Satellite navigation receiving device

Abstract

Disclosed is a satellite navigation reception device for mobile reception of positioning satellite signals, which improves the signal-to-noise ratio in the case of partial interruption of the line of sight between a vehicle and a plurality of satellites, particularly in cities or forests and mountainous areas, thereby improving the navigation results.

Description

Technical Field

[0001] The present invention relates to a satellite navigation receiving device for mobile reception of signals transmitted by GNSS positioning satellites, the satellite navigation receiving device comprising a GNSS satellite signal receiving unit, the GNSS satellite signal receiving unit being used to receive CDMA-coded GNSS satellite signals transmitted by phase digitally modulated high-frequency carrier oscillation from different GNSS positioning satellites superimposed on the same carrier frequency. In the L1 frequency band of the GPS system, the carrier frequency is, for example, fo=1.57542 GHz. Background Art

[0002] Especially in the case of satellite navigation systems, the transmission power emitted by the satellite and the efficiency of the satellite receiving antenna are important for economic efficiency. GNSS satellite signals 51, 52, 53 ... are usually transmitted as circularly polarized electromagnetic waves due to the polarization rotation on the transmission path, and are used for all known satellite navigation systems. Modern navigation systems provide global accessibility and high navigation accuracy in mobile navigation in particular to evaluate the radio signals of multiple satellite navigation systems received simultaneously. Such systems received in the network are summarized as GNSS global navigation satellite systems and include well-known systems such as GPS, GLONASS, Galileo and Beidou. Satellite antennas for vehicle navigation are usually arranged on the conductive shell of the vehicle body. Circularly polarized satellite receiving antennas are used, which are known, for example, based on patent publications DE-A-102009040910, DE-A-4008505 and DE-A-10163793. The antenna is characterized by a low structural height and high manufacturing cost-effectiveness, and is particularly suitable for installation on a vehicle. For example, from patent publication DE-A-102009040910, circular, polygonal or square loop antennas are known which are designed as resonant structures and have a small structural volume, which is particularly advantageous for mobile applications. The antenna has a relatively small required conductive base surface and is very low, with a height of less than one tenth of the free space wavelength. Patch antennas are known from the prior art as further antennas for satellite navigation on vehicles, but patch antennas have low capabilities for reception at low elevation angles.

[0003] The antenna used to receive the navigation satellite signals is right-hand circularly polarized (RHCP) matching the signals transmitted by the satellites. Usually, the antenna is connected to the high-frequency input of the receiver for mobile reception of positioning satellite signals via a high-frequency line. In mobile reception, the level of the received signals of the individual satellites is much lower than the level of random noise, which is why the received signals are evaluated by means of related technologies (CDMA, Code Division Multiple Access). Example values ​​for the L1 band of the GPS system and the CDMA code used as a special form of the CDMA code are 1us for the chip length and about 1ms for the period length of the CDMA code block (consisting of 1023 chips).

[0004] There can be a large number of correlators in the receiver, each of which is assigned to a positioning satellite. If the signal of a satellite is detected in the noise signal by a correlator, this signal can be tracked very reliably when the vehicle is moving, wherein considerable disturbance of the radiation path is required to lose the signal.

[0005] The identification of the individual digitally modulated satellite signals in the noisy received signal can be carried out in the following way, by finding the autocorrelation maximum by synchronization using the respectively assigned CDMA code signal correlators. This means that each CDMA code signal assigned to a satellite is correlated with the received signal by implementing a variable time delay of duration τ1, τ2, τ3, ... between the code signal and the received signal in one pass until there is synchronization between the satellite code received in the received signal and the CDMA code signal generated in the receiver. This produces correlation signal maxima 34a1 ..., 34b2 ... in the corresponding correlation functions Kt1, Kt2, Kt3 and the ideal time delays τ1 = τ1opt, τ2 = τ2opt, τ3 = τ3opt, ... required for this are determined. After the signal is found, if at least four signals are detected, positioning by triangulation can be performed on this basis. The fourth signal is useful for defining a common time base, because the time point when the signal is sent to the satellite is uncertain for the receiver, so the three coordinates x, y, z of the receiver cannot be inferred from the durations 38τ1=τ1opt, τ2=τ2opt, τ3=τ3opt... corresponding to the arrival time.

[0006] Therefore, out of a large number of satellite signals, at least four signals should be receivable in such a way that they can be synchronized by correlation in order to be able to determine the position.

[0007] In particular, in cities or forests and mountains, there is usually no line of sight (LOS) between vehicles and multiple satellites. As a result, the received signal strength of the satellite signals is significantly reduced due to being blocked, or in extreme cases, the satellite signals cannot be received at a certain location. Summary of the invention

[0008] Therefore, the object of the present invention is to provide a satellite navigation receiving device for mobile reception of positioning satellite signals, which improves the signal-to-noise ratio and thus improves the navigation results when the line of sight between a vehicle and multiple satellites is partially interrupted, especially in cities or forests and mountainous areas.

[0009] This object is achieved by a satellite navigation receiving device according to claim 1 .

[0010] Advantageous embodiments are specified in the description, the drawings and the dependent claims.

[0011] The present invention discloses a satellite navigation receiving device 1, which is used for mobile reception of positioning satellite signals transmitted from GNSS positioning satellites Sat1, Sat2, Sat3, etc. The satellite navigation receiving device 1 may include:

[0012] The GNSS satellite signal receiving unit 2 is used to receive CDMA-coded GNSS satellite signals 51, 52, 53, ..., transmitted by a phase-digitally modulated high-frequency carrier oscillation 17 from different GNSS positioning satellites Sat1, Sat2, Sat3, ..., superimposed on the same carrier frequency fo. The GNSS satellite signal receiving unit 2 includes:

[0013] At least one first coherent quadrature demodulator ( a quadratur-demodulator) 13a, which is connected to a high-frequency carrier oscillator 17 of the carrier frequency fo present in the GNSS satellite signal receiving unit 2, for coherently demodulating the superimposed first GNSS satellite antenna signals 5a1, 5a2, 5a3, ... and the first digital complex baseband signals 11a1, 11a2, 11a3, ... at the demodulator output;

[0014] A plurality of first CDMA code signal correlators 10a1, 10a2, 10a3, ..., each of which is provided with a corresponding digital complex baseband signal 11a1, 11a2, 11a3, ..., and each of which is assigned a GNSS satellite antenna signal 5a1, 5a2, 5a3, ... for identification, and through the assigned individual CDMA code C1, C2, C3, ..., the first complex baseband signals 11a1, 11a2, 11a3, ... 3 ..., respectively corresponding to the GNSS satellite antenna signals 5a1, 5a2, 5a3, respectively, are present at their output ends, the first complex correlation signals 12a1, 12a2, 12a3 ... have first correlation signal maximum values ​​34a1, 34a2, 34a3 ..., and the first complex correlation signals 12a1, 12a2, 12a3 have such a form: an in-phase component I 30 and an orthogonal component Q 31 of the first complex correlation signals 12a, 12a, 12a ...; and a multi-antenna system 3 constructed on a conductive substrate 6, the multi-antenna system 3 comprising:

[0015] At least two satellite receiving antennas 3a, 3b, for separately and superimposingly receiving a plurality of GNSS satellite signals 51, 52, 53, ..., each GNSS satellite signal having an azimuth circle diagram of radiation density of integer N order and an azimuth linear distribution of phase angle β=0-2π*N in a corresponding azimuth angle range α=0-2π.

[0016] The first satellite receiving antenna 3a of the circular pole with the main radiation direction facing the zenith is of order N=1, and the first satellite receiving antenna 3a of the circular pole is connected to the first coherent orthogonal demodulator 13a via a high-frequency line 40a;

[0017] A multi-antenna system having at least one further satellite receiving antenna 3 b for receiving GNSS satellite signals 51 , 52 , 53 . . . having an azimuth circle diagram of radiation density with an order of N<4;

[0018] at least one further coherent quadrature demodulator 13b, to which the further GNSS satellite antenna signals 5b1, 5b2, 5b3, ... are supplied for coherent demodulation at the output of the demodulator with the further digital complex baseband signals 11b1, 11ba2, 11b3, ... in relation to the high-frequency carrier oscillation 17;

[0019] To each of the first signal correlators 10a1, 10a2, 10a... assigned to the CDMA-coded GNSS satellite signals 51, 52, 53..., there is also assigned an identical additional CDMA code signal correlator 10b1, 10b2, 10b3..., each of the additional CDMA code signal correlators 10b1, 10b2, 10b3... is assigned to an additional satellite receiving antenna 3b, and the additional CDMA code signal correlators 10b1, 10b2, 10b3... provide additional digital complex baseband signals 11b1, 11b2, 11b3..., and

[0020] each further CDMB code signal correlator is assigned a GNSS satellite antenna signal 5b1, 5b2, 5b3, ... for identification, and likewise by means of the assigned individual CDMA codes C1, C2, C3, ..., further complex correlation signals 12b1, 12b2, 12b3, ..., contained in the digital complex baseband signals 11b1, 11b2, 11b3, ..., corresponding to the GNSS satellite antenna signals 5b1, 5b2, 5b3, respectively, are present at their outputs, the further complex correlation signals 12b1, 12b2, 12b3, ... having further complex correlation signal maxima 34b1, 34b2, 34b3, ..., the further complex correlation signals 12b1, 12b2, 12b3, ... having such a form that the in-phase component I 30 and the quadrature component Q 31 of the further complex correlation signals 12b1, 12b2, 12b3, ...;

[0021] For each GNSS satellite signal 51, 52, 53, ..., there is a linear combination circuit 41, 42, 43, ..., in particular a linear combination circuit 41, 42, 43, ..., having a control logic 141, 142, 143, ..., to which the complex first correlation signal maximum values ​​34a1, 34a2, 34a3 and the further complex correlation signal maximum values ​​34b1, 34b2, 34b3, ..., assigned to the GNSS satellite antenna signal 51, 52, 53, ... are provided 41, 42, 43..., wherein these signals can be linearly combined in the linear combination circuit 41, 42, 43... through the complex calculation in the summers 161, 162, 163..., so that the amount of the linearly combined complex correlation signals Kg1, Kg2..., 271, 272... is greater than the amount of the maximum value of the complex first correlation signal 34a1, 34a2, 34a3..., thereby the linear combination signal with improved signal-to-noise ratio for each received satellite is used to evaluate the navigation data.

[0022] Advantageously, one of the complex correlation signal maxima 34a1, 34a2, 34a3, ..., 34b1, 34b2, ... is phase rotated by multiplication by a complex factor equal to 1 to give an in-phase summation in the summers 161, 162, 163, ...

[0023] Advantageously, the conductive base surface 6 is constructed on the substantially horizontal outer skin of the vehicle, and control logic 141, 142, 143 ... is present in the linear combination circuits 41, 42, 43 ... respectively, for setting the discrete complex linear combination values ​​of the calculated complex multipliers 26a1, 26a2 ..., 26b1, 26b2 stored in the control logic 141, 142, 143 ... to form the discrete main directions of the radiation pattern of the multi-antenna system 3 in the entire azimuth, in the entire upper half space for the orientation of different discrete azimuth angles of the vehicle. More advantageously, the position data of the satellites Sat1, Sat2, Sat3 ... are stored in the control logic 141, 142, 143 ... and thus determine the direction from which the LOS signal (line of sight) is emitted based on the vehicle orientation. Advantageously, in the linear combination circuits 41, 42, 43, ..., current settings for a linear combination of main radiation directions given by the spatial directions of the radiation of the associated satellites Sat1, Sat2, Sat3, ... and the orientation of the vehicle with a gain of at least 3bd are selected.

[0024] Even more beneficial is:

[0025] The multi-antenna system 3 includes at least two clockwise circularly polarized satellite receiving antennas 3a and 3b, and the at least two clockwise circularly polarized satellite receiving antennas 3a and 3b have different horizontal positions and a distance greater than 1 / 4 wavelength. In particular, as an antenna array, it is used to separately and superimpose and receive multiple GNSS satellite signals 51, 52, 53..., each GNSS satellite signal has an azimuth circle diagram with a radiation density of N=1 order, and the main radiation direction is toward the zenith.

[0026] Among them, in particular,

[0027] The first satellite receiving antenna 3 a is connected to a first coherent orthogonal demodulator 13 a , and the other satellite receiving antenna 3 b is connected to another coherent orthogonal demodulator 13 b in the GNSS satellite signal receiving unit 2 .

[0028] Advantageously, the multi-antenna system 3 includes a loop antenna 21 as the first satellite receiving antenna 3a, for which the N=1 order, clockwise circular polarization (RHCP) and the main radiation direction are toward the zenith. This can be designed as a loop line 35 arranged above the conductive base surface 6, the loop line 35 having a current distribution of a line wave traveling in a single rotation direction, and the phase difference of the current distribution is 2π within one revolution. It can be designed to have four vertical radiators 19a, ... 19d connected to the loop line 35 and offset from each other by 90 degrees in azimuth, and the first received signal 5a1, 5a2, 5a3 ... is tapped on one of the radiators 19a for forwarding to the first coherent orthogonal demodulator 19a in the GNSS satellite signal receiving unit 2.

[0029] The multi-antenna system 3 may include a vertical monopole antenna 15 as an additional satellite receiving antenna 3b, which is arranged concentrically with the loop antenna 21 of order N=1, and the vertical monopole antenna 15 has an order N=0, for receiving additional receiving signals 5b1, 5b2, 5b3, etc., for forwarding to an additional coherent orthogonal demodulator 13b in the GNSS satellite signal receiving unit 2.

[0030] The multi-antenna system 3 includes a loop antenna 21 as a first satellite receiving antenna 3a, for which N=1 order, clockwise circular polarization (RHCP) and the main radiation direction are toward the zenith. This can be designed as a loop line 35 arranged above the conductive base surface 6, the loop line 35 has a current distribution of a line wave traveling in a single rotation direction, the phase difference of the current distribution is only 2π within one revolution, and has four vertical radiators 19a, ... 19d connected to the loop line 35 and offset from each other by 90 degrees in azimuth, and the first received signal 5a1, 5a2, 5a3 ... is tapped on one of the radiators 19a for forwarding to the first coherent orthogonal demodulator 19a in the GNSS satellite signal receiving unit 2.

[0031] The multi-antenna system 3 can be designed as a loop antenna 20 as an additional satellite receiving antenna 3b, for which the N=2 order, clockwise circular polarization (RHCP) and the main radiation direction are toward the zenith. This can be designed as a loop line 35 arranged above the conductive base surface 6, the loop line 35 has an N=2 order, the loop line 35 has a current distribution of a line wave traveling in a single rotation direction, and the phase difference of the current distribution is 4π within one revolution. It can have 8 additional vertical radiators 22a, ... 22h connected to the loop line 35 and offset by 45 degrees from each other in azimuth, and additional received signals 5b1, 5b2, 5b3 ... are tapped on one of the radiators 22a for forwarding to an additional coherent orthogonal demodulator 13b in the GNSS satellite signal receiving unit 2.

[0032] Advantageously, instead of the N=1 order loop antenna 21 serving as the first independent antenna 3a, there is an N=1 order patch antenna 24 at the center of the additional satellite receiving antenna 3b, the patch antenna 24 having a clockwise circular polarization (RHCP) and a distribution of a phase angle β=0-2π of radiation at an azimuth spatial angle α=0-2π, and the main radiation direction being toward the zenith, as the first GNSS satellite antenna signal 5a1, 5a2, 5a3, ..., for forwarding to the first coherent orthogonal signal demodulator 13a in the GNSS satellite signal receiving unit 2.

[0033] Advantageously, the multi-antenna system 3 comprises as a second further satellite reception antenna 3c a concentrically arranged loop antenna 20 of order N=2, centrally of the loop antenna 21 of order N=1 and the monopole antenna 15 of order N=0, for receiving the third reception signal 5c.

[0034] Advantageously, the expansion of the satellite navigation receiving device 1 according to the invention is replicated in such a way that there is:

[0035] A second further satellite receiving antenna 3c, which is superimposed with second further GNSS satellite antenna signals 5c1, 5c2, 5c3, ...;

[0036] a second further coherent quadrature demodulator 13c to which the further GNSS satellite antenna signals 5c1 , 5c2, 5c3, ... are provided;

[0037] a second further CDMA code signal correlator 10c1, 10c2, 10c3, ... to which further digital complex baseband signals 11c1, 11c2, 11c3, ... are provided;

[0038] wherein the complex second further correlation signal maxima 34c1, 34c2, 34c3, ... of the further CDMA code signal correlators 10c1, 10c2, 10c3, ... of the linear combination circuits 41, 42, 43, ... are provided and are computationally combined with other signals in the summers 161, 162, 163, ... ( Fig.10 ).

[0039] Advantageously, in order to save additional line connections and the above-mentioned additional coherent orthogonal demodulators 13b, 13c, there is only one cable connection and only one IQ coherent orthogonal demodulator between the satellite receiving antennas 3a, 3b... and the GNSS satellite signal receiving unit 2, and for this purpose, the GNSS satellite antenna signals 5a, 5b, 5c of the satellite receiving antennas are superimposed on each other via a line combining circuit (Leistungskombinationsschaltung) 102 to form a sum signal 5s, wherein each additional satellite receiving antenna 3b, 3c is previously connected to a variable phase shifter 100 so that the carrier phase of each antenna changes in a different manner over time, and the resulting sum signal 5s is provided to all correlators as a digital complex baseband sum signal 11s via only a single line connection and a single coherent orthogonal demodulator 13a. The allocation of the first satellite receiving antenna 3a to the first CDMA code signal correlators 10a1, 10a2, 10a3, ... and the allocation of the further satellite receiving antenna 3b to the further CDMA code signal correlators 10b1, 10b2, 10b3, ... and in the case of the second further satellite receiving antenna 3c, the allocation of the second further satellite receiving antenna 3c to the second further CDMA code signal correlators 10c1, 10c2, 10c3, ... can be carried out in such a way that the previously performed phase rotation is reversed again via the variable phase shifter 100 at the input of the respective allocated further CDMA code signal correlators 10c1, 10c2, 10c3, ... by multiplying the complex further digital complex baseband signals 11c1, 11c2, 11c3, ... using the complex phase correction 103, and And in particular, according to the superposition of antenna signals, only the signal portion of the first satellite receiving antenna 3a appears at the input of the first CDMA code signal correlator 10a1, 10a2, 10a3... during the code duration with a substantially fixed phase, and in particular, only this portion contributes to the first correlation signal maximum 34a1, 34a2, 34a3... after correlation over the code duration, while during the code duration, only the signal portion of the other satellite receiving antenna 3b appears at the input of the other CDMA code signal correlator 10b1, 10b2, 10b3... with a substantially fixed phase, and contributes to the other correlation signal maximum 34b1, 34b2, 34b3... after integration over the code duration, and the same situation occurs correspondingly in the case of the other antenna 3c.The variable phase shifter 100 can be controlled by the control unit 101 in such a way that the rotation of the phase angle φb(t) has such a characteristic that within one code duration of the GNSS system, the rotation of the phase angle φb(t) of 0-2π is all performed at least once by about 10%, or by multiple integer multiples, and in the case of multiple additional satellite receiving antennas 3b, 3c, the rotations of the phase angles of these satellite antenna signals are expressed as integer multiples of each other. In the GNSS satellite signal receiving unit 2, the complex phase correction 103 can be controlled by the corresponding control logic 141, 142, 143, ..., so as to recalculate the rotation of the phase angle φb(t) by the complex phase correction 103 in synchronization with the variable phase shifter 100 in the receiver by about 10% (. Fig.11 and 12 ).

[0040] It is further advantageous if the variable phase shifter 100 is designed in the form of a mixer and the control unit is designed in the form of an oscillator, so that a rotation of the phase angle φb(t) of 0-2π is carried out in the form of a frequency shift of the GNSS satellite signals 51, 52, 53, ... of the further satellite receiving antennas 3b, 3c with a period that is an integer divisor of the code duration of the GNSS system, accurate to approximately 10%, wherein the frequency shifts of the further antennas are integer multiples of each other ( Fig.13 ).

[0041] It is further advantageous that, for at least one satellite, the time course of the phase difference between the maximum value of the correlation 34a1 of the first satellite receiving antenna 3a and the maximum value of the correlation 34b1 of the second satellite receiving antenna 3b, and in the case of the further antennas 3c, 3d, ..., the time course of the phase difference between the maximum value of the correlation 34a1 of the first satellite receiving antenna 3a and the maximum value of the correlation 34c1 ...; 34d1 ... of these further antennas 3c, 3d, ... is determined by the control logic 141, 142, 143 ... at the same time interval, which is an integer multiple of the code duration, and for each of the further satellite receiving antennas 3c, 3d, ..., a frequency offset Δfb is determined from the time derivative of these phase differences, and the frequency offset Δfb is summed as a correction value for each phase correction 103 of the corresponding complex further complex baseband signal 11b, 11c, 11d, ..., in order to achieve synchronization of each complex phase correction 103 with the variable phase shifter 100 assigned to each further antenna 3b, 3c, 3d, ...

[0042] The rationality of such a design of the satellite navigation receiving device 1 is as follows:

[0043] If there is initially no complete synchronization between the complex phase correction 103 of the further satellite reception antenna 3b and the variable phase shifter 100 assigned to this antenna, a temporal variation of the phase difference between the complex maximum of the correlation 34a of the first satellite reception antenna 3a and the complex maximum of the correlation 34b of the further antenna 3b occurs for each satellite. The same applies to the relationship between the first satellite reception antenna 3a and all the further satellite reception antennas 3b, 3c, ... The synchronization of all the further satellite reception antennas 3b, 3c, ... can be achieved by an advantageous extension of the calculation process in the logic unit 14. To this end, the logic unit checks and corrects the temporal characteristic of the phase difference between the complex maximum of the correlation 34a of the first satellite reception antenna 3a and the complex maximum of the correlation of the further satellite reception antennas 3b, 3c, ... at regular time intervals, which are integer multiples of the code duration.

[0044] The following description will be made with regard to the relationship between satellite 1 and satellite receiving antennas 3a and 3b. At regular time intervals, the time course of the phase difference between the maximum value of the correlation 34a1 of the first satellite receiving antenna 3a and the maximum value of the correlation 34b1 of the other satellite receiving antenna 3b is determined in a logic unit. Then, at the same time intervals, the time variation of the phase difference is determined as the difference between the currently determined phase difference and the phase difference at the previous point in time. Then, within the control loop of the complex phase correction 103 upstream of the first CDMA code signal correlator 10a, the value of this variation can be given as a correction value in order to be superimposed on the phase correction in the sense of better synchronization.

[0045] Advantageously, this operation is performed for all satellites so that an average value can be formed for all satellites via the correction values.

[0046] In the case of additional antennas 3c, 3d, ..., the same method can also be performed between the first correlated signal maximum 34a1 of the first satellite receiving antenna 3a and the corresponding additional correlated signal maximums 34c1, 34d1, ... of these additional antennas 3c, 3d, ... so that the phase corrections 103 of these additional antennas 3c, 3d, ... are synchronized with the variable phase shifters 100 of these additional antennas 3c, 3d, ...

[0047] The satellite navigation reception system according to the invention produces, among other things, the following particular advantages:

[0048] Such an antenna diversity arrangement combines high performance with particular cost-effectiveness.

[0049] By forming the best linear combination of the correlation signal maxima according to the present invention, a separate best combination of the GNSS satellite signals 51, 52, 53, ... and a plurality of antennas having antenna gains in the main receiving direction is performed for each GNSS satellite signal, which is almost impossible to achieve by antenna combinations with high complexity. The signal-to-noise ratio is improved, and for interfering reflections that are usually incident from the opposite direction, a minimum value of the directional characteristic often occurs at the same time, which is suitable for significantly suppressing the reflection path.

[0050] It is further advantageous that the satellite receiving antenna (3a, 3b) is mounted on a substantially horizontal housing of the vehicle and that control logic (141, 142, 143, ...) is present in the linear combination circuit (41, 42, 43, ...) for setting discrete complex linear combination values ​​of the complex multipliers (26a1, 26a2, ..., 26b1, 26b2) stored in the control logic (141, 142, 143, ...) to be located in the entire azimuth angle in the entire upper half space for orientations of different discrete azimuth angles of the vehicle. , forming discrete main directions of the radiation pattern; and the position data of the satellites Sat1, Sat2, Sat3... are stored in the control logic (141, 142, 143...), and the direction from which the LOS signal (line of sight signal) is emitted is therefore determined based on the vehicle orientation, and in the linear combination circuit (41, 42, 43...), the current setting for the linear combination of the main radiation directions given according to the spatial directions of the radiation of the relevant satellites Sat1, Sat2, Sat3... and the orientation of the vehicle is selected.

[0051] In particular, in the case of automatic driving in road traffic, in order to be able to eliminate interference waves reflected, for example, near the receiver using the receiving device according to the invention, which do not reach the receiver from the LOS direction, it is advantageous for all satellites 1, 2, 3 that are subject to such influences that the complex correlation function with the correlation signal maximum 34a, 34b, 34c is multiplied by a complex factor and then summed in the summer 16 to calculate a new complex correlation function in which the influence of the interfering reflection path is eliminated. For this purpose, in the control logic 141, 142, 143, the relationship between the complex radiation patterns of the multi-antenna system for the three antennas a, b, c (about the common center point of all antennas) is pre-stored in a memory.

[0052] Radiation diagrams are used to explain The right-hand circular polarization and The process of left-hand circular polarization, where the angle is the elevation angle relative to the vehicle orientation, and angle α is the azimuth angle relative to the vehicle orientation.

[0053] The ratio value W is calculated from this and stored in the memory of the control logic:

[0054]

[0055]

[0056] Likewise, with an elevation angle relative to the vehicle orientation and azimuth α L The direction from which the LOS wave (line of sight) of the corresponding satellite is incident is stored in the control logic 14.

[0057] During positioning, the ratio value W ba and W ca can be based on the current LOS heading angle derived from the vehicle's position and alignment of the vehicle's line-of-sight connection with respect to the satellite α L gives:

[0058]

[0059] Direction of reflected wave and φ R It can be determined by the method described here so that it can be eliminated. The method is explained as follows:

[0060] If the complex amplitude of the clockwise circular LOS wave at the antenna (based on their common center point) is S L To describe, the complex amplitude of the counterclockwise polarized reflected wave is S R To describe, the complex correlation signal maximum values ​​34a, 34b, 34c (hereinafter referred to as K a max , K b max , K ca max ) is obtained from the superposition of these waves according to the following formula:

[0061]

[0062]

[0063]

[0064] The correlation signal maximum determined during reception can be further simplified by putting it into the ratio:

[0065] U ba= K bmax / K a max ; U ca= K c max / K a max

[0066] Eliminate S L and S R , then the above formula can be used to obtain the reflected wave S R Minimum condition for contribution to the total signal:

[0067]

[0068] in,

[0069] Direction angle of reflected wave α=α R Now we can satisfy the above conditions This is determined by finding the minimum value. This creates complex multipliers (26b1, 26b2, ...) for each affected satellite:

[0070]

[0071] And the complex multipliers for each associated satellite (26c1, 26c2, ...):

[0072]

[0073] Now by changing the correlation function of antenna a K a. With complex multipliers F Correlation function of antenna b multiplied by b K b and complex multiplication F c multiplied by the correlation function of antenna c K c sums and superimposes to form a correlation function at the output of the linear combination circuit 4 K Summe , yielding the following results at the output of summer 16 (for each affected satellite):

[0074]

[0075] Thereby, the reflected wave is eliminated and the weight of antenna a is doubled.

[0076] Further improvement, in the sense of obtaining the best signal-to-noise ratio by maximizing the Ratio Combining, can usually be achieved by introducing a complex multiplier Fa for antenna a and a corresponding modification of the multipliers Fb and Fc, namely:

[0077]

[0078] where Fa can be freely decomposed into two parts, so the relation now applies to complex multipliers:

[0079] F a= F a1+ F a2;

[0080] Then you can optimize the part F a1 and part F The ratio between a2, that is:

[0081] | K Summe | / {| F a 2 |+| F b 2 |+| F c 2 | } 1 / 2 =maximal

[0082] Based on the correlation function obtained in this way, the reflections are removed and the signal-to-noise ratio is increased, and then positioning can be performed using the contribution of the relevant satellite that is not disturbed by the reflections by finding the maximum value of the correlation function.

[0083] Advantageously, an antenna having the most advantageous radiation pattern covering the widest possible angular range is used for antenna a, which is the case, for example, of a first-order loop conductor antenna. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] The present invention will be described in more detail below with reference to the accompanying drawings.

[0085] Figure 1A GNSS satellite navigation receiving device 1 according to the prior art is shown, comprising a GNSS satellite signal receiving unit 2, the GNSS satellite signal receiving unit 2 being used to receive CDMA-coded GNSS satellite signals 51, 52, 53, ... transmitted by a phase digitally modulated high-frequency carrier oscillation 17 of different GNSS positioning satellites Sat1, Sat2, Sat3, ... superimposed on the same carrier frequency fo. GNSS satellite antenna signals 5a1, 5a2, 5a3, ... assigned to satellites Sat1, Sat2, Sat3, ... but received in a superimposed manner by a first satellite receiving antenna 3a with RHC polarization are provided to the GNSS satellite signal receiving unit 2 for coherent demodulation in a coherent orthogonal demodulator 13a with respect to the carrier frequency fo, and then the digital signals are assigned to first CDMA code signal correlators 10a1, 10a2, 10a3, ... assigned to the satellites and the first CDMA code of the satellite. 。 For example, they are each arranged on a separate digital computing unit 331, 332, 332, ... The satellite-specific CDMA codes C1, C2, C3, ... of the satellite-specific code generators 371, 372, 373, ... are provided to each CDMA code signal correlator 10a1, 10a2, 10a3, ... 。 At the output of the coherent quadrature demodulator 13a there are in-phase components 30 and quadrature components 31 of the first complex baseband signal 11a, 11a1, 11a2, 11a3, . . . based on the high-frequency carrier oscillation 17 for further processing of complex calculations provided in digital form.

[0086] Figure 2 The mobile GNSS satellite navigation receiving device 1 with antenna diversity function according to the present invention is shown, which has a multi-antenna system 3 built on a conductive base surface 6, and the multi-antenna system 3 has a first satellite receiving antenna 3a and another satellite receiving antenna 3b and a GNSS satellite signal receiving unit 2. The GNSS satellite antenna signals 5a1, 5a2, 5a3, ... of the first satellite receiving antenna 3a are provided to a first coherent orthogonal demodulator 13a together with the demodulated first digital complex baseband signals 11a1, 11a2, 11a3, ..., and correspondingly, the other GNSS satellite antenna signals 5b1, 5b2, 5b3, ... are provided to another coherent orthogonal demodulator 13b together with the demodulated other digital complex baseband signals 11a1, 11a2, 11a3, ....

[0087] The first digital complex baseband signals 11a1, 11a2, 11a3, ... are distributed to first CDMA code signal correlators 10a1, 10a2, 10a3, ..., and correspondingly the further digital complex baseband signals 11b1, 11b2, 11b3, ... are distributed to further CDMA code signal correlators 10b1, 10b2, 10b3, .... All corresponding first and further CDMA code signal correlators 10a1, 10b1, 10a2, 10b2 ... decode in pairs with the same CDMA code C1, C2, C3 transmitted by the corresponding satellite Sat1, Sat2, Sat3, so that at the output of the correlators, signals are available according to the affiliation with respect to the satellite receiving antennas 3a, 3b and with respect to the satellites Sat1, Sat2, Sat3 ..., in particular also as complex first correlation signal maxima 34a1, 34a2, 34a3 ... or further complex second correlation signal maxima 34b1, 34b2, 34b3 ... according to magnitude and phase. These values ​​represent the relevant signal-to-noise ratio by their magnitude. These first and further output signals are each mathematically multiplied via a first or further calculated complex multiplier 26a1, 26a2, ..., 26b1, 26b2 and linearly combined in summers 161, 162, 163, ... in such a way that the amount of the linearly combined complex related signals Kg1, Kg2, ..., 271, 272, ... is maximized.

[0088] Figure 3 A first and further GNSS high-frequency front end 32a, 32b are shown, the first and further GNSS high-frequency front end 32a, 32b having a bandpass filter 28a, 28b and an amplifier 29a, 29b; and a first and further coherent orthogonal demodulator 13a, 13b having an A / D converter 39 and a first digital complex baseband signal 11a1, 11a2, 11a3... or further digital complex baseband signals 11b1, 11b2, 11b3..., with reference to a carrier oscillation of a frequency fo 17 generated in the GNSS satellite signal receiving unit 2.

[0089] Figure 4 Shows

[0090] a) According to the GNSS satellite signal receiving unit 2 of the present invention having linear combination circuits 41, 42, 43, ..., the complex digital output signals of the correlators are provided to the linear combination circuits 41, 42, 43, .... A calculation program for controlling the first and further complex calculation multipliers 26a1, 26a2, ..., 26b1, 26b2 is provided in the control logic 141, 142, 143, ..., for dynamic design of linear combination during motion, the purpose of which is to obtain the largest possible summation result in the summers 161, 162, 163, ...

[0091] b) complex first correlation signal maxima 34a1, 34a2, 34a3, ... and further complex correlation signal maxima 34b1, 34b2, 34c3, ... in the complex plane 36. The two complex-valued quantities represent the signal-to-noise ratio in the first GNSS satellite antenna signals 5a1, 5a2, 5a3, ... or in the further GNSS satellite antenna signals 5b1, 5b2, 5b3, ... for the associated satellites Sat1, Sat2, Sat3, ... The difference between the angular values ​​of the correlation signal maxima 34a1, 34a2, 34a3, ..., 34b1, 34b2, 34b3, ... describes the phase angle difference δ a1 -δ b1 : The first antenna signal θ a1 ,θ a2 ,θ a3 The phase of the other antenna signal θ b1 ,θ b2 ,θ b3 The difference between the phases of the antennas 161, 162, 163, ... is 45°. This difference is practically unaffected by the frequency shift of the incident carrier due to the Doppler effect when moving. By calculating the phase alignment of the complex numbers in the summers 161, 162, 163, ..., a maximum signal-to-noise ratio for determining position data is achieved. The result achieved by the phase alignment therefore corresponds to the best alignment of the directional diagram that can be achieved with the antenna relative to the direction of incidence of the radiation of the corresponding satellite. At the same time, the undesired reception of reflected and phase-rotated radiation from the opposite direction is generally reduced.

[0092] Figure 5 The satellite navigation receiving device 1 according to the present invention is shown, which has a GNSS satellite signal receiving unit 2 and a multi-antenna system 3 .

[0093] The multi-antenna system 3 includes at least two, for example, clockwise circularly polarized satellite receiving antennas 3a and 3b, which have different horizontal positions and a distance greater than 1 / 4 wavelength, as an antenna array, for individually superimposing and receiving multiple GNSS satellite signals 51, 52, 53, etc. Each GNSS satellite signal has an azimuth diagram of radiation density N=1 order, and the main radiation direction is toward the zenith. In this case, the first satellite receiving antenna 3a is connected to the first coherent orthogonal demodulator 13a, and the other satellite receiving antenna 3b is connected to the other coherent orthogonal demodulator 13b in the GNSS satellite signal receiving unit 2.

[0094] Figure 6 The satellite navigation receiving device 1 according to the present invention is shown, which has a GNSS satellite signal receiving unit 2 and a multi-antenna system 3. The multi-antenna system 3 includes a loop antenna 21 as a first satellite receiving antenna 3a, for which the loop antenna 21 has an N=1 order, has, for example, clockwise circular polarization (RHCP) and a main radiation direction toward the zenith, has a current distribution of a line wave traveling in a single rotation direction, the phase difference of the current distribution is 2π within one revolution, has a first received signal 5a, and a vertical monopole antenna 15 as a second satellite receiving antenna 3b, the vertical monopole antenna 15 has an N=0 order, and is used to receive the second received signal 5b.

[0095] Figure 7 The multi-antenna system 3 according to the present invention comprises Figure 6 The loop antenna 21 shown as the first satellite receiving antenna 3a has N=1 order, clockwise circular polarization (RHCP) and the main radiation direction toward the zenith. The loop antenna 21 includes a loop line 35 arranged above a conductive base surface 6, the loop line 35 having a current distribution of a line wave traveling in a single rotation direction, the phase difference of the current distribution being 2π within one revolution, and having four vertical radiators 19a, 19b, 19c, 19d connected to the loop line 35 and offset from each other by 90 degrees in azimuth. The first received signal 5a is tapped at one of the radiators 19a for forwarding to the first coherent orthogonal demodulator 13a in the GNSS satellite signal receiving unit 2.

[0096] The multi-antenna system 3 may include a loop antenna as a second satellite receiving antenna 3b, for which, for the loop antenna 20, N=2 order, has, for example, clockwise circular polarization (RHCP) and the main radiation direction is toward the zenith. The loop antenna 21 includes a loop 20 arranged above a conductive base 6, the loop 20 having a current distribution of a line wave traveling in a single rotation direction, the phase difference of the current distribution being 4π within one revolution, and having additional vertical radiators 22a, ..., 22h connected to the loop 20 and offset from each other by 45 degrees in azimuth, and the first received signal 5a is tapped on the first vertical radiator 22a for forwarding to the first coherent orthogonal demodulator 13a in the GNSS satellite signal receiving unit 2.

[0097] Figure 8 The satellite navigation receiving device 1 according to the present invention is shown. In the satellite navigation receiving device 1, instead of Figure 7 There is an N=1 order loop antenna 21 as the first satellite receiving antenna 3a, and there is an N=1 order patch antenna 24 in the center of another satellite receiving antenna 3b. The patch antenna 24 has a clockwise circular polarization (RHCP) and a distribution of a phase angle β=0-2π of radiation at an azimuth space angle α=0-2π, and the main radiation direction is toward the zenith, as the first GNSS satellite antenna signal 5a1, 5a2, 5a3..., which is used to forward to the first coherent orthogonal signal demodulator 13a in the GNSS satellite signal receiving unit 2.

[0098] Fig. 9 It shows that Figure 1 The satellite navigation receiving device 1 according to the present invention is shown, wherein the multi-antenna system 3 also includes a vertical monopole antenna 15 as a third satellite receiving antenna 3b, and the vertical monopole antenna 15 is concentrically arranged with the loop antenna 21 of order N=1, and the vertical monopole antenna 15 has an N=0 order and is used to receive a third GNSS satellite antenna signal 5c for forwarding to a second additional coherent orthogonal demodulator 13c in the GNSS satellite signal receiving unit 2.

[0099] Fig.10 The expansion of the GNSS satellite signal receiving unit 2 according to the present invention by means of a second further coherent orthogonal demodulator 13c and second further CDMA code signal correlators 10c1, 10c2, 10c3, ... is shown. Accordingly, in the linear combination circuits 41, 42, 43, ..., there is a second further calculation complex multiplier F 1c 、F 2c 、F 3c , 26 c1 , 26 c2 , 26 c3 and control logic 141, 142, 143...

[0100] Fig.11 The GNSS satellite signal receiving unit 2 according to the present invention is shown in FIG. Figure 2 An alternative embodiment of the invention, but in order to save additional line connections, has only one GNSS high frequency front end 32 and therefore only one coherent quadrature demodulator 13a. For this purpose, the GNSS satellite antenna signals 5a, 5b, 5c of the satellite receiving antennas are superimposed on each other via a combining circuit 102 (e.g. a line combining circuit) to form a GNSS satellite antenna sum signal 5s. Before summing, the additional satellite receiving antenna 3b is connected to a variable phase shifter 100 so that the carrier phase of this antenna changes in time in a different manner, and the resulting sum signal 5s is provided to all correlators via only a single line connection and a single IQ demodulator 13a as a digital complex baseband sum signal 11s. The assignment of the first satellite receiving antenna 3a to the first CDMA code signal correlators 10a1, 10a2, 10a3, ..., and the assignment of the further satellite receiving antenna 3b to the further CDMA code signal correlators 10b1, 10b2, 10b3, ..., is carried out in such a way that the previously performed phase rotation is reversed again via the variable phase shifter 100 at the input of each assigned further CDMA code signal correlator by multiplying the complex further digital complex baseband signal using the complex phase correction 103.

[0101] Fig.12 Shown as Fig.11 The GNSS satellite signal receiving unit 2 according to the invention is shown, in which there is a second additional satellite receiving antenna 3c and an additional variable phase shifter 100, and the rotations of the phase angles of these additional GNSS satellite antenna signals 5b1, 5b2, 5b3 ..., 5c1, 5c2, 5c3 ... are expressed as integer multiples of each other. In the GNSS satellite signal receiving unit 2, the complex phase correction 103 can be controlled by corresponding control logic 141, 142, 143 ... so as to recalculate the rotation of the phase angle φb(t) by the multiplier 103 synchronously with the variable phase shifter 100 in the receiver by about 10%. This extension is of course not limited to two additional satellite receiving antennas 3b, 3c, as in the example of a linear antenna array here, but can in principle extend over a very wide range. Advantageous embodiments of the multi-antenna system 3 also include, for example, an arrangement of a circular group of satellite receiving antennas 3a, 3b ..., which has an alignment according to the invention of the main direction of the directional pattern with the corresponding received satellites Sat1, Sat2, Sat3.

[0102] Fig.13 Shown as Fig.11The GNSS satellite signal receiving unit 2 according to the present invention is shown, wherein the variable phase shifter 100 is designed in the form of a mixer, and the control unit 101 is designed to have an angular frequency ω p =2*f p in the form of an oscillator such that a rotation of a phase angle φb(t) of 0-2π is given in the form of a frequency offset of the GNSS satellite signals 5b, 5c, ... of the other satellite receiving antennas 3b, 3c in the mixing product at the output of the mixer, the period of the frequency offset being an integer divisor of the code duration of the GNSS system, accurate to approximately 10%, wherein the frequency offsets of the other antennas are integer multiples of each other.

[0103] For example, in the GPS system, the code duration TC is approximately TC=1 ms. When using the above-mentioned sideband oscillation, the additional GNSS satellite antenna signal 5b or 5c etc. is shifted in frequency in a positive direction with respect to the oscillator frequency after mixing. In this case, the oscillator frequency f p can be advantageously chosen to be f p =m*1 / TC=m*1kHz, accurate to about 10%.

[0104] In an advantageous manner, an oscillator can be integrated into the GNSS satellite signal receiving unit 2 and the oscillator signal can be guided to the variable phase shifter 100 via a coaxial line connection.

[0105] Fig.14 The figure shows an example of a part of a GNSS satellite signal receiving unit 2 according to the invention, with Figure 2 The example shown differs in that there is only one first CDMA code signal correlator 10a for receiving various GNSS satellite signals 51, 52, 53 ... transmitted by satellites and various GNSS satellite signals 51, 52, 53 ... received by the first satellite receiving antenna 3a, and similarly, there is one further CDMA code signal correlator 10b for GNSS satellite antenna signals 5a1, 5a2, 5a3 received by the further satellite receiving antenna 3b. In order to check the signal portion of specific satellites Sat1, Sat2, Sat3 ... in the received signal, the satellite-specific CDMA codes C1, C2, C3 present in the GNSS satellite signal receiving unit 2 and corresponding to these satellites Sat1, Sat2, Sat3 ... are provided to the first CDMA code signal correlator 10a and the further CDMA code signal correlator 10b in time sequence.

[0106] The selection of a specific GNSS satellite signal 51, 52, 53, ... can be performed by setting the selectable code generator 25 by means of the signal processor 18 to provide the corresponding CDMA code C1, C2, C3, ... to the CDMA code signal correlators 10a, 10b, and by correspondingly adjusting the controllable switches 23a and 23b downstream of the CDMA code signal correlators 10a, 10b to provide the first correlation signal maximum 34a and the further correlation signal maximum 34b to the satellite-specific linear combination circuits 41, 42, 43, .... The linear combination total signal Kg1, Kg2, ..., 271, 272, 273 present at the output of the selected relevant linear combination circuit 41, 42, 43, ... is evaluated in the signal processor 18, in which a process program is stored for coordinated control of the selectable code generator 25 and the controllable switches 23a and 23b.

[0107] Advantageously, the self-learning process program can be designed, for example, in such a way that by continuous, time-sequential examination of the total signals Kg1, Kg2, ..., 271, 272, 273 of relevant linear combinations, a sequence corresponding to the total signal size is formed in order to generate a period with an optimal cycle time to generate a period with an optimal cycle time for GNSS satellite signals 51, 52, 53 ... that are worth receiving.

[0108] Fig.15 An example of a satellite navigation receiving device 1 according to the present invention is shown, which has a first satellite receiving antenna 3a and an additional satellite receiving antenna 3b as a multi-antenna system 3, the multi-antenna system 3 has a GNSS satellite signal receiving unit 2, only one first coherent antenna orthogonal demodulator 13a, first and additional CDMA code signal correlators 10a1, 10a2, 10a3..., 10b1, 10b2, 10b3..., and satellite-specific linear combination circuits 41, 42, 43 are present in the GNSS satellite signal receiving unit 2.

[0109] In order to save additional line connections and additional IQ demodulators 13b, 13c, . . . there is only one wire 104 as connection between the local remote antenna and the GNSS satellite signal receiving unit 2 and only one IQ demodulator.

[0110] For economic reasons, especially in mobile applications, for example in a vehicle, only a single line connection 104 is used when the multi-antenna system is spatially separated from the GNSS satellite signal receiving unit 2 .

[0111] Reference numerals list

[0112] Satellite navigation receiver 1

[0113] GNSS satellite signal receiving unit 2

[0114] Multi-antenna system 3

[0115] First satellite receiving antenna 3a

[0116] Additional satellite receiving antenna 3b

[0117] Linear combination circuit 41, 42, 43...

[0118] GNSS satellite signals 51, 52, 53...

[0119] First GNSS satellite antenna signals 5a, 5a1, 5a2, 5a3...

[0120] Other GNSS satellite antenna signals 5b, 5b1, 5b2, 5b3...

[0121] Other GNSS satellite antenna signals (5b, 5c...) 5b`

[0122] Conductive base 6

[0123] First CDMA code signal correlators 10a1, 10a2, 10a3...

[0124] Other CDMA code signal correlators 10b1, 10b2, 10b3...

[0125] Second additional CDMA code signal correlators 10c1, 10c2, 10c3, ...

[0126] first complex baseband signals 11a, 11a1, 11a2, 11a3, ...

[0127] Other complex baseband signals 11b, 11b1, 11b2, 11b3...

[0128] Complex Baseband and Signal 11s

[0129] Complex baseband and signal 11s`

[0130] Digital complex baseband sum signal (11s) 11s' about phase change -φb(t), -φc(t) first complex correlation signal 12a1, 12a2, 12a3...

[0131] Other complex related signals 12b1, 12b2, 12b3...

[0132] First coherent quadrature demodulator 13a

[0133] Another coherent quadrature demodulator 13b

[0134] Control logic 14, 141, 142, 143...

[0135] 0th order monopole antenna 15

[0136] Summers 161, 162, 163...

[0137] The carrier wave oscillates at a frequency fo17

[0138] Signal processor 18

[0139] Vertical radiators 19a, 19b, 19c, 19d 2nd order loop antenna 20

[0140] 1st order loop antenna 21

[0141] Vertical radiation 22a..., 22h

[0142] Controllable switches 23a, 23b

[0143] Patch antenna 24

[0144] Optional code generator 25

[0145] First calculate the complex multiplier F 1a , F 2a , F 3a ,26a1,26a1,26a2,26a3……

[0146] Additional calculations for complex multipliers F 1b , F 2b , F 3b , 26b1, 26b2, 26b3...

[0147] The second additional calculation of the complex multiplier F 1c , F 2c , F 3c , 26c1, 26c2, 26c3...

[0148] Linear combination total signal Kg1, Kg2, ..., 271, 272, 273

[0149] Bandpass filter 28

[0150] Amplifier 29

[0151] In-phase component 30

[0152] Orthogonal component 31

[0153] GNSS high frequency front end 32a, 32b, 32c

[0154] Digital computing units 331, 332, 332...

[0155] First correlation signal maximum values ​​34a2, 34a3, ...

[0156] Other correlation signal maximum values ​​34b1, 34b2, 34c3, ...

[0157] Loop 35

[0158] Complex plane 36

[0159] Satellite-specific code generator with codes C1, C2, C3, ..., 371, 372, 373, ... with adjustable duration device 38 for duration τ

[0160] A / D converter 39

[0161] Phase angle difference δ a1 -δ b1

[0162] The phase difference of the satellite antenna signal part is 45

[0163] Variable Phase Shifter 100

[0164] Control unit 101

[0165] Line combination circuit 102

[0166] Complex phase correction unit 103

[0167] Wire 104

[0168] Oscillator signal 105

[0169] GNSS Satellite Antenna and Signal 5s

[0170] Digital GNSS satellite antenna and signals in baseband 11a

[0171] Satellites Sat1, Sat2, Sat3...

[0172] Carrier frequency fo

[0173] Frequency deviation Δfb

[0174] GNSS positioning satellites Sat1, Sat2, Sat3...

[0175] Real part Re

[0176] Imaginary partIm

[0177] CDMA codes C1, C2, C3...

[0178] High frequency carrier frequency fo

[0179] The phase angle of antenna radiation β = 0-2π*N and the azimuth dynamic phase angle offset t) integer order N

[0180] The first antenna signal θ a1 ,θ a2 ,θ a3 The phase of

[0181] The other antenna signal θ b1 ,θ b2 ,θ b3 ...θ c1 、c b2 ,θ c3 Phase

[0182] Radiation azimuth α

[0183] and Signal 5s

[0184] Related functions Kt1, Kt2, Kt3...

[0185] Code duration TC of GNSS system

[0186] For the periodic phase change φb(t), φc(t) of the rotation between 0 and 2π, the period time Tp

[0187] Integer multiple m = 1, 2, 3... DETAILED DESCRIPTION

[0188] Saving of additional lines according to the present invention is achieved in that the additional GNSS satellite antenna signal 5b in the variable phase shifter 100b changes during the code time between 0 and 2π in an integer multiple manner according to the periodic phase change φb(t) according to the present invention, wherein the first GNSS satellite antenna signal 5a is summarized in the line combination circuit 102 and only one wire 104 is provided to the IQ demodulator 13a via the line combination circuit 102 to form the complex baseband and signal 11s.

[0189] The complex baseband sum signal 11s is composed of the signal content of the first GNSS satellite antenna signal 5a and the further GNSS satellite antenna signal 5b' which is phase shifted by φb(t), and the complex baseband sum signal 11s is provided in an unchanged form to a common, all, satellite-specific first CDMA code signal correlator 10a1, 10a2, 10a3..., with the aim of achieving a satellite-specific first correlation signal maximum value 34a1, 34a2, 34a3..., each of which contains only the signal content of the first GNSS correlation signal 5a, and delivering the satellite-specific first correlation signal maximum values ​​34a1, 34a2, 34a3... to the associated satellite-specific linear combination circuits 41, 42, 43... Further, the complex baseband and signal 11s are provided jointly to all satellite-specific further CDMA code signal correlators 10b1, 10b2, 10b3..., with respect to a phase return shift φb`(t) as the complex baseband and signal 11s', by means of a digitally calculated complex multiplication utilizing a complex phase correction 103b, with the aim of achieving a satellite-specific first correlation signal maximum value 34b1, 34b2, 34b3..., each of which contains only the signal content of the further GNSS correlation signal 5b, and delivering the satellite-specific first correlation signal maximum values ​​34b1, 34b2, 34b3... to the associated satellite-specific linear combination circuits 41, 42, 43... The function of suppressing unwanted signal portions in the satellite-specific correlation signal maxima 34a1, 34a2..., or 34b1, 34b2..., by the filtering effect of the correlator, in the selection according to the invention of the above-mentioned periodic phase shift according to the time function φb(t), as well as the return shift with respect to -φb`(t) in the mathematical derivation, is explained in more detail.

[0190] This periodic phase shift according to the time function φb(t) can be achieved in many different ways.

[0191] Given the following example:

[0192] The variable phase shifter 100b can be controlled by the self-controlled control unit 101 in such a way that the time function φb(t) of the periodic sawtooth oscillation follows a linear periodic phase increase from 0 to 2π and the increase is performed as an integer m times during the TC duration of the code. This results in a frequency shift Δf=m / Tc of the high-frequency carrier fo. The return shift of the phase about -φb`(t) can be performed digitally by, for example, a complex phase correction unit 103b controlled by the control logic 14.

[0193] The variable phase shifter 100b may be implemented by a mixer and the control unit 101 may be implemented as an independent oscillator 105 with a corresponding frequency Δf=m / Tc. By controlling the mixer with this oscillator signal, the further GNSS satellite antenna signal 5b' shifted about this frequency difference appears at the mixer output.

[0194] In an advantageous variant, the control unit 102 can be arranged in the GNSS satellite signal receiving unit 2 and, for example, contains a function of an oscillator with a frequency Δf=m / Tc and a control function for driving the controlled complex phase correction unit 103b. In a particularly advantageous embodiment, the electric wire 105 is designed as a coaxial line, to which the oscillator signal 105 is fed via a corresponding frequency filter, and the oscillator signal 105 is coupled according to the line in the multi-antenna system 3 and provided to the mixer. In particular, as an advantage, the phase forward shift and the phase backward shift are uniformly controlled by the control unit 101 present in the receiving unit 2 with respect to the setting of the required time base TC / m and the phase difference 2π, thereby ensuring the consistency of the phase forward shift and the phase backward shift.

[0195] According to the invention, the general characteristics of the correlators are utilized in such a way that the complex baseband sum signal 11s is supplied to the first CDMA code signal correlators 10a1, 10a2, 10a3, ..., which consists of the demodulation and summation of the first GNSS satellite antenna signal 5a and the further GNSS satellite signals with respect to the phase change φb(t). As a result, the first correlation signal maxima 34a2, 34a3, ... present at the output actually only describe the signal portion of the first GNSS satellite antenna signal 5a, the influence of the signal portion of the further GNSS satellite antenna signal 5b being selectively suppressed. Conversely, the complex baseband sum signal 11sb with respect to the digital return shift of the phase change -φb(t) is supplied to the further CDMA code signal correlators 10c1, 10c2, 10c3, ..., as a result, the further correlation signal maxima 34b1, 34b2, ... present at the output actually only describe the signal portion of the further GNSS satellite antenna signal 5b, the influence of the signal portion of the first GNSS satellite antenna signal 5a being selectively suppressed. According to Fig.15 The block diagram in explains the equation in more detail using a satellite signal as an example.

[0196] When the first correlation signal maximum and the further correlation signal maximum are formed in the correlation correlator, the undesired signal parts are suppressed. According to the present invention, these signal parts can be provided separately to the linear combination circuits 41, 42, 43, etc. to form a linearly combined overall signal Kg, 27 with an improved signal-to-noise ratio.

[0197] This function is explained below by means of a simplified mathematical derivative for the example of a kth satellite signal in a total signal of all s superimposed satellite signals and only for a first satellite reception antenna 3a and a further satellite reception antenna 3b.

[0198] The following terms are introduced for this purpose:

[0199] Antenna 1: the first antenna;

[0200] Antenna 2: another antenna;

[0201] t: time;

[0202] ωHF: 2πfo;

[0203] j 2 : -1;

[0204] e: Euler number;

[0205] π: pi;

[0206] e (jωHFt) : high frequency oscillation with unit amplitude;

[0207] Δt: delay in receiving code;

[0208] T = TC: the time length of the code;

[0209] τ: delay of the code present on the correlator in the receiver;

[0210] In general: Si(x) = sin(x) / xC(t-Δt): The satellite-specific coded signal, as the modulation signal of the high-frequency carrier of the k-th satellite under consideration, has a uniform carrier frequency fo.

[0211] C(t-τ): the coded signal of the kth satellite in the correlator with delay τ;

[0212] A1(t)*C(t-Δt): the complex amplitude of the high frequency carrier modulated by the kth satellite code in the first GNSS satellite antenna signal 5a;

[0213] A2(t)*C(t-Δt): complex amplitude of the high frequency carrier modulated by the kth satellite code in the other GNSS satellite antenna signal 5b;

[0214] Therefore, the high frequency GNSS satellite antenna signal 5b or 5b is:

[0215] S 1HF (t)= A 1(t)·C(t-Δt)·e (jωHF t) ; bzw.S 2HF (t)= A 2(t)·C(t-Δt)·e (jωHF t)

[0216] The m-fold periodic phase shift φb(t) according to the invention is considered here as an exemplary form of a frequency offset of the further GNSS satellite antenna signal 5b, wherein the phase change in the code time T is between 0 and 2π and is abbreviated as ωp1*t=2π / (T / m)*t.

[0217] The high frequency GNSS satellite antenna signal 5b` is as follows:

[0218] S 2HF `(t)= A 2(t)·C(t-Δt)·e (jωHF t+ωp1t) ;mitω p1 *t=φb(t)

[0219] AND line combination circuit 102 S 1HF (t) combination,

[0220] And the signal 5s from now on is:

[0221] S HF (t)=( A 1(t)·C(t-Δt)+ A 2(t)·C(t-Δt)·e (jωp1 t) )·e (jωHF t)

[0222] After IQ demodulation of the A / D conversion related to the carrier frequency fo in the coherent quadrature demodulator (13), the signal is directed to the digital GNSS satellite antenna and signal in the baseband 11s:

[0223] S demod (t)= A 1(t)·C(t-Δt)+ A 2(t)·C(t-Δt)·e (jωp1 t)

[0224] Signal S demod (t)11s is hereinafter referred to as S 1(t), is now provided simultaneously to all first CDMA code signal correlators 10a1..., 10a k …….

[0225] On the other hand, the signal Sdemod (t)11s is shifted as much as possible about the same number of periodic phase shifts -φb`(t) back, and the signal S demod (t) 11s is provided to all other CDMA code signal correlators 10a1, ..., 10a k ...as signal 11s`, hereinafter referred to as S 2(t), where

[0226] S 2(t)= S demod (t)·e (-jωp2 t) And -φb`(t)=-ω p2 t

[0227] -φb`(t): The periodic return shift of almost the same number of phases is now represented by ω p2 *t indicates.

[0228] Therefore, the remaining difference between the linear periodic phase shift and its incompletely equivalent return shift -φb`(t) is φb(t)-φb`(t) and applies:

[0229] φb(t)-φb`(t)=Δω p *t=(ω p1 -ω p2 )*t<ω p1 *t / 10,

[0230] If the deviation is less than 10%, the difference angular frequency is Dwp <wp1 / 10。

[0231] The modified time signal now arrives at correlator 1 where:

[0232] S 1(t)=C(t-Δt)·( A 1(t)+ A 2(t)·e (jωp2 t) )

[0233] When the following time signals arrive at correlator 2:

[0234] S 2(t)=C(t-Δt)·( A 1(t)·e (-jωp2 t) + A 2(t)·e (jΔωp t) )

[0235] At the correlators 1 and 2 , the code signal C(t) stored there is now multiplied by the signals S1 and S2 delivered there and integrated over the code duration T.

[0236] The correlation function is created in correlator1:

[0237]

[0238] The correlation function is created in Correlator2:

[0239]

[0240] The codes stored at the receiving side are shifted with respect to the time delay τ until the two reach a correlation maximum.

[0241] This means that the stored code is now synchronized with the received code, so τ = Δt applies:

[0242] In this state, ie after the correlation maximum has been found, the applied signal is multiplied by C(t-Δt) and then integrated over the code duration T.

[0243] By multiplying all signals S1 and S2 delivered to the correlator by C(t-Δt), a factor (C(t-Δt))2 related to the code is created in all summed numbers. These values ​​are always +1 and therefore have no further influence. After the multiplication, in the correlator, an integration is performed over the code duration T=1 ms.

[0244] Now let A1 and A2 be approximately constant over a duration of 1 ms (at low Doppler frequencies, rotate A1 and A2 slowly).

[0245] Then the result of correlator 1 is:

[0246]

[0247] Similarly, the result of Correlator 2 is:

[0248]

[0249] The object of the invention is to obtain in the correlation maximum K1max(t) of the first correlator only the signal content of the first receiving antenna, i.e. only A1(t), and in the correlation maximum K2max(t) of the second receiving antenna, i.e. only A 2(t).

[0250] According to the invention, by selecting the independent variable of the time-independent function and to be completed, and the task is to make and As small as possible, and As close to 1 as possible.

[0251] Ideally, this is achieved in such a way that the forward and return shifts of the phase are equal, i.e., φb(t)-φb`(t)=0gilt, where ω p1 t=ω p2 t and

[0252] ω p1 t-ω p2 t=Δω p t=0.

[0253] thus: in,

[0254] Then follows: ω p1 =ω p2 =m*2π / T, and for the phase shift φb(t)=-φb`(t)=ω p1 *t=m*2π*t / T.

[0255] In addition: because Δω p = 0, so it is given in

[0256] The requirement according to the invention of a phase shift periodically m times from 0 to 2π within time t=T results in that, ideally, for all m=1, 2, 3, the signal contributions of antennas 1 and 2 are completely separated at the output of the correlator.

[0257] Further evaluation of the Si function shows that for the actual case, the deviation between the return and forward shifts of the phase is <10% (i.e., φb(t)-φb`(t)=Δω p *t=ω p1 -ω p2 )*t<ω p1 *t / 10), the unwanted signal is attenuated by at least 30db, so it is actually tolerable.

Claims

1. A satellite navigation receiving device (1) for mobile reception of positioning satellite signals (51, 52, 53, ...) transmitted from GNSS positioning satellites (Sat1, Sat2, Sat3, ...), wherein the positioning satellite signals (51, 52, 53, ...) are transmitted by superimposing on the same carrier frequency (fo) with a high frequency carrier oscillation (17) digitally modulated in phase, and the positioning satellite signals (51, 52, 53, ...) are encoded with a specific CDMA code (C1, C2, ...), wherein the satellite navigation receiving device (1) comprises: A circularly polarized first satellite receiving antenna (3a) has a main radiation direction toward the zenith, and a first GNSS satellite antenna signal (5a) exists at the output end of the circularly polarized first satellite receiving antenna (3a). at least one further satellite receiving antenna (3b), at the output of which further GNSS satellite antenna signals (5b, 5c, . . . ) are present, and A satellite signal receiving unit (2), comprising: a first coherent orthogonal demodulator (13a) associated with the carrier frequency (fo), the first coherent orthogonal demodulator (13a) being connected to the first satellite receiving antenna (3a), and after coherently demodulating the superimposed GNSS satellite antenna signals (5a1, 5a2, 5a3) of the first satellite receiving antenna (3a), the first coherent orthogonal demodulator (13a) outputting a first digital baseband signal (11a1, 11a2, 11a3, ...), For each of the additional satellite receiving antennas (3b), the carrier frequency (fo) Another related coherent orthogonal demodulator (13b, 13c, ...) is connected to the other satellite receiving antenna (3b), and after coherently demodulating the superimposed other GNSS satellite antenna signals (5b1, 5b2, 5b3) of the other satellite receiving antenna (3b), the other coherent orthogonal demodulator (13b) outputs another digital baseband signal (11b1, 11b2, 11b3, ...), Wherein, for each of the GNSS satellite signals (51, 52, 53, ...), there is a first CDMA code signal correlator (10a1, 10a2, 10a3, ...), and the first CDMA code signal correlator (10a1, 10a2, 10a3, ...) is respectively associated with a specific CDMA code (C1, C2, ...) The first digital baseband signal (11a1, 11a2, 11a3, ...) is provided to the first CDMA code signal correlator (10a1, 10a2, 10a3, ...), and, for each of the GNSS satellite signals (51, 52, 53, ...), there is at least one additional CDMA code signal correlator (10b1, 10b2, 10b3, ..., 10c1, 10c2, 10c3, ...), the at least one additional CDMA code signal correlator (10b1, 10b2, 10b3, ..., 10c1, 10c2, 10c3, ...) being correlated with the same specific CDMA code (C1, C2, ...), at least one additional digital baseband signal (11b1, 11b2, 11b3, ..., 11c1, 11c2, 11c3, ...) being provided to the at least one additional CDMA code signal correlator (10b1, 10b2, 10b3, ..., 10c1, 10c2, 10c3, ...), wherein, for each of the GNSS satellite signals (51, 52, 53, ...), each of the first CDMA code signal correlators (10a1, 10a2, 10a3, ...) and the additional CDMA code signal correlators (10b1, 10b2, 10b3, ...) outputs, at its output, a complex correlation signal (12a1, 12a2, 12a3, ..., 12b1, 12b2, ..., 12c1, ...), the complex correlation signal (12a1, 12a2, 12a3, ..., 12b1, 12b2, ..., 12c1, ...) having a complex correlation signal maximum value (34a1, 34a2, 34a3, ..., 34b1, 34b2, ..., 34c1, ...) in the form of an in-phase component (I) and an orthogonal component (Q), and Wherein, for each of the GNSS satellite signals (51, 52, 53...), there is a linear combination circuit (41, 42, 43...), the complex related signal maximum value (34a1, 34a2, 34a3...) of the first CDMA code signal correlator (10a1, 10a2, 10a3...) and the complex related signal maximum value (34b1, 34b2..., 34c1...) of each of the other CDMA code signal correlators (10b1, 10b2, 10b3...) are provided to the linear combination circuit (41, 42, 43...), and in the linear combination circuit (41, 42, 43...), these maximum values ​​are linearly combined in a calculation manner, so that at the output end of the linear combination circuit (41, 42, 43...), there is a linear combination signal (Kg1τ..., 271, 272, 273) with improved signal-to-noise ratio for evaluating navigation data.

2. The satellite navigation receiving device (1) according to claim 1, characterized in that: These maxima are linearly combined in a computational manner such that the magnitude of the linearly combined correlation signal (271, 272, 273, ...) is greater than the magnitude of each individual complex correlation signal maximum (34a1, 34a2, 34a3, ..., 34b1, 34b2, ..., 34c1, ...).

3. The satellite navigation receiving device (1) according to claim 1 or 2, characterized in that: At least one of the complex correlation signal maxima (34a1, 34a2, 34a3, ..., 34b1, 34b2, ..., 34c1, ...) is phase rotated by multiplying by a complex factor, thereby giving an in-phase summation in the corresponding summer (161, 162, 163, ...).

4. The satellite navigation receiving device (1) according to any one of the preceding claims, characterized in that There are at least two clockwise circularly polarized satellite receiving antennas (3a, 3b), which have different horizontal positions and a distance greater than 1 / 4 of the free space wavelength of the carrier frequency (fo), and are used to separately and superimpose and receive multiple GNSS satellite signals (51, 52, 53...), each of which has an azimuth circle diagram with a radiation density of N=1 order, and the main radiation direction is toward the zenith.

5. The satellite navigation receiving device (1) according to any one of the preceding claims, characterized in that The first satellite receiving antenna (3a) is a loop antenna (21), the loop antenna (21) is of N=1 order, has clockwise circular polarization (RHCP) and the main radiation direction is toward the zenith, the first satellite receiving antenna 3a comprises: a loop line (35) arranged above a conductive base surface (6), the loop line (35) has a current distribution of a line wave traveling in a single rotation direction, the phase difference of the current distribution is 2π within one rotation, and has a plurality of antennas connected to the loop line (35) and mutually opposite in azimuth. The four vertical radiators (19a ..., 19d) are offset by 90 degrees, and the first received signal (5a1, 5a2, 5a3 ...) is tapped on one of the radiators (19a) for forwarding to each of the first CDMA code signal correlators (10a1, 10a2, 10a3 ...), each of which is correlated with a corresponding specific CDMA code (C1, C2 ...), The additional satellite receiving antenna (3b) is a vertical monopole antenna (15) which is arranged concentrically with the loop antenna (21) of order N=1, the vertical monopole antenna (15) having order N=0, for receiving the additional GNSS satellite antenna signal (5b1, 5b2, 5b3) for forwarding to each of the additional CDMA code signal correlators (10b1, 10b2..., 10c3...), each of the additional CDMA code signal correlators (10b1, 10b2..., 10c3...) being associated with a corresponding specific CDMA code (C1, C2...), or The other satellite receiving antenna (3b) is a loop antenna (20), the loop antenna (20) is of N=2 order, has clockwise circular polarization (RHCP) and the main radiation direction is toward the zenith, the other satellite receiving antenna (3b) comprises: a loop line (35) arranged above the conductive base surface (6), the loop line (35) is of N=2 order, has a current distribution of a line wave running in a single rotation direction, the phase difference of the current distribution is 4π within one rotation, and has a Eight vertical radiators (22a..., 22h) are offset by 45 degrees in azimuth from each other, and an additional received signal (5b1, 5b2, 5b3...) is tapped on one of the radiators (22a) for forwarding to the additional CDMA code signal correlators (10b1, 10b2, 10b3...), each of which is correlated with a corresponding specific CDMA code (C1, C2...).

6. The satellite navigation receiving device (1) according to claim 5, characterized in that: Instead of the N=1 order loop antenna (21) as the first satellite antenna (3a), there is an N=1 order patch antenna (24) at the center of the other satellite antenna (3b), the patch antenna (24) having clockwise circular polarization (RHCP) and a distribution of a phase angle β=0-2π of radiation at an azimuth spatial angle α=0-2π, and the main radiation direction is toward the zenith.

7. A satellite navigation receiving device (1) according to any one of the preceding claims, characterized in that The second additional satellite receiving antenna (3c) is used to receive the GNSS satellite signals (51, 52, 53, ...) to further orthogonally demodulate and form second additional digital baseband signals (11c1, 11bc2, ...), each of the second further CDMA code signal correlators (10c1, 10c2, 10c3, ...) is correlated with a specific CDMA code (C1, C2, ...), and the second further digital baseband signal (11c1, 11bc2, ...) is provided to each of the second further CDMA code signal correlators (10c1, 10c2, 10c3, ...), The second additional complex correlator signal maximum (34c1, 34c2, 34c3...) is provided to the output end of the linear combination circuit (41, 42, 43...) associated with the second additional CDMA code signal correlator (10c1, 10c2, 10c3...) and is computationally combined with other signals in the summer (161, 162, 163...).

8. The satellite navigation receiving device (1) according to claim 5 or 6, characterized in that: As a second additional satellite receiving antenna (3c), there is a loop antenna (20) of order N=2 also arranged concentrically relative to the loop antenna (21) of order N=1 and the monopole antenna (15) of order N=0 located in the center, for receiving a third reception signal (5c).

9. The satellite navigation receiving device (1) according to any one of the preceding claims, characterized in that a satellite receiving antenna (3a, 3b, 3c, ...) mounted on a substantially horizontal housing of the vehicle, and a control logic (141, 142, 143, ...) present in said linear combination circuit (41, 42, 43, ...) for setting discrete complex linear combination values ​​of complex multipliers (26a1, 26a2, ..., 26b1, 26b2, ..., 26c1) stored in the control logic (141, 142, 143, ...) to form discrete main directions of the radiation pattern in the entire azimuth, in the entire upper half space for orientations of different discrete azimuth angles of the vehicle; and The position data of the satellites (Sat1, Sat2, Sat3, ...) are stored in the control logic (141, 142, 143, ...), and therefore an incoming direction from which GNSS satellite signals (51, 52, 53, ...) on the line of sight relative to the satellites (line of sight signals) are incident is determined based on the vehicle orientation, and In the linear combination circuit (41, 42, 43, ...), a current setting for a linear combination of a main radiation direction given by the incident direction of the relevant satellite (Sat1, Sat2, Sat3, ...) and the vehicle orientation is selected.

10. The satellite navigation receiving device (1) according to any one of the preceding claims, characterized in that In order to save line connections and additional IQ demodulators (13b, 13c, ...), there is only one first coherent quadrature demodulator (13a), and instead, Each of the additional satellite receiving antennas (3b, 3c, ...) is connected to a variable phase shifter (100) connected, the variable phase shifter (100) changes the carrier phase of each of the other antennas (3b, 3c, ...) in a different manner over time, The GNSS satellite antenna signal (5a) of the first satellite receiving antenna (3a) is superimposed with the output end of each phase shifter (100) through a combining circuit (102) to form a sum signal (5s). The sum signal (5s) is connected to the first coherent quadrature demodulator (13a) through only a single line. is provided as a digital complex baseband signal (11s) to all first CDMA code signal correlators (10a1, 10a2, 10a3, ...), and For each of the further antennas (3b, 3c, ...), there is a phase correction unit (103, 103b, ...), to which the digital complex baseband sum signal (11s) is provided, and the phase correction unit (103, 103b, ...) is configured to reverse the phase rotation previously performed by the phase shifter (100) by calculating a complex product of the complex digital baseband signal (11s) and the complex phase correction (103), thereby, The phase-corrected digital baseband signals (11b1, 11b2, ..., 11c1, ...) are provided to the additional CDMA code signal correlator (10b 1、 10b2…, 10c1, 10c2…).

11. The satellite navigation receiving device (1) according to claim 10, characterized in that: The time course of the phase change (φb(t), φc(t)) is performed periodically, in particular linearly over time within a rotation of 0 to 2π, so that the period time of the phase change is one or more integer multiples of the code duration of the CDMA code (C1, C2, C3).

12. The satellite navigation receiving device (1) according to claim 10 or 11, characterized in that: A control unit (101) is provided, by means of which the phase shifter (100) is controlled in such a way that the time course Φb(t) of the phase change (φb(t)) takes the form of a sawtooth function with a rotation from 0 to 2π, the period time being one or more integer multiples of the code duration of the CDMA code (C1, C2, C3), wherein, in particular if a plurality of further satellite reception antennas (3b, 3c) are present, the phase shifter (100) downstream of the further satellite reception antennas is controlled in such a way that the period times of the sawtooth function are in an integer ratio to one another, but are not equal to the number 1.

13. The satellite navigation receiving device (1) according to claim 10, 11 or 12, characterized in that: The variable phase shifter (100) is designed in the form of a mixer, and the control unit (101) is present in the form of an oscillator, so that the rotation of the phase angle (φb(t)) of the mixing product between 0 and 2π is carried out in the form of a frequency shift of the satellite antenna signals (5s1, 5s2, 5s3, ...) of the other satellite receiving antennas (3b, 3c), and the period of the frequency shift is an integer divisor of the code duration of the GNSS system, wherein the frequency shifts of the other satellite receiving antennas (3b, 3c) are integer multiples of each other.

14. A method for improving positioning results of a GNSS satellite navigation receiving device (1), the GNSS satellite navigation receiving device (1) being used for mobile reception of GNSS satellite signals (51, 52, 53, ...) transmitted from GNSS positioning satellites (Sat1, Sat2, Sat3, ...), each of the GNSS satellite signals (51, 52, 53, ...) being encoded by a satellite-specific CDMA code (C1, C2, C3, ...), wherein: A first satellite receiving antenna (3a) is provided for receiving the GNSS satellite signals (51, 52, 53, ...) in a superimposed manner. The GNSS satellite antenna signal (5a) is converted into a first complex baseband signal (11a). There is a sequence of first CDMA code signal correlators (10a1, 10a2, 10a3, ...), each of which is controlled by a satellite-specific CDMA code (C1, C2, C3, ...), and a first complex baseband signal (11a) is commonly provided to each of the first CDMA code signal correlators (10a1, 10a2, 10a3, ...), and a satellite-specific first complex correlation signal maximum value (34a1, 34a2, ...) is determined based on correlation with the satellite-specific CDMA code (C1, C2, C3, ...), at least one further satellite receiving antenna (3b, 3c, ...) is used, each of the further antenna-specific GNSS satellite antenna signals (5b, 5c, ...) of the at least one further satellite receiving antenna (3b, 3c, ...) being converted into further antenna-specific complex baseband signals (11b, 11c, ...), For each of the first CDMA code signal correlators (10a1, 10a2, 10a3, ...), at least one further CDMA code signal correlator (10b1, 10b2, ..., 10c1, 10c2, ...) controlled with the same satellite-specific CDMA code (C1, C2, C3, ...) is used, and a further antenna-specific complex baseband signal (11b, 11c, ...) is provided to each of the at least one further CDMA code signal correlators (10b1, 10b2, ..., 10c1, 10c2, ...), Based on the correlation of the existing antenna-specific further complex baseband signals (11b, 11c, ...) with the corresponding satellite-specific CDMA codes (C1, C2, C3, ...), the satellite-specific further complex correlation signal maxima (34b1, 34b2, ..., 34c1, 34c2, ...) are determined, and the satellite-specific first complex correlation signal maxima (34a1, 34a2, ...) obtained by the same satellite-specific CDMA codes (C1, C2, C3, ...) and the further complex correlation signals are determined. The signal maxima (34b1, 34b2..., 34c1, 34c2...) are respectively provided to satellite-specific linear combination circuits (41, 42, 43...), in which the satellite-specific related signal maxima are linearly combined in such a computational manner that a linear combination signal (Kg1τ..., 271, 272, 273) with improved signal-to-noise ratio is present at the output end of the linear combination circuit (41, 42, 43...).

15. The method according to claim 14, wherein: The difference from claim 14 is that: Each of the other GNSS satellite antenna signals (5b, 5c, ...) is modified in a different form by an antenna-specific periodic phase shift (φb(t), φc(t)) within a rotation of 0 to 2π, wherein the periodic time Tp of the phase shift is selected multiple times by an integer within the code duration TC of the CDMA code (C1, C2, C3, ...) of the GNSS system, i.e., Tp = TC / m, wherein m = 1, 2, 3, ...), The additional GNSS satellite antenna signals (5b, 5c, ...) in phase shift are combined with the first GNSS satellite antenna signal (5a) into a sum signal (5s) in a line combining circuit (102), and then the sum signal (5s) is converted into a complex baseband sum signal (11s); The complex baseband sum signal (11s) is commonly provided to all first CDMA code signal correlators (10a1, 10a2, 10a3, ...); The digital complex baseband sum signal (11s) is also back-shifted by means of a calculated complex product performed in an antenna-specific phase correction unit (103b, 103c, ...) about an antenna-specific phase change (-φb(t), -φc(t)) of equal magnitude but opposite magnitude, and thereby an antenna-specific back-shifted complex baseband sum signal (11sb, 11sc, ...) is formed; and The antenna-specific further complex baseband sum signals (11sb, 11sc, ...) are commonly provided to all antenna-specific further CDMA code signal correlators (10b1, 10b2, ..., 10c1, 10c2, ...).

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