at each frequency point Where i represents the i-th frequency point, i=1,…,N+1; k is an integer. Perform pseudo code stripping to generate the pseudo code stripped signal of each frequency point. Again, perform integration and clearing on the pseudo code stripped signal of each frequency point to obtain the relevant integral results of each frequency point. Then the correlation integral results of each frequency point are Perform phase detection to generate phase detection errors at each frequency point And the phase error of each frequency point Perform filtering to generate phase-detection filtering results of N+1 frequency points

[0116] In the embodiment of the present invention, the correlation integration results of each frequency point are Perform phase detection to generate phase detection errors at each frequency point There are many implementation methods for the process, which are described in detail in Examples 1 to 6 below.

[0117] Example 1

[0118] See also Figure 3 , using the correlation integration results of N+1 frequency points The real part of the correlation integral result corresponding to each frequency point and the imaginary part Using the real part I of the correlation integral result of each frequency point i,k and the imaginary part Q i,k , calculate the phase detection error of the N+1 frequency points respectively

[0119] Example 2

[0120] See also Figure 4 , using the correlation integration results of N+1 frequency points Generate the imaginary part of the corresponding integral result of each frequency point Using the imaginary part Q of the relevant integral results at each frequency point i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of the N+1 frequency points respectively

[0121] Example 3

[0122] See also Figure 5 , using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part Using the real part of the integral result of each frequency point I i,k and the imaginary part Q i,k , calculate the phase detection error of the N+1 frequency points respectively

[0123] Example 4

[0124] See also Figure 6 , using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part Using the real part of the integral result of each frequency point I i,k and the imaginary part Q i,k , calculate the phase detection error of the N+1 frequency points respectively

[0125] Example 5

[0126] See also Figure 7 , using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part Using the real part of the integral result of each frequency point I i,k , imaginary part Q i,kAnd the signal amplitude A at each frequency point i , calculate the phase detection error of the N+1 frequency points respectively

[0127] Example 6

[0128] See also Figure 8 , using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part Using the real part of the integral result of each frequency point I i,k , calculate the real part I of the relevant integral result of each frequency point i,k The symbol sign{I i,k}; Using the imaginary part Q of the relevant integral results at each frequency point i,k , the real part of the integral result of each frequency point I i,k The symbol sign{I i,k} and the signal amplitude A at each frequency point i , calculate the phase detection error of the N+1 frequency points respectively

[0129] Continue to see Figure 2 , after obtaining the phase-discrimination filtering results of the above N+1 frequency points Afterwards, the phase detection filtering results of the first N frequency points are used Generate local carrier signals at their respective frequencies Specifically, the phase detection filtering results of the first N frequency points are Perform integration processing (NCO) to generate local carrier phase estimates corresponding to each frequency point Where i = 1, ..., N; then use the local carrier phase corresponding to each frequency point to estimate Generate local carrier signals for each frequency point They are used to perform carrier stripping on the first N frequency signals.

[0130] See also Figure 9 At the same time, the phase-detection filtering results of the first N frequency points are used to generate the multi-frequency joint auxiliary tracking quantity. Specifically, the phase-detection filtering results of the first N frequency points are used to generate the multi-frequency joint auxiliary tracking quantity. and the carrier wavelength λ of the corresponding frequency point i , generate the distance change estimate of each frequency point in the first N frequency points Where i = 1, ..., N; then estimate the distance change of the first N frequency points Perform linear combination to generate multi-frequency joint auxiliary tracking quantity Among them, the weighting coefficient w i satisfy And w i ≥0 constraint.

[0131] Continue to see Figure 2 , after obtaining the multi-frequency joint auxiliary tracking And the phase detection filtering result of the N+1th frequency point Afterwards, multi-frequency joint auxiliary tracking is used And the phase detection filtering result of the N+1th frequency point Generate the local carrier signal of the N+1th frequency point Specifically, the multi-frequency joint auxiliary tracking quantity is used And the phase detection filtering result of the N+1th frequency point Generate phase error estimate for the N+1th frequency point Among them, λ Nt1 is the carrier wavelength of the N+1th frequency point; then the phase error of the N+1th frequency point is estimated Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point Finally, the local carrier phase of the N+1th frequency point is used to estimate Generate the local carrier signal of the N+1th frequency point Used for carrier stripping of the frequency signal.

[0132] The multi-frequency signal joint assisted tracking device disclosed in the embodiment of the present invention uses the multi-frequency signal joint assisted tracking method described above and can be applied to the design of signal receivers in the fields of satellite communications, satellite navigation, etc. Figure 2 The device includes: a receiver antenna for acquiring N+1 frequency signals, wherein the N+1 frequency signals are transmitted from different frequency points of the same satellite; a down-conversion module for down-converting each of the N+1 frequency signals to generate a corresponding digital intermediate frequency signal of the N+1 frequency points; a phase detection and filtering module for performing carrier stripping, pseudo-code stripping, integral zeroing, phase detection, and filtering on the digital intermediate frequency signals of each frequency point, and outputting the phase detection filtering results of the N+1 frequency points; a first local carrier signal generation module for integrating the phase detection filtering results of the first N frequency points to generate local carrier signals of each frequency point, which are respectively used for carrier stripping of the first N frequency point signals; a multi-frequency joint auxiliary tracking quantity generation module for generating a multi-frequency joint auxiliary tracking quantity using the phase detection filtering results of the first N frequency points; and a second local carrier signal generation module for generating a local carrier signal of the N+1th frequency point using the multi-frequency joint auxiliary tracking quantity and the phase detection filtering result of the N+1th frequency point, which is used for carrier stripping of the N+1th frequency point signal.

[0133] The phase detection and filtering module includes: a carrier stripping submodule for separating the digital intermediate frequency signals of N+1 frequency points from their respective local carrier signals. Mixing to remove the carrier and generate the baseband signal at each frequency point Where i represents the i-th frequency point, and i=1,…,N+1; k is an integer; the pseudo code stripping submodule is used to strip the baseband signal of each frequency point Perform pseudo code stripping to generate the signal after pseudo code stripping at each frequency point; the integral clearing submodule is used to perform integral clearing on the signal after pseudo code stripping at each frequency point, and obtain the corresponding integral results of each frequency point Phase detection submodule, used to integrate the results of each frequency point Perform phase detection and generate phase detection errors at each frequency point The filter module is used to detect the phase error of each frequency point Perform filtering and generate corresponding phase detection filtering results for each frequency point Similarly, there are multiple implementations for the design of the phase detector submodule, which are described in detail in the following embodiments 1 to 6.

[0134] Example 1

[0135] The phase detection submodule includes: a real and imaginary part acquisition submodule, which is used to obtain the relevant integral results of N+1 frequency points. Generate the real part of the relevant integral result at each frequency point and the imaginary part The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively

[0136] Example 2

[0137] The phase detection submodule includes: the imaginary part acquisition submodule, which is used to obtain the relevant integral results of N+1 frequency points Generate the imaginary part of the relevant integral result of each frequency point The phase error calculation submodule is used to calculate the imaginary part Q of the relevant integral results of each frequency point. i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0138] Example 3

[0139] The phase detection module includes: real and imaginary part acquisition submodule, which is used to obtain the relevant integral results of N+1 frequency points Generate the real part of the relevant integral result at each frequency point and the imaginary part The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Qi,k , calculate the phase detection error of N+1 frequency points respectively

[0140] Example 4

[0141] The phase detection submodule includes: a real and imaginary part acquisition submodule, which is used to obtain the relevant integral results of N+1 frequency points. Generate the real part of the relevant integral result at each frequency point and the imaginary part The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively

[0142] Example 5

[0143] The phase detection submodule includes: a real and imaginary part acquisition submodule, which is used to obtain the relevant integral results of N+1 frequency points. Generate the real part of the relevant integral result at each frequency point and the imaginary part The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k , imaginary part Q i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0144] Example 6

[0145] The phase detection submodule includes: a real and imaginary part acquisition submodule, which is used to obtain the relevant integral results of N+1 frequency points. Generate the real part of the relevant integral result at each frequency point and the imaginary part The symbol acquisition submodule is used to obtain the real part I of the relevant integral result of each frequency point i,k , calculate the real part I of the relevant integral result of each frequency point i,k The symbol sign{I i,k}; Phase error calculation submodule, used to calculate the imaginary part Q of the relevant integral results of each frequency point i,k , the real part of the integral result of each frequency point I i,k The symbol sign{I i,k} and the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

[0146] The first local carrier signal generation module includes: a first local carrier phase estimation generation submodule for generating a phase-detection filter result of the first N frequency points. Perform integration processing to generate local carrier phase estimates for each frequency point Wherein, i=1,…,N; the first local carrier signal calculation submodule is used to estimate the local carrier phase of each frequency point Generate local carrier signals at each frequency point And they are used for carrier stripping of the first N frequency signals respectively.

[0147] The multi-frequency joint auxiliary tracking quantity generation module includes: a distance change estimation generation submodule, which is used to use the phase-discrimination filtering results of the first N frequency points and the carrier wavelength λ of the corresponding frequency i , generate the distance change estimate of the first N frequency points Where i = 1, ..., N; the multi-frequency joint auxiliary tracking amount calculation submodule is used to estimate the distance change of the first N frequency points Perform linear combination to generate multi-frequency joint auxiliary tracking quantity Among them, the weighting coefficient w i satisfy And w i ≥0 constraint.

[0148] The second local carrier signal generation module includes: a second phase error estimation generation submodule for using the multi-frequency joint auxiliary tracking amount And the phase detection filtering result of the N+1th frequency point Generate phase error estimate for the N+1th frequency point Among them, λ Nt1 The second local carrier phase estimation generation submodule is used to estimate the phase error of the N+1th frequency point. Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point The second local carrier signal calculation submodule is used to estimate the local carrier phase of the N+1th frequency point Generate the local carrier signal of the N+1th frequency point It is also used for carrier stripping of the N+1th frequency signal.

[0149] The present invention realizes joint auxiliary tracking of multi-frequency signals by utilizing the coherence of the carrier frequencies of different frequency signals of the same satellite, which can effectively aggregate the signal power of multiple frequencies, improve the signal-to-noise ratio of carrier phase detection, and improve the robustness of the assisted signal tracking.

[0150] The serial numbers of the above-mentioned steps involved in the method of the present invention do not mean the order of execution of the method. The execution order of each step should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0151] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-frequency signal joint assisted tracking method, comprising: S1. Obtain N+1 frequency signals and perform down-conversion processing to generate a digital intermediate frequency signal of N+1 frequency points; S2. The digital intermediate frequency signal of the N+1 frequency is subjected to carrier stripping, pseudo-code stripping, integral clearing, phase detection and filtering, and the corresponding phase detection filtering result of the N+1 frequency is generated; S3 integrates the results of the phase-locked filtering of the first N frequencies to generate local carrier signals for the carrier stripping of their respective frequencies; S4. Generate multi-frequency joint auxiliary tracking amount using the phase-locked filtering results of the first N frequencies; S5. Using the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1 frequency point, the local carrier signal for the carrier stripping of the N+1 frequency point is generated; The step S5 comprises: S51. Using multi-frequency joint auxiliary tracking And the phase detection filtering result of the N+1th frequency point Generate phase error estimate for the N+1th frequency point Among them, λ N+1 is the carrier wavelength of the N+1th frequency point; S52. Phase error estimation for the N+1th frequency point Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point S53. Using the local carrier phase estimation of the N+1th frequency point Generate the local carrier signal of the N+1th frequency point 2. The method according to claim 1, characterized in that In step S1, the N+1 frequency signals are transmitted by the same satellite at different frequencies.

3. The method according to claim 1, characterized in that The step S2 comprises: S21. The digital intermediate frequency signals of the N+1 frequency points are respectively combined with their respective local carrier signals Mixing to remove the carrier and generate the baseband signal at each frequency point Wherein, i represents the i-th frequency point, and i=1,…,N+1; k is an integer; S22. Baseband signal at each frequency point Perform pseudo code stripping to generate the corresponding signal after pseudo code stripping at each frequency point; S23. Integrate and clear the signal after the pseudo code stripping of each frequency point to obtain the corresponding correlation integral result of each frequency point S24. Correlation integration results for each frequency point Perform phase detection and generate phase detection errors at each frequency point S25. Phase detection error at each frequency point Perform filtering processing to generate phase-detection filtering results of N+1 frequency points 4. The method according to claim 3, characterized in that The step S24 includes: S241. Using the correlation integration results of N+1 frequency points The real part of the correlation integral result corresponding to each frequency point and the imaginary part S242. Using the real part of the correlation integral result of each frequency point I i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively Alternatively, the step S24 includes: S241. Using the correlation integration results of N+1 frequency points The imaginary part of the correlation integral result corresponding to each frequency point S242. Using the imaginary part Q of the correlation integral result of each frequency point i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively Alternatively, the step S24 includes: S241. Using the correlation integration results of N+1 frequency points The real part of the correlation integral result corresponding to each frequency point and the imaginary part S242. Using the real part of the correlation integral result of each frequency point I i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively Alternatively, the step S24 includes: S241. Using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part S242. Using the real part of the integral result of each frequency point I i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively Alternatively, the step S24 includes: S241. Using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part S242. Using the real part of the integral result of each frequency point I i,k , imaginary part Q i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively Alternatively, the step S24 includes: S241. Using the correlation integration results of N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part S242. Using the real part of the integral result of each frequency point I i,k , calculate the real part I of the relevant integral result of each frequency point i,k The symbol sign{I i,k }; S243. Using the imaginary part Q of the correlation integral results at each frequency point i,k , the real part of the integral result of each frequency point I i,k The symbol sign{I i,k } and the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively 5. The method according to claim 4, characterized in that The step S3 comprises: S31. Phase detection filtering results for the first N frequency points Perform integration processing to generate local carrier phase estimates for each frequency point Where i = 1,…,N; S32. Using the local carrier phase estimation of each frequency point Generates the local carrier signal corresponding to the first N frequency points 6. The method according to claim 5, characterized in that The step S4 comprises: S41. Using the phase detection filtering results of the first N frequency points and the carrier wavelength λ of the corresponding frequency i , corresponding to the distance change estimation of the first N frequency points Where i = 1,…,N; S42. Estimation of distance change for the first N frequency points Perform linear combination to generate multi-frequency joint auxiliary tracking quantity Among them, the weighting coefficient w i satisfy And w i ≥0 constraint.

7. A multi-frequency signal joint assisted tracking device using the multi-frequency signal joint assisted tracking method according to any one of claims 1 to 6, characterized in that: include: Receiver antenna, used to obtain N+1 frequency signals; A down-conversion module is used to down-convert the N+1 frequency point signals to generate digital intermediate frequency signals of N+1 frequency points; A phase detection and filtering module is used to perform carrier stripping, pseudo code stripping, integral clearing, phase detection and filtering on the digital intermediate frequency signals of the N+1 frequency points, and output the phase detection and filtering results of the N+1 frequency points accordingly; A first local carrier signal generating module is used to integrate the phase-detection filtering results of the first N frequency points to generate local carrier signals of respective frequency points for the carrier stripping; A multi-frequency joint auxiliary tracking quantity generating module is used to generate a multi-frequency joint auxiliary tracking quantity using the phase detection filtering results of the first N frequency points; as well as The second local carrier signal generating module is used to generate a local carrier signal at the N+1th frequency point for the carrier stripping by using the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point.

8. The device according to claim 7, characterized in that The phase detection and filtering module includes: The carrier stripping submodule is used to separate the digital intermediate frequency signals of the N+1 frequency points from their respective local carrier signals. Mixing to remove the carrier and generate the baseband signal at each frequency point Wherein, i represents the i-th frequency point, and i=1,…,N+1; k is an integer; Pseudo-code stripping submodule, used to strip baseband signals at each frequency point Perform pseudo code stripping to generate the corresponding signal after pseudo code stripping at each frequency point; The integral clearing submodule is used to clear the integral of the signal after the pseudo code of each frequency point is stripped, and obtain the corresponding integral results of each frequency point Phase detection submodule, used to integrate the results of each frequency point Perform phase detection and generate phase detection errors at each frequency point The filter module is used to detect the phase error of each frequency point Perform filtering processing to generate phase-detection filtering results of N+1 frequency points The first local carrier signal generating module includes: The first local carrier phase estimation generation submodule is used to generate the phase detection filtering results of the first N frequency points. Perform integration processing to generate local carrier phase estimation for each frequency point Where i = 1,…,N; The first local carrier signal calculation submodule is used to estimate the local carrier phase of each frequency point Generate local carrier signals at each frequency point The multi-frequency joint auxiliary tracking quantity generation module includes: Distance change estimation generation submodule, used to use the phase detection filtering results of the first N frequency points and the carrier wavelength λ of the corresponding frequency i , generate the distance change estimate of the first N frequency points Where i = 1,…,N; Multi-frequency joint auxiliary tracking amount calculation submodule, used to estimate the distance change of the first N frequency points Perform linear combination to generate multi-frequency joint auxiliary tracking quantity Among them, the weighting coefficient w i satisfy And w i ≥0 constraint; The second local carrier signal generating module includes: The second phase error estimation generation submodule is used to use the multi-frequency joint auxiliary tracking quantity And the phase detection filtering result of the N+1th frequency point Generate phase error estimate for the N+1th frequency point Among them, λ N+1 is the carrier wavelength of the N+1th frequency point; The second local carrier phase estimation generation submodule is used to estimate the phase error of the N+1th frequency point Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point The second local carrier signal calculation submodule is used to estimate the local carrier phase of the N+1th frequency point Generate the local carrier signal of the N+1th frequency point 9. The device according to claim 8, characterized in that The phase detection submodule includes: The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively Alternatively, the phase detection submodule includes: The imaginary part acquisition submodule is used to obtain the correlation integral results of N+1 frequency points Generate the imaginary part of the corresponding integral result of each frequency point The phase error calculation submodule is used to calculate the imaginary part Q of the relevant integral results of each frequency point. i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively Alternatively, the phase detection submodule includes: The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively Alternatively, the phase detection submodule includes: The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k and the imaginary part Q i,k , calculate the phase detection error of N+1 frequency points respectively Alternatively, the phase detection submodule includes: The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part The phase error calculation submodule is used to calculate the real part I of the relevant integral results of each frequency point. i,k , imaginary part Q i,k And the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively Alternatively, the phase detection submodule includes: The real and imaginary part acquisition submodule is used to obtain the relevant integral results based on N+1 frequency points Generate the real part of the corresponding integral result of each frequency point and the imaginary part The symbol acquisition submodule is used to obtain the real part I of the relevant integral result of each frequency point i,k , calculate the real part I of the relevant integral result of each frequency point i,k The symbol sign{I i,k }; The phase error calculation submodule is used to calculate the imaginary part Q of the relevant integral results of each frequency point. i,k , the real part of the integral result of each frequency point I i,k The symbol sign{I i,k } and the signal amplitude A at each frequency point i , calculate the phase detection error of N+1 frequency points respectively

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