Satellite navigation receiver tracking loop discretization error compensation method and system

Abstract

The invention discloses a satellite navigation receiver tracking loop discretization error compensation method and system. The method comprises the following steps: acquiring a ranging code phase error measurement value, a carrier frequency error measurement value and a carrier phase error measurement value; for I and Q channels, ideal responses under a carrier frequency error measurement value and a carrier phase error measurement value are calculated, errors caused by sampling and frequency selective filtering are calculated, and I channel compensation amount and Q channel compensation amount are calculated in a combined mode; and accumulating the I-channel compensation quantity to the output of the I-channel integral zero clearing device, and accumulating the Q-channel compensation quantity to the output of the Q-channel integral zero clearing device. The invention aims to compensate the discretization error of the calculation result of the integral zero clearing device and improve the precision of the tracking loop of the satellite navigation receiver.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite navigation technology, in particular to a satellite navigation receiver tracking loop discretization error compensation method and system. BACKGROUND

[0002] Satellite navigation technology has been widely used in civil fields, and satellite navigation receivers can achieve accurate positioning functions by processing received satellite navigation signals. From the start-up to the working state of the satellite navigation receiver, it mainly goes through two stages of signal acquisition and signal tracking. The signal acquisition stage is relatively short, usually completed within a few minutes, and then the navigation receiver is in the signal tracking stage for a long time. The signal tracking of the satellite navigation receiver is realized through the tracking loop, which can continuously and accurately lock the carrier frequency and code phase of the received satellite navigation signal, thereby stabilizing the received satellite navigation message data and accurately measuring the pseudo-range and carrier phase to provide basic observation values for positioning, velocity measurement and timing. The tracking loop includes an integrate-and-dump (I&D) and a code phase discriminator and a carrier phase discriminator. The integrate-and-dump is a signal preprocessing unit of the tracking loop, and its output is directly used as the input of the code phase discriminator and the carrier phase discriminator. The working process of the integrate-and-dump can be summarized as a cycle of "multiplication-accumulation-output-clearing", which receives the intermediate frequency signal after frequency conversion and digitization, performs correlation operation with the locally generated pseudo-code and carrier, and finally outputs the demodulated signal component. The integrate-and-dump realizes signal correlation and despreading with low hardware cost, and its performance directly affects the tracking accuracy and sensitivity of the satellite navigation receiver. The existing technical problem is that the integrate-and-dump in the satellite navigation receiver is realized by digital circuit, so the integral operation is realized by discrete accumulation, and the calculation result of the integrate-and-dump introduces a discretization error, which has a certain influence on the accuracy of subsequent data processing, so it is necessary to study a compensation method for the discretization error. SUMMARY The technical problem to be solved by the present application is to provide a satellite navigation receiver tracking loop discretization error compensation method and system to solve the above problems in the prior art. The present application aims to compensate for the discretization error of the calculation result of the integrate-and-dump, and improve the accuracy of the tracking loop of the satellite navigation receiver.

[0003] To solve the above technical problems, the technical scheme adopted by the present application is: A satellite navigation receiver tracking loop discretization error compensation method, comprising the following steps: S1, obtaining the processing result of the tracking loop in the satellite navigation receiver on the input navigation satellite intermediate frequency sampling signal, including the ranging code phase discriminator output ranging code phase error measurement value carrier frequency error measurement output by the carrier phase discriminator carrier phase error measurement output by the carrier phase discriminator ; S2, for the I channel and the Q channel, respectively, calculate the ideal response of the carrier frequency error measurement and the carrier phase error measurement under, and the error due to sampling and frequency-selective filtering, and combine to calculate the I channel compensation and the Q channel compensation ; S3, add the I channel compensation to the output of the I channel integrator and zeroer, and add the Q channel compensation to the output of the Q channel integrator and zeroer.

[0004] Optionally, in step S2, for the I channel, the expression of the ideal response of the carrier frequency error measurement and the carrier phase error measurement under is: ; wherein, is the single integration period of the I channel and the Q channel integrator and zeroer; The expression of the error of the I channel due to sampling and frequency-selective filtering is: ; wherein, is the discretization time step for the I channel and the Q channel integrator and zeroer to accumulate, is the number of accumulations for the integrator and zeroer to complete one integration; The functional expression of the I channel compensation calculated by combining is: ; wherein, is the autocorrelation function of the ranging code, and the autocorrelation function of the ranging code is a function of the ranging code phase error measurement .

[0005] Optionally, in step S2, for the Q channel, the expression of the ideal response of the carrier frequency error measurement and the carrier phase error measurement under is: ; wherein, is the single integration period of the I channel and the Q channel integrator and zeroer; The expression of the error of the Q channel due to sampling and frequency selective filtering is: ; wherein, is the discretization time step of the I and Q channel integrator accumulators, is the number of accumulations of the integrator to complete one integration; The function expression of the combined calculation of the Q channel compensation quantity is: ; wherein, is the autocorrelation function of the ranging code, which is a function of the ranging code phase error measurement .

[0006] Optionally, the function expression of the autocorrelation function of the ranging code phase error measurement is: ; wherein, is the autocorrelation function of the ranging code phase error measurement , is the ranging code phase error measurement.

[0007] Optionally, before step S2, it includes: acquiring the single integration period of the I and Q channel integrator accumulators according to the hardware design of the satellite navigation receiver, and the discretization time step of the I and Q channel integrator accumulators ; according to the single integration period of the I and Q channel integrator accumulators and the discretization time step of the I and Q channel integrator accumulators , calculate the number of accumulations of the integrator to complete one integration .

[0008] Optionally, the function expression of the number of accumulations of the integrator to complete one integration is: ; wherein, is the single integration period of the I and Q channel integrator accumulators, is the discretization time step of the I and Q channel integrator accumulators.

[0009] Further, the application also provides a satellite navigation receiver tracking loop discretization error compensation system, comprising a local carrier generator, a local ranging generator, an I channel integration and zeroing device, a Q channel integration and zeroing device, a carrier phase discriminator, a ranging code phase discriminator and a discretization error compensation module, an input navigation satellite intermediate frequency sampling signal Signal_1 is input to the I channel integration and zeroing device and the Q channel integration and zeroing device; the first local carrier Signal_2 generated by the local carrier generator is input to the I channel integration and zeroing device, and the second local carrier Signal_3 is input to the Q channel integration and zeroing device, wherein the first local carrier Signal_2 and the second local carrier Signal_3 have the same frequency and a phase difference of 90 degrees; the local ranging code Signal_4 generated by the local ranging generator is input to the I channel integration and zeroing device and the Q channel integration and zeroing device, and the local ranging code Signal_4 comprises an instant ranging code, a delayed ranging code and an advanced ranging code; the I channel integration and zeroing device and the Q channel integration and zeroing device respectively perform integration processing on the input intermediate frequency sampling signal, the local ranging code signal and the local carrier signal, the I channel integration and zeroing device obtains an I channel comprehensive signal Signal_5, and the Q channel integration and zeroing device obtains a Q channel comprehensive signal Signal_6, the I channel comprehensive signal Signal_5 and the Q channel comprehensive signal Signal_6 are input to the carrier phase discriminator and the ranging code phase discriminator, the carrier phase discriminator is used for performing carrier phase discrimination according to the I channel comprehensive signal Signal_5 to obtain an output signal Signal_7 comprising a carrier frequency error measurement value and a carrier phase error measurement value output by the carrier phase discriminator; the ranging code phase discriminator is used for performing ranging code phase discrimination according to the Q channel comprehensive signal Signal_6 to obtain an output signal Signal_8 representing a ranging code phase error measurement value ; the output signal Signal_7 and the output signal Signal_8 are input to the discretization error compensation module, the discretization error compensation module is programmed or configured to execute the satellite navigation receiver tracking loop discretization error compensation method to obtain a compensation signal Signal_9 representing an I channel compensation value and a compensation signal Signal_10 representing a Q channel compensation value , the compensation signal Signal_9 is connected to the input end of the I channel integration and zeroing device to accumulate the I channel compensation value to the output of the I channel integration and zeroing device, and the compensation signal Signal_10 is connected to the input end of the Q channel integration and zeroing device to accumulate the Q channel compensation value to the output of the Q channel integration and zeroing device.

[0010] The application also provides a satellite navigation receiver tracking loop discretization error compensation system, comprising a microprocessor and a memory connected to each other, the microprocessor being programmed or configured to execute the satellite navigation receiver tracking loop discretization error compensation method.

[0011] The application also provides a computer readable storage medium, in which a computer program or instructions are stored, the computer program or instructions being programmed or configured to execute the satellite navigation receiver tracking loop discretization error compensation method by a processor.

[0012] The application also provides a computer program product, comprising a computer program or instructions, the computer program or instructions being programmed or configured to execute the satellite navigation receiver tracking loop discretization error compensation method by a processor.

[0013] Compared with the prior art, the application mainly has the following beneficial effects: the method of the application comprises obtaining a ranging code phase error measurement value , a carrier frequency error measurement value and a carrier phase error measurement value ; for I and Q channels, ideal responses under the carrier frequency error measurement value and the carrier phase error measurement value , and errors caused by sampling and frequency selective filtering are calculated, and I channel compensation value and Q channel compensation value are combined; the I channel compensation value is added to the output of an I channel integral clear zero device, and the Q channel compensation value is added to the output of a Q channel integral clear zero device. The application can compensate for discretization errors in the calculation results of the integral clear zero device in the tracking loop of the satellite navigation receiver, thereby improving the measurement accuracy of the ranging code phase error, the carrier frequency error and the carrier phase error, and reducing the influence of discretization errors in the calculation results of the integral clear zero device on the tracking loop accuracy of the satellite navigation receiver. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 FIG. 1 is a schematic diagram of the basic flow of the method of the embodiment of the application.

[0015] Figure 2 FIG. 2 is a schematic diagram of the principle structure of the system of the embodiment of the application. DETAILED DESCRIPTION

[0016] The application aims to discretize and compensate for the errors of the integral clear zero device in the tracking loop of the satellite navigation receiver. In order to enable those skilled in the art to better understand the technical solutions of the application, the technical solutions of the application will be further described in detail below with reference to the accompanying drawings of the embodiments of the application.

[0017] like Figure 1 As shown, the satellite navigation receiver tracking loop discretization error compensation method in this embodiment includes the following steps: S1, Obtain the processing results of the tracking loop in the satellite navigation receiver on the input intermediate frequency sampled signal of the navigation satellite, including: the measured value of the ranging code phase error output by the ranging code phase discriminator. The measured value of carrier frequency error output by the carrier phase discriminator The measured value of carrier phase error output by the carrier phase discriminator ; S2, calculate the carrier frequency error measurement values ​​for both the I and Q channels. and carrier phase error measurement value The ideal response under conditions, as well as the errors caused by sampling and frequency-selective filtering, are combined to calculate the compensation amount for the I-channel. Q channel compensation amount ; S3, compensate the I channel amount The accumulated output of the I-channel integrator resets the Q-channel compensation amount. The summation is added to the output of the Q-channel integrator resetter.

[0018] In step S2 of this embodiment, the carrier frequency error measurement value is calculated for channel I. and carrier phase error measurement value The expression for the ideal response is: ; in, For the single integration cycle of the integrator resetter for both I and Q channels; The expression for the error in channel I caused by sampling and frequency-selective filtering is: ; in, Discretized time steps for accumulation of the I-channel and Q-channel integrators and resetters. This completes one accumulation of points for the points resetter; Combined calculation of I-channel compensation amount The function expression is: ; in, Let be the autocorrelation function of the ranging code, where the autocorrelation function of the ranging code is the measured value of the ranging code phase error. The function.

[0019] In step S2 of this embodiment, the carrier frequency error measurement value is calculated for the Q channel. and carrier phase error measurement The expression of the ideal response under the condition that ; wherein, is the single integration period of the I and Q channel integrators, The expression of the error of the Q channel due to sampling and frequency selective filtering is ; wherein, is the discretized time step of the I and Q channel integrators, is the number of accumulations of the integrators to complete one integration, The function expression of the Q channel compensation quantity is ; wherein, is the autocorrelation function of the ranging code, and the autocorrelation function of the ranging code is a function of the ranging code phase error measurement .

[0020] In this embodiment, the function expression of the autocorrelation function of the ranging code phase error measurement is ; wherein, is the autocorrelation function of the ranging code phase error measurement , is the ranging code phase error measurement.

[0021] Before step S2 in this embodiment, the single integration period of the I and Q channel integrators and the discretized time step of the I and Q channel integrators to accumulate are obtained according to the hardware design of the satellite navigation receiver; the number of accumulations of the integrators to complete one integration is calculated according to the single integration period of the I and Q channel integrators and the discretized time step of the I and Q channel integrators to accumulate . In this embodiment, according to the general method of the hardware design of the GPS L1 frequency satellite navigation receiver, the single integration period of the integrators is 1 ms, and the discretized time step of the integrators to accumulate is 20 ; according to the obtained parameters , the parameter obtained in step 1 is divided by , the integral zeroer completes the accumulation number of integrations once ; In this embodiment, the integral zeroer completes the accumulation number of integrations once , and the function expression is: ; , wherein is the single-integration period of the I-channel and Q-channel integral zeroers, is the discretization time step for the accumulation of the I-channel and Q-channel integral zeroers.

[0022] As shown in Figure 2 , the embodiment further provides a satellite navigation receiver tracking loop discretization error compensation system, which comprises a local carrier generator, a local ranging generator, an I-channel integral zeroer, a Q-channel integral zeroer, a carrier phase discriminator, a ranging code phase discriminator, and a discretization error compensation module. An input navigation satellite intermediate frequency sampling signal Signal_1 is input to the I-channel integral zeroer and the Q-channel integral zeroer. A first local carrier Signal_2 generated by the local carrier generator is input to the I-channel integral zeroer, and a second local carrier Signal_3 is input to the Q-channel integral zeroer, wherein the first local carrier Signal_2 and the second local carrier Signal_3 have the same frequency and a phase difference of 90 degrees. A local ranging code Signal_4 generated by the local ranging generator is input to the I-channel integral zeroer and the Q-channel integral zeroer, and the local ranging code Signal_4 comprises an instant ranging code, a delayed ranging code, and an advanced ranging code. In this embodiment, the single-integration period of the I-channel and Q-channel integral zeroers is 1 ms, and the discretization time step for the accumulation of the I-channel and Q-channel integral zeroers is 20 μs.

[0023] Referring to Figure 2 , the I-channel integral zeroer and the Q-channel integral zeroer respectively perform integral processing on the input intermediate frequency sampling signal, the local ranging code signal, and the local carrier signal. The I-channel integral zeroer obtains an I-channel comprehensive signal Signal_5, and the Q-channel integral zeroer obtains a Q-channel comprehensive signal Signal_6. Signal_5 is the sum of the I-channel integral zeroer and the compensation amount for the discretization error of the I-channel integral zeroer calculated in step S4, Signal_6 is the sum of the Q-channel integral zeroer and the compensation amount for the discretization error of the Q-channel integral zeroer calculated in step S4, Both the I-channel comprehensive signal Signal_5 and the Q-channel comprehensive signal Signal_6 are input to the carrier phase discriminator and the ranging code phase discriminator.

[0024] See Figure 2 The carrier phase discriminator is used to perform carrier phase discrimination based on the I-channel synthesized signal Signal_5 to obtain the carrier frequency error measurement value including the output of the carrier phase discriminator. The measured carrier phase error output by the carrier phase discriminator The output signal Signal_7; the ranging code phase discriminator is used to perform ranging code phase discrimination based on the Q-channel composite signal Signal_6 to obtain a measurement value representing the ranging code phase error. The output signal Signal_8; output signals Signal_7 and Signal_8 are respectively input to the discretization error compensation module, which is programmed or configured to execute the satellite navigation receiver tracking loop discretization error compensation method to obtain the compensation amount representing the I channel. The compensation signal Signal_9 and the amount of compensation for the Q channel. The compensation signal Signal_10, and the compensation signal Signal_9 are connected to the input of the I-channel integrator reset to adjust the I-channel compensation amount. The compensation signal Signal_10, accumulated at the output of the I-channel integrator reset, is connected to the input of the Q-channel integrator reset to calculate the Q-channel compensation amount. The summation is added to the output of the Q-channel integral clearer.

[0025] Furthermore, this embodiment also provides a satellite navigation receiver tracking loop discretization error compensation system, including a microprocessor and a memory interconnected, wherein the microprocessor is programmed or configured to execute the satellite navigation receiver tracking loop discretization error compensation method. Additionally, this embodiment also provides a computer-readable storage medium storing a computer program or instructions programmed or configured to execute the satellite navigation receiver tracking loop discretization error compensation method via a processor. Furthermore, this embodiment also provides a computer program product, including a computer program or instructions programmed or configured to execute the satellite navigation receiver tracking loop discretization error compensation method via a processor.

[0026] Those skilled in the art will appreciate that the technology of the present application can be embodied in a method, system, or computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer usable program code. The specification and drawings are, accordingly, to be regarded as illustrative and not restrictive. The present application is described in terms of flowcharts and / or block diagrams in which each block indicates a set of elements carried out normally by a computer program. Those skilled in the art will appreciate that each block of the flowcharts and / or block diagrams, and combinations thereof, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowcharts and / or block diagrams block or blocks. These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowcharts and / or block diagrams block or blocks. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowcharts and / or block diagrams block or blocks. According to a further aspect of the present application, there is provided an apparatus comprising: means for performing the steps of the methods described herein; and means for causing the steps to be performed. Figure 1 one or more of the steps in a flow or multiple flows and / or blocks Figure 1 one or more of the steps in a flow or multiple flows and / or blocks Figure 1 one or more of the steps in a flow or multiple flows and / or blocks Figure 1 one or more of the steps in a flow or multiple flows and / or blocks Figure 1 one or more of the steps in a flow or multiple flows and / or blocks Figure 1 one or more of the steps in a flow or multiple flows and / or blocks

[0027] The above description is only preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any improvement and modification made by those skilled in the art without departing from the principle of the present application should be considered as falling within the protection scope of the present application.

Claims

1. A method of satellite navigation receiver tracking loop discretization error compensation, characterized by, comprising the steps of: S1, obtaining a processing result of a tracking loop in a satellite navigation receiver on an input navigation satellite intermediate frequency sampling signal, including: a ranging code phase discriminator output ranging code phase error measurement value , a carrier frequency discriminator output carrier frequency error measurement value , a carrier phase discriminator output carrier phase error measurement value ; S2, for the I and Q channels, compute carrier frequency error measurements and carrier phase error measurements and combine to compute I channel compensation and Q channel compensation ; S3, add I channel compensation to the output of the I channel integrator zeroer S3, add Q channel compensation to the output of the Q channel integrator zeroer S3, add Q channel compensation to the output of the Q channel integrator zeroer 2. The satellite navigation receiver tracking loop discretization error compensation method of claim 1, wherein, In step S2, carrier frequency error measurements are calculated for the I channel and carrier phase error measurements The expression for the ideal response under these conditions is: ； wherein, integrating the I and Q channel integrator clearers for a single integration period; An expression for the error in the I channel due to sampling and frequency selective filtering is: ； wherein, is the discretization time step for the I and Q channel integrator accumulators, is the number of accumulations for the integrator to complete one integration. Combination calculation of i-channel compensation amount The function expression is: ； wherein is a correlation function of a ranging code, the correlation function of the ranging code being a function of a ranging code phase error measurement .

3. The satellite navigation receiver tracking loop discretization error compensation method of claim 1, wherein, In step S2, carrier frequency error measurements are computed for the Q channel and carrier phase error measurements The expression for the ideal response under these conditions is: ； wherein, is a single integration period of the I and Q channel integration clearers; An expression for the error in the Q channel due to sampling and frequency selective filtering is: ； wherein, is the discretization time step for the I and Q channel integrator accumulators, is the number of accumulations for the integrator to complete one integration. Combination calculation of q channel compensation amount The function expression is: ； wherein is an autocorrelation function of a ranging code, the autocorrelation function of the ranging code being a function of a ranging code phase error measurement .

4. The satellite navigation receiver tracking loop discretization error compensation method according to claim 2 or 3, characterized in that, said ranging code phase error measurement The functional expression of the autocorrelation function is ； wherein is a self-correlation function of the range code phase error measurements is a range code phase error measurement.​ 5. The satellite navigation receiver tracking loop discretization error compensation method according to claim 2 or 3, characterized in that, Step S2 comprises: obtaining the single integration period of the I-channel and Q-channel integration and wipeout according to the hardware design of the satellite navigation receiver , and the discretization time step at which the I-channel and Q-channel integration and wipeout are accumulated ; obtaining the single integration period of the I-channel and Q-channel integration and wipeout according to the hardware design of the satellite navigation receiver , and the discretization time step at which the I-channel and Q-channel integration and wipeout are accumulated calculating the number of accumulations of the integration and wipeout to complete one integration .

6. The satellite navigation receiver tracking loop discretization error compensation method according to claim 2 or 3, characterized in that, The integral zeroizer completes the number of accumulations of one integral The function expression is: ； wherein, is a single integration period of the I and Q channel integration clearers, is a discretization time step over which the I and Q channel integrators are accumulated.

7. A satellite navigation receiver tracking loop discretization error compensation system characterized by, The navigation satellite intermediate frequency sampling signal Signal_1 is input to the I channel integral zeroing device and the Q channel integral zeroing device; the first local carrier Signal_2 generated by the local carrier generator is input to the I channel integral zeroing device, and the second local carrier Signal_3 is input to the Q channel integral zeroing device, wherein the first local carrier Signal_2 and the second local carrier Signal_3 have the same frequency and a phase difference of 90 degrees; the local ranging code Signal_4 generated by the local ranging generator is input to the I channel integral zeroing device and the Q channel integral zeroing device, wherein the local ranging code Signal_4 comprises an instant ranging code, a delay ranging code and an advance ranging code; the I channel integral zeroing device and the Q channel integral zeroing device perform integral processing on the input intermediate frequency sampling signal, the local ranging code signal and the local carrier signal, respectively, to obtain an I channel comprehensive signal Signal_5 and a Q channel comprehensive signal Signal_6, wherein the I channel comprehensive signal Signal_5 and the Q channel comprehensive signal Signal_6 are input to the carrier phase discriminator and the ranging code phase discriminator; the carrier phase discriminator is used to perform carrier phase discrimination on the I channel comprehensive signal Signal_5 to obtain an output signal Signal_7 comprising a carrier frequency error measurement value and a carrier phase error measurement value output by the carrier phase discriminator; the ranging code phase discriminator is used to perform ranging code phase discrimination on the Q channel comprehensive signal Signal_6 to obtain an output signal Signal_8 representing a ranging code phase error measurement value ; the output signal Signal_7 and the output signal Signal_8 are input to the discretization error compensation module, which is programmed or configured to perform the satellite navigation receiver tracking loop discretization error compensation method of any one of claims 1-6 to obtain a compensation signal Signal_9 representing an I channel compensation value and a compensation signal Signal_10 representing a Q channel compensation value ; the compensation signal Signal_9 is connected to the input end of the I channel integral zeroing device to accumulate the I channel compensation value to the output of the I channel integral zeroing device; and the compensation signal Signal_10 is connected to the input end of the Q channel integral zeroing device to accumulate the Q channel compensation value to the output of the Q channel integral zeroing device.

8. A satellite navigation receiver tracking loop discretization error compensation system comprising a microprocessor and memory interconnected, characterized by, The microprocessor is programmed or configured to perform the satellite navigation receiver tracking loop discretization error compensation method of any one of claims 1-6.

9. A computer-readable storage medium having stored therein a computer program or instructions, characterized in that, The computer program or instructions are programmed or configured to perform, by a processor, the satellite navigation receiver tracking loop discretization error compensation method of any one of claims 1-6.

10. A computer program product comprising computer programs or instructions, characterized in that, The computer program or instructions are programmed or configured to perform, by a processor, the satellite navigation receiver tracking loop discretization error compensation method of any one of claims 1-6.

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