Adaptive carrier tracking loop and tracking method for high dynamic spin carriers

Abstract

The application discloses an adaptive carrier tracking loop and tracking method for high dynamic spin carrier, comprising: modeling satellite navigation signals received by a navigation receiver; based on the modeled satellite navigation signals, performing operation on the two branch signals generated by a carrier generator and a code generator respectively, to obtain two operated signals; inputting the two operated signals into a phase discriminator, and using the phase difference output by the phase discriminator to provide a loop filter; determining phase jitter mean square deviation; calculating dynamic stress error by using the ranging error caused by relative translation and the ranging error caused by the phase change caused by carrier rotation, and determining dynamic stress error peak value; solving the loop bandwidth at the minimum phase difference as the optimal loop bandwidth; measuring the rotation speed of the carrier of the current navigation receiver in real time, and calculating the corresponding optimal loop bandwidth; updating the current loop bandwidth by using the optimal loop bandwidth, and inputting the updated loop bandwidth into the loop filter.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of satellite navigation and positioning, and particularly relates to an adaptive carrier tracking loop and a tracking method for a high-dynamic spinning carrier. BACKGROUND

[0002] The satellite navigation signal itself is a spread spectrum signal, and a digital signal processing module of a navigation receiver can realize signal acquisition, tracking and data demodulation to realize positioning. The acquisition part realizes rough estimation of the carrier Doppler frequency shift and the pseudo-code phase of the signal. The tracking part is actually composed of a carrier tracking loop and a code tracking loop, which are used to track the carrier and the pseudo-code in the received signal, respectively. The tracking part realizes accurate estimation of the carrier Doppler frequency shift and the pseudo-code phase. Through accurate estimation of the two, a carrier and a pseudo-code consistent with the carrier and the pseudo-code phase of the received signal can be copied. Keeping the consistency of the copied carrier and pseudo-code with the signal can realize signal mixing to the baseband, pseudo-code stripping, signal despreading and data demodulation.

[0003] Since the carrier tracking loop is more susceptible to the motion of the receiver than the code tracking loop, and the carrier Doppler frequency shift information obtained by the carrier tracking loop can effectively compensate the tracking of the code tracking loop, the design of the carrier tracking loop is very important in system design. The carrier tracking loop is composed of a phase-locked loop, and a typical phase-locked loop is mainly composed of a phase discriminator, a loop filter and a carrier generator, which periodically and continuously runs in a closed-loop feedback form to achieve continuous locking of the carrier Doppler frequency shift.

[0004] In a high-dynamic scenario, there is a large relative motion speed, acceleration and even jerk between the missile-borne aircraft as a carrier of the navigation receiver and the satellite. In addition, the missile-borne aircraft usually rotates around the longitudinal axis to ensure stability when flying at high speed in the air. Due to the rotation of the missile-borne aircraft and the relative motion between the satellite, the navigation signal received by the navigation receiver is modulated in amplitude, frequency and phase, so that the changes of the carrier Doppler frequency shift and the pseudo-code phase have a certain complexity, and the performance of the traditional carrier tracking loop deteriorates in this case.

[0005] Currently, there are two categories of methods for improving the stability of the carrier tracking loop in a high dynamic scene with rotation: one is to increase external devices, such as using inertial devices to assist the tracking loop design of the rotating receiver, but this method has complex system design and large calculation; the other is to add a rotating tracking loop in the traditional carrier tracking loop, which improves the carrier tracking accuracy to a certain extent, but increases the design difficulty by adding a separate hardware phase delay unit in the phase demodulation process, and the assumption that the phase error after coherent integration is completely caused by the carrier rotation has certain limitations. In addition, due to the slow speed of some carriers, the traditional tracking loop can be designed according to the actual needs to realize the tracking of the navigation signal, but few scholars have done in-depth research on this. SUMMARY

[0006] The purpose of the present application is to provide an adaptive carrier tracking loop and tracking method for high dynamic self-rotating carriers based on the application scenario of missile-borne aircraft. Based on the variation law of satellite navigation signals, the carrier tracking loop of the receiver realizes stable tracking of the navigation signal in different high dynamic scenes by adjusting the loop parameters.

[0007] In order to achieve the above task, the present application adopts the following technical solutions:

[0008] An adaptive carrier tracking loop and tracking method for high dynamic self-rotating carriers, comprising:

[0009] Modeling the satellite navigation signal received by the navigation receiver;

[0010] Based on the modeled satellite navigation signal, the two branch signals generated by the carrier generator and the code generator are operated respectively to obtain two operated signals;

[0011] The two operated signals are input into the phase discriminator, and the phase difference output by the phase discriminator is provided to the loop filter; after the phase difference output by the phase discriminator is filtered by the loop filter to remove high-frequency components, it is used as the adjustment signal of the carrier generator, so that the frequency of the generated carrier generator and the carrier frequency of the satellite navigation signal become more and more close;

[0012] Calculate the ranging error caused by the relative translation between the carrier of the navigation receiver and the satellite;

[0013] Calculate the carrier phase generated by the rotation of the carrier of the navigation receiver, and determine the ranging error caused by the phase change based on the carrier phase;

[0014] Determine the phase jitter mean square error based on the loop bandwidth and carrier-to-noise ratio;

[0015] The dynamic stress error is calculated by using the ranging error caused by the translation and the ranging error caused by the phase change, and the peak value of the dynamic stress error is determined;

[0016] Based on the mean square deviation of the phase jitter and the peak value of the dynamic stress error, the loop bandwidth which makes the phase difference minimum is solved as the optimal loop bandwidth;

[0017] The rotation speed of the carrier of the current navigation receiver is measured in real time, and the corresponding optimal loop bandwidth is calculated; the optimal loop bandwidth is used to update the current loop bandwidth, and the updated loop bandwidth is input to the loop filter to continue participating in subsequent carrier tracking.

[0018] Further, the satellite navigation signal received by the navigation receiver is modeled and represented as:

[0019] S(t) = AD(t)C(t-τ)cos[2π(f c +f d )t+Δφ(t)]+n(t)

[0020] Wherein A is the signal amplitude, D(t) is the data code, C(t) is the pseudo code, t is the time parameter, τ is the pseudo code delay, f c is the carrier frequency of the satellite navigation signal, f d is the Doppler shift caused by the relative motion between the carrier and the satellite, Δφ(t) is the phase change caused by rotation, and n(t) is the noise.

[0021] Further, based on the modeled satellite navigation signal, the two branch signals generated by the carrier generator and the code generator are operated respectively, and the two operated signals are obtained, represented as:

[0022] The two branch signals i0(t) and q0(t) generated by the carrier generator and the code generator are represented as follows:

[0023] i0(t) = AC(t-τ)cos(2πf0t+φ0)

[0024] q0(t) = AC(t-τ)sin(2πf0t+φ0)

[0025] Wherein the carrier generated by the carrier generator is Asin(2πf0t+φ0) and Acos(2πf0t+φ0), the frequency of the carrier is f0, and the initial phase of the carrier is φ0; the pseudo code generated by the code generator is C(t-τ);

[0026] The received navigation signal S(t) is multiplied by the two branch signals i0(t) and q0(t) respectively, and the multiplied signals are integrated and removed respectively to obtain the two operated signals I(t) and Q(t):

[0027]

[0028] where T1 is integration time, f e and φ e (t) are the frequency difference and initial phase difference of the carrier of satellite navigation signal and the carrier generated by the carrier generator, respectively, and sinc is the sinc function.

[0029] Further, the phase difference output by the phase detector is represented as:

[0030] The phase difference Φ e (t) can be obtained by inputting the signals I(t) and Q(t) into the phase detector.

[0031]

[0032] Further, the ranging error caused by the relative translation between the carrier of the navigation receiver and the satellite is calculated, which is represented as:

[0033]

[0034] where v0, a0, respectively represent the initial velocity, acceleration and jerk of the relative motion between the carrier and the satellite.

[0035] Further, the carrier phase caused by the rotation of the carrier of the navigation receiver is calculated, and the ranging error is determined based on the carrier phase, which includes:

[0036] The rotation speed of the carrier rotation is f z , and the carrier phase caused by the rotation is:

[0037]

[0038] where r is the phase center offset of the antenna of the navigation receiver, λ is the carrier wavelength, α is the angle between the incident direction of the satellite navigation signal and the antenna rotation plane, and β is the angle between the projection of the incident direction of the satellite navigation signal on the antenna rotation plane and the Z axis of the rotation plane; and the ranging error caused by the phase change is:

[0039]

[0040] Further, the mean square error of the phase jitter is determined based on the loop bandwidth and the carrier-to-noise ratio, which is represented as:

[0041]

[0042] where B L is the loop bandwidth, C / N0 is the carrier-to-noise ratio, and T coh is the coherent integration time.

[0043] Further, the dynamic stress error is calculated based on the ranging error caused by the translational motion and the ranging error caused by the phase change, and a peak value of the dynamic stress error is determined, comprising:

[0044] The dynamic stress error expression is:

[0045]

[0046] Wherein, λ is the carrier wavelength, ω n is the natural frequency of the phase-locked loop, ω n and B L have the relationship of B L = 0.7845ω n , d is the real distance between the satellite and the carrier, and R represents the distance between the satellite and the receiver carrier:

[0047] R = d + Δd1 + Δd2

[0048] The dynamic stress error is calculated by substituting the expression:

[0049]

[0050] The peak value of the dynamic stress error is expressed as:

[0051]

[0052] Further, the loop bandwidth at the minimum phase difference is calculated as the optimal loop bandwidth based on the phase jitter mean square error and the peak value of the dynamic stress error, and the specific calculation formula is:

[0053]

[0054] A navigation receiver, which adopts the adaptive carrier tracking loop and tracking method for high dynamic spinning carriers.

[0055] Compared with the prior art, the application has the following technical characteristics:

[0056] The application analyzes the change rule of the spin carrier receiving satellite navigation signal in a high dynamic scene and the influence on the carrier tracking loop, finds that the third-order phase-locked loop can effectively track the horizontal Doppler frequency shift, however, since the rotational Doppler frequency shift presents sinusoidal periodic change, it becomes the main source of dynamic stress error. Therefore, the application determines the optimal loop bandwidth under different rotational speeds according to the minimum phase measurement error of the phase-locked loop, effectively solves the problem of excessive phase measurement error of the carrier tracking loop caused by the change of the rotational speed of the carrier in a high dynamic scene, reduces the risk of loop lockout, enables the carrier tracking loop to stably track the carrier Doppler frequency shift, provides auxiliary conditions for the tracking of the code tracking loop, facilitates subsequent positioning settlement, and significantly improves the overall dynamic performance of the receiver. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 An adaptive carrier tracking loop structure for a high dynamic spin carrier;

[0058] Figure 2 Influence of different rotational speeds on the phase measurement error of the tracking loop. DETAILED DESCRIPTION

[0059] The application analyzes the change rule of the spin carrier receiving satellite navigation signal in a high dynamic scene and the influence on the carrier tracking loop, finds that the third-order phase-locked loop can effectively track the horizontal Doppler frequency shift, however, since the rotational Doppler frequency shift presents sinusoidal periodic change, it becomes the main source of dynamic stress error. Therefore, the application determines the optimal loop bandwidth under different rotational speeds according to the minimum phase measurement error of the phase-locked loop, effectively solves the problem of excessive phase measurement error of the carrier tracking loop caused by the change of the rotational speed of the carrier in a high dynamic scene, reduces the risk of loop lockout, enables the carrier tracking loop to stably track the carrier Doppler frequency shift, provides auxiliary conditions for the tracking of the code tracking loop, facilitates subsequent positioning settlement, and significantly improves the overall dynamic performance of the receiver.

[0060] Referring to the accompanying drawings Figure 1 The application provides an adaptive carrier tracking loop and a tracking method for a high dynamic spin carrier, which comprises the following steps:

[0061] Step 1, modeling the satellite navigation signal received by the navigation receiver.

[0062] In a high dynamic scene, there is a large relative motion speed, acceleration and even jerk between the carrier (missile carrier) of the navigation receiver and the satellite, and the carrier often rotates, at this time, the received satellite signal can be written as:

[0063] S(t)=AD(t)C(t-τ)cos[2π(f c +f d )t+Δφ(t)]+n(t)

[0064] Wherein A is the signal amplitude, D(t) is the data code, C(t) is the pseudo code, t is the time parameter, τ is the pseudo code delay, fc f is the carrier frequency of the satellite navigation signal d is the Doppler shift due to the relative motion between the carrier and the satellite, Δφ(t) is the phase change due to rotation, and n(t) is noise.

[0065] Step 2, based on the modeled satellite navigation signal, the two branch signals generated by the carrier generator and the code generator are respectively operated to obtain the two operation signals.

[0066] The carrier generated by the carrier generator is Asin(2πf0t+φ0) and Acos(2πf0t+φ0), the frequency of the carrier is f0, and the initial phase of the carrier is φ0; the pseudo code generated by the code generator is C(t-τ), then the two branch signals i0(t) and q0(t) of the I branch and the Q branch are respectively represented as follows:

[0067] i0(t) = AC(t-τ)cos(2πf0t+φ0)

[0068] q0(t) = AC(t-τ)sin(2πf0t+φ0)

[0069] The received navigation signal S(t) is multiplied by the two branch signals i0(t) and q0(t) respectively to obtain the multiplied signals i1(t) and q1(t):

[0070] i1(t) = A 2 D(t)C 2 (t-τ)cos[2π(f c +f d )t+Δφ(t)]cos(2πf0t+φ0)

[0071] q1(t) = A 2 D(t)C 2 (t-τ)cos[2π(f c +f d )t+Δφ(t)]sin(2πf0t+φ0)

[0072] The multiplied signals i1(t) and q1(t) are respectively integrated and cleared to obtain the two operation signals I(t) and Q(t):

[0073]

[0074]

[0075] where T1 is the integration time, f e and φ e(t) is the frequency difference and initial phase difference of the carrier of the satellite navigation signal and the carrier generated by the carrier generator, respectively, and sinc is the sinc function.

[0076] Step 3, input the two signals after operation into a phase discriminator, and use the phase difference output by the phase discriminator to provide a loop filter; the phase difference output by the phase discriminator is filtered by the loop filter to remove high-frequency components, and then is used as an adjustment signal of the carrier generator, so that the carrier generated by the carrier generator has a frequency f0and the carrier frequency f c The closer, the final frequency and phase lock.

[0077] Inputting the signals I(t) and Q(t) into a phase discriminator can obtain a phase difference Φ e (t):

[0078]

[0079] wherein Φ e (t) is related to the motion state of the carrier and the loop parameters, but if the phase difference is greater than a set threshold, the tracking loop will be out of lock and the navigation message cannot be demodulated; therefore, the optimal loop bandwidth is determined in the case of keeping the phase difference small through subsequent steps, and the optimal loop bandwidth is used as the current loop bandwidth of the loop filter to participate in the subsequent carrier tracking, so as to ensure that the carrier can be stably tracked.

[0080] Step 4, calculate the ranging error caused by the relative translation between the carrier of the navigation receiver and the satellite.

[0081] In the relative translation between the carrier and the satellite, the low-order change amount such as velocity, acceleration and jerk is large, and the change amount of higher order is relatively small and can be ignored. Therefore, for the relative motion with an initial velocity v0, an acceleration a0and a jerk , the corresponding ranging error is:

[0082]

[0083] Step 5, calculate the carrier phase caused by the rotation of the carrier of the navigation receiver, and determine the ranging error caused by the phase change based on the carrier phase.

[0084] Assuming that the rotation speed of the carrier is f z , the carrier phase caused by the rotation is:

[0085]

[0086] where r is the phase center offset of the antenna of the navigation receiver, λ is the carrier wavelength, α is the angle between the incident direction of the satellite navigation signal and the antenna rotation plane, and β is the angle between the projection of the incident direction of the satellite navigation signal on the antenna rotation plane and the Z axis of the rotation plane; the ranging error caused by the phase change is:

[0087]

[0088] Step 6, determining the mean square error of the phase jitter based on the loop bandwidth and the carrier-to-noise ratio.

[0089] The error source causing the phase jitter is mainly thermal noise, and the expression of the mean square error of the phase jitter is:

[0090]

[0091] where B L is the loop bandwidth, C / N0 is the carrier-to-noise ratio, and T coh is the coherent integration time.

[0092] Step 7, calculating the dynamic stress error by using the ranging error caused by the translation and the ranging error caused by the phase change, and determining the peak value of the dynamic stress error.

[0093] The expression of the dynamic stress error is:

[0094]

[0095] where λ is the carrier wavelength, ω n is the natural frequency of the phase-locked loop, and the relationship between ω n and B L in the third-order phase-locked loop is B L = 0.7845ω n , d is the real distance between the satellite and the carrier, and R represents the distance between the satellite and the receiver carrier:

[0096]

[0097] The dynamic stress error is obtained by substituting the expression:

[0098]

[0099] It can be obtained from the above expression that the dynamic stress error caused by the relative translation to the third-order phase-locked loop is a constant, and the dynamic stress error caused by the rotation is sinusoidal periodic modulation; in order to make the phase-locked loop work within the linear range, the peak value of the dynamic stress error is used to measure the tracking performance of the loop to the signal, that is:

[0100]

[0101] From the above formula, the rotation of the carrier is the main source of dynamic stress error, and the subsequent analysis can mainly analyze the impact of high dynamic rotation on the tracking loop.

[0102] Step 8, based on the phase jitter mean square error and the dynamic stress error peak, solve the phase difference Φ e (t) minimum loop bandwidth B L As the best loop bandwidth.

[0103] A conservative estimate of the phase-locked loop tracking threshold is three times the phase difference Φ e (t) cannot exceed one quarter of the phase detection pull-in range, that is:

[0104]

[0105] Through the above analysis, the phase measurement error is related to the antenna phase center offset r, the rotation speed f z , the jerk , the carrier-to-noise ratio C / N0 and the loop bandwidth B L , which belongs to the multi-variable optimization problem and is relatively complex to solve. But in practical applications, the antenna phase center offset of the carrier, the maximum jerk and the carrier-to-noise ratio are external variables for the receiver and their values are known, so the best loop bandwidth that minimizes the phase measurement error at different rotation speeds can be obtained.

[0106] Step 9, since rotation will cause periodic changes in the amplitude of the received signal, the amplitude variation frequency is the same as the carrier rotation speed frequency, the amplitude detection module can measure the current carrier rotation speed in real time, and accordingly update the current loop bandwidth according to the best loop bandwidth obtained in step 8; the updated loop bandwidth is input to the loop filter to continue to participate in subsequent carrier tracking; at this time, the phase measurement error is minimized, thereby reducing the risk of loop lockout. This enables the carrier tracking loop to stably track the carrier Doppler shift, providing auxiliary conditions for the code tracking loop and significantly improving the overall dynamic performance of the receiver.

[0107] Figure 1 The adaptive carrier tracking loop structure diagram for high dynamic spinning carrier is shown; compared with the traditional tracking loop, the new loop mainly introduces the amplitude detection module (corresponding to step 9) and the loop bandwidth update module (corresponding to steps 4-9). The amplitude detection module is used to measure the carrier rotation speed, and the loop bandwidth update module updates the loop bandwidth in real time according to the best loop bandwidth that can minimize the phase measurement error at different rotation speeds. This design can effectively improve the tracking performance of the carrier tracking loop.

[0108] Figure 2The influence of different rotation speeds on the phase measurement error of the tracking loop is shown; by analyzing the figure, the optimal loop bandwidths that minimize the phase measurement error at different rotation speeds can be determined. These optimal loop bandwidth values will be stored in the loop bandwidth updating module to update the loop bandwidth in real time when the carrier rotation speed changes. This ensures that the tracking loop maintains optimal measurement accuracy under various rotation speed conditions.

[0109] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An adaptive carrier tracking loop and tracking method for high dynamic spin carriers, characterized by, The application relates to a method for determining a best loop bandwidth of a satellite navigation receiver. The method comprises the following steps: modeling a satellite navigation signal received by a navigation receiver; operating the modeled satellite navigation signal with two branch signals generated by a carrier generator and a code generator respectively to obtain two operated signals; inputting the two operated signals into a phase discriminator, and providing a phase difference output by the phase discriminator to a loop filter; the phase difference output by the phase discriminator is filtered by the loop filter to remove high-frequency components, and then is used as an adjustment signal of the carrier generator to make the frequency of the generated carrier generated by the carrier generator approach the carrier frequency of the satellite navigation signal; calculating a ranging error caused by a relative translation between a carrier of the navigation receiver and a satellite; calculating a carrier phase caused by a rotation of the carrier of the navigation receiver, and determining a ranging error caused by a phase change based on the carrier phase; determining a phase jitter mean square error based on a loop bandwidth and a carrier-to-noise ratio; calculating a dynamic stress error based on the ranging error caused by the translation and the ranging error caused by the phase change, and determining a dynamic stress error peak value; based on the phase jitter mean square error and the dynamic stress error peak value, solving a loop bandwidth at which the phase difference is the smallest as a best loop bandwidth; 2. The adaptive carrier tracking loop for high dynamic spin carriers and tracking method according to claim 1, characterized in that, measuring a rotation speed of the current carrier of the navigation receiver in real time, and calculating a corresponding best loop bandwidth; updating the current loop bandwidth by using the best loop bandwidth, and inputting the updated loop bandwidth into the loop filter to continue participating in subsequent carrier tracking. S(t) = AD(t)C(t - τ) cos [2π(f c +f d )t + Δφ(t)] + n(t) where A is the signal amplitude, D(t) is the data code, C(t) is the pseudo code, t is the time parameter, τ is the pseudo code delay, f c is the carrier frequency of the satellite navigation signal, f d is the Doppler shift due to the relative motion between the carrier and the satellite, Δφ(t) is the phase change due to rotation, n(t) is the noise.

3. The adaptive carrier tracking loop for high dynamic spin carriers and tracking method according to claim 1, characterized in that, The modeling of the satellite navigation signal received by the navigation receiver is represented as: The operation of the modeled satellite navigation signal with the two branch signals generated by the carrier generator and the code generator respectively to obtain the two operated signals is represented as: The two branch signals i0(t) and q0(t) generated by the carrier generator and the code generator are represented as follows: i0(t)=AC(t-T)cos(2pft+phi0) q0(t)=AC(t-T)sin(2pft+phi0) wherein the carrier generated by the carrier generator is Asin(2pft+phi0) and A cos(2pft+phi0), the frequency of the carrier is f0, and the initial phase of the carrier is phi0; the pseudo code generated by the code generator is C(t-T); where T1 is the integration time, f e and φ e (t) are the frequency and initial phase difference of the satellite navigation signal's carrier and the carrier generator's generated carrier, respectively, and sinc is the sinc function.

4. The adaptive carrier tracking loop for high dynamic spin carriers and tracking method according to claim 1, characterized in that, the received navigation signal S(t) is multiplied with the two branch signals i0(t) and q0(t) respectively to obtain multiplied signals, and then the multiplied signals are integrated and cleared respectively to obtain the two operated signals I(t) and Q(t): Inputting the signals I(t) and Q(t) into a phase discriminator gives a phase difference Φ e (t):

5. The adaptive carrier tracking loop for high dynamic spin carriers and tracking method according to claim 1, characterized in that, The use of the phase difference output by the phase discriminator is represented as: wherein v0, a0, respectively represent the initial velocity, acceleration and jerk of the relative motion between the carrier and the satellite.

6. The adaptive carrier tracking loop for high dynamic spin carriers and tracking method according to claim 1, characterized in that, The calculation of the ranging error caused by the relative translation between the carrier of the navigation receiver and the satellite is represented as: The rotation speed of the carrier is f z The carrier phase generated by the rotation is then: The calculation of the carrier phase caused by the rotation of the carrier of the navigation receiver and the determination of the ranging error caused by the phase change based on the carrier phase comprise:

7. The adaptive carrier tracking loop for high dynamic spin carriers and tracking method according to claim 1, characterized in that, wherein r is a phase center offset of an antenna of the navigation receiver, lambda is a carrier wavelength, alpha is an angle between an incident direction of the satellite navigation signal and an antenna rotation plane, and beta is an angle between a projection of the incident direction of the satellite navigation signal on the antenna rotation plane and a Z axis of the rotation plane; the ranging error caused by the phase change is: The determination of the phase jitter mean square error based on the loop bandwidth and the carrier-to-noise ratio is represented as: where B L is the loop bandwidth, C / N0 is the carrier-to-noise ratio, T coh is the coherent integration time.

8. The adaptive carrier tracking loop for high dynamic spin carriers and tracking method according to claim 1, characterized in that, The dynamic stress error is calculated according to the ranging error generated by the translation and the ranging error caused by the phase change, and a peak value of the dynamic stress error is determined, and the calculation includes: The dynamic stress error expression is: where λ is the carrier wavelength, ω n is the natural frequency of the phase-locked loop, ω n and B L is the relationship between B L = 0.7845ω n and d is the true distance between the satellite and the carrier, and R represents the line-of-sight distance between the satellite and the carrier. R = d + Δd1 + Δd2 The dynamic stress error is calculated according to the ranging error generated by the translation and the ranging error caused by the phase change, and a peak value of the dynamic stress error is determined, and the calculation includes: The peak value of the dynamic stress error is expressed as:

9. The adaptive carrier tracking loop for high dynamic spin carriers and tracking method according to claim 1, characterized in that, The loop bandwidth that makes the phase difference minimum is calculated as the optimal loop bandwidth based on the phase jitter mean square error and the peak value of the dynamic stress error, and the specific calculation formula is:

10. A navigation receiver characterized by The navigation receiver adopts the adaptive carrier tracking loop and tracking method for high dynamic spin carriers according to any one of claims 1-9.

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