Method and apparatus for tracking a received signal

Abstract

The present disclosure relates to a method and apparatus for tracking received signals, the method comprising: tracking (101) at least two received signals on at least two tracking channels; splitting (102) the received signal of each of the at least two tracking channels; multiplexing (103) the split received signals onto at least one redundant tracking channel; comparing (106) the output of the at least one redundant tracking channel with the output of each of the at least two tracking channels; and determining (107) whether an error has occurred in tracking a first signal of the at least two received signals on a corresponding first tracking channel of the at least two tracking channels by determining whether a mismatch occurs between the output of the first channel and a corresponding part of the output of the redundant tracking channel.

Description

Technical Field

[0001] This disclosure relates to methods and apparatus for tracking received signals. This disclosure also relates to corresponding computer program products and corresponding computer-readable storage media. Background Technology

[0002] In communication technologies, especially wireless communication technologies, tracking signals on a tracking channel is a critical task in signal reception. For example, in a Global Navigation Satellite System (GNSS), a GNSS receiver tracks GNSS signals from a specific satellite or frequency. Correspondingly, any other type of signal besides GNSS can be tracked. The channel on which such signals are tracked is called a tracking channel.

[0003] If a problem occurs on the tracking channel, the corresponding tracking signal may not be received correctly. This can be particularly problematic in applications such as security, where the problem on the tracking channel is not detected and the erroneous received signal is not further processed in the device without the tracking impairment being noticed. Therefore, the object of this disclosure is to provide a method, apparatus, computer program product, and computer-readable storage medium that solves or mitigates the aforementioned problem. Summary of the Invention

[0004] According to a first aspect of this disclosure, a method for tracking a received signal includes:

[0005] - Track at least two received signals on at least two tracking channels;

[0006] - The received signals of each of the at least two tracking channels are split;

[0007] - Multiplex the split-received signal onto at least one redundant tracking channel;

[0008] - Compare the output of the at least one redundant tracking channel with the output of each of the at least two tracking channels; and

[0009] - It is determined whether an error has occurred in the tracking of the first signal of the at least two received signals on the corresponding first tracking channel in the at least two tracking channels by determining whether a mismatch occurs between the output of the corresponding first tracking channel in the at least two tracking channels and the corresponding portion of the output of the redundant tracking channel.

[0010] The advantage of this paper is that it can supervise the correct tracking of at least two received signals on at least two tracking channels. In the event of an error on either of the at least two tracking channels, that channel is designated as the first tracking channel and its signal is designated as the first signal. The error can be detected by detecting a mismatch between the corresponding portion of the output of the first channel (i.e., the faulty channel among the at least two tracking channels) and the output of the redundant tracking channels.

[0011] Furthermore, the number of redundant tracking channels is less than the number of at least two tracking channels, which are also referred to as "primary tracking channels" in the context of this application, to easily distinguish them from at least one redundant tracking channel. By multiplexing the split-received signals of at least two primary tracking channels onto at least one redundant tracking channel, all signals of at least two primary tracking channels can be redundantly checked with a reduced number of redundant tracking channels. Any combination of multiple primary tracking channels and one or more redundant tracking channels is possible within this context.

[0012] The described method can enhance functional safety in signal tracking. Corresponding functional safety standards can be defined in standards such as ISO 26262 and IEC 61508. This method can also be used to detect whether the tracking channel is malfunctioning due to a fault in the tracking channel.

[0013] In the context of this disclosure, the terms "first signal" and "first tracking channel" should be understood as indicating a signal / channel with which an error has been determined, i.e., a mismatch has been detected. However, this can refer to any of at least two tracking channels and their corresponding signals. For example, in the case where a mismatch is detected on multiple such "first tracking channels," this can also refer to more than one first signal / first tracking channel.

[0014] The mismatch between the corresponding portions of the output of the first channel and the output of the redundant tracking channel can be, for example, at least one bit in the corresponding signal being flipped and / or at least one bit being missing. However, any other type of mismatch can also be detected herein.

[0015] For example, in the case of GNSS or other satellite communications, one channel is used to track signals received from a specific satellite, or multiple channels are used to track multiple signals received from a specific satellite. Alternatively or additionally, one channel is used to track signals at a dedicated frequency. This can also be applied accordingly to other domains besides GNSS.

[0016] At least one redundant tracking channel can be configured to be identical to at least two primary tracking channels. In other words, any processing performed on the signals of the at least two primary tracking channels is performed on the at least one redundant tracking channel accordingly, so that, without error, the corresponding portions of the signals on the at least one redundant tracking channel have the same result for matching on the corresponding channel.

[0017] In the context of this application, multiplexing can refer to time-division multiplexing. In time-division multiplexing, different demultiplexed received signals from at least two tracking channels are provided to at least one redundant tracking channel at different time units.

[0018] In the context of this disclosure, at least one redundant tracking channel may be redundant because it can be used as a channel that does not track individual signals, but redundantly tracks at least two received signals of at least two tracking channels, each of the at least two received signals within a corresponding time unit.

[0019] Splitting the received signal of each of at least two tracking channels can be understood as frequency splitting of the at least two received signals, providing a portion of the split to the corresponding primary tracking channel, and providing another portion to a multiplexing module that can perform multiplexing on at least one redundant tracking channel. Specifically, splitting the received signal of each of the at least two tracking channels can refer to splitting the inputs of the at least two tracking channels. In other words, the input of each of the at least two tracking channels is linked to the input of at least one redundant tracking channel.

[0020] According to at least one embodiment, the method further includes the following steps:

[0021] - Stream the output of each of the at least two tracking channels; and

[0022] - Multiplex the split output of each of the at least two tracking channels;

[0023] The comparison of the output of the at least one redundant tracking channel with the output of each of the at least two tracking channels includes:

[0024] - Compare the output of the at least one redundant tracking channel with the multiplexed output of each of the at least two tracking channels.

[0025] Its advantage is that it provides an efficient and reliable implementation for comparing the output of at least one redundant tracking channel with the output of each of at least two tracking channels.

[0026] For example, the terms "inputs and outputs of at least two tracking channels" can refer to the inputs and outputs of those tracking channels with respect to the baseband processing block of the corresponding receiver. However, other portions of the tracking channels can also be used for demultiplexing of the corresponding signals. It should be understood that when the corresponding output of the main channel is compared with the corresponding portion of the output of the redundant tracking channels, all processing modules of the main tracking channel located between such inputs and outputs can be monitored, and errors can be detected. Therefore, inputs and outputs can be selected accordingly to monitor most of the processing of the tracking channels, or, for example, to select particularly critical portions of the tracking channels.

[0027] According to at least one embodiment, tracking of at least two received signals is performed continuously on at least two tracking channels.

[0028] This allows for uninterrupted tracking of the corresponding signal on the main tracking channel.

[0029] According to at least one implementation, if it is determined that an error has occurred in tracking the first signal, at least one of the following steps is performed:

[0030] - Mark the current data on the first tracking channel as invalid;

[0031] - Reset the first tracking channel;

[0032] -Disable the first tracking channel;

[0033] -Increase the counter to count the number of times the first tracking channel fails.

[0034] Its advantage is that it can perform a response to errors in signal tracking on the main tracking channel, which can increase reliability and / or improve receiver availability.

[0035] For example, if current data on a fault tracing channel is marked as invalid, information is obtained that the data may be untrusted, and this information can be considered for further processing. In this context, the current can be understood, for example, as relating to data received during a time slot during which an error was detected on the corresponding first channel. For example, data marked as invalid can be ignored, thereby improving the reliability of the receiver.

[0036] Furthermore, resetting the first tracking channel that malfunctioned can help restore the main tracking channel to a correct operating state. By resetting the first tracking channel, the first tracking channel is restarted. In the event of a transient fault (also known as a soft fault) occurring on the first main channel (i.e., a fault that can be resolved by resetting the channel), resetting the channel can improve the availability of the receiver.

[0037] Furthermore, disabling a faulty channel allows the receiver to continue tracking the signal using the remaining primary tracking channels, while avoiding receiving further erroneous data on the faulty channel, thereby improving the availability and reliability of the received data. Disabling a channel can be particularly advantageous in the event of a hard fault (i.e., a fault that cannot be resolved by resetting the channel). By disabling the faulty primary tracking channel, the receiver can continue operating in degraded mode by using the remaining primary tracking channels.

[0038] The advantage of adding a counter is that it can track how many errors have occurred on a specific main channel.

[0039] According to at least one embodiment, the method further includes the following steps:

[0040] - Determine whether the counter has reached a predetermined threshold; wherein, if the counter reaches the predetermined threshold, the first channel is disabled.

[0041] The advantage is that the first channel does not have to be disabled immediately after an error is detected. For example, the first channel can be reset first, and / or it can be observed whether the error occurs multiple times, or whether it occurs randomly or can be resolved by resetting the channel. This can further improve the availability of the receiver because fewer channels need to be disabled.

[0042] According to at least one implementation, the time domain is divided into time slots, and the split-received signals are multiplexed onto at least one redundant tracking channel, with one split-received signal per time slot.

[0043] Its advantage is that it provides efficient and reliable demultiplexing and multiplexing of the received signal onto at least one redundant tracking channel. In particular, subsequent time slots can have the same length. In this context, a time slot refers to the duration during which a particular received signal is tracked on at least one redundant tracking channel.

[0044] For example, a time slot can correspond to the time between measurements of a received signal, and it can also be called an epoch. A time slot can be equal to, longer than, or shorter than an epoch. This might be the case for GNSS measurements, for example. For example, such a time (i.e., epoch) between measurements could be 100 milliseconds in length. In the case of a time slot involving a 100-millisecond epoch, each primary tracking channel can be redundantly tracked for 100 milliseconds on a redundant tracking channel, and their results can be compared during these 100-millisecond periods. Alternatively, the epoch can also be used to redundantly track multiple channels. For example, if there are five primary channels and one redundant channel, each primary channel can be redundantly tracked for 20 milliseconds. In other words, each of the five primary tracking channels is tracked once within 100 milliseconds (i.e., epoch). As another example, if there are six primary tracking channels and one redundant tracking channel, and if each primary channel is redundantly tracked for a duration of 50 milliseconds, then in one epoch, i.e., within 100 milliseconds, two primary tracking channels have been redundantly tracked. Then, a total of 300 milliseconds (i.e., three epochs) are used to redundantly track and compare all six primary tracking channels once. As another example, if there are two primary tracking channels and one redundant tracking channel, and if each primary tracking channel is redundantly tracked for a duration of 200 milliseconds, then each primary tracking channel is tracked for two epochs of 100 milliseconds. Therefore, a total of 400 milliseconds (i.e., four epochs) are used to redundantly track and compare the two primary tracking channels once.

[0045] For example, the length of time for tracking each individual primary tracking channel on the redundant tracking channel can be selected based on reliability requirements. For instance, a shorter time slot can be used if errors in the received signal are checked more frequently. For example, to select the length of time for tracking each primary tracking channel on the redundant tracking channel, the alarm time-to-action (TTA) requirement—the requirement regarding the rate at which errors on the primary tracking channel need to be reported—can be considered. However, a longer time slot can be used if the switching frequency of the multiplexing module needs to be reduced. For example, lengths of 1 second, 500 milliseconds, or 100 milliseconds can be used (as in the example above). However, other suitable lengths can also be used. Additionally, the amount of time required to configure the redundant tracking channel for tracking new signals can be considered to determine the time slot length.

[0046] According to a second aspect, an apparatus for tracking received signals includes at least two tracking channels, each of the at least two tracking channels being configured to track a received signal. The apparatus further includes at least one redundant tracking channel and at least one first multiplexing module configured to demultiplex the received signal of each of the at least two tracking channels and multiplex the demultiplexed received signal onto the at least one redundant tracking channel. The apparatus further includes at least one comparator module configured to compare the multiplexed signal on the at least one redundant tracking channel with each received signal on the at least two tracking channels. The apparatus further includes a decision logic module configured to determine whether an error has occurred when tracking a first signal of the at least two received signals on a corresponding first tracking channel by determining whether a mismatch has occurred between corresponding portions of the output of the first channel and the output of the redundant tracking channel.

[0047] The advantages and implementations of this device generally correspond to the advantages and implementations discussed above with respect to the first aspect. Any features disclosed in the context of the first aspect can be applied accordingly to the second aspect. The decision logic module can further determine the action to be taken in the event of an error being detected. For example, the decision logic module can decide to perform any action or any combination thereof, discussed as a response to an error detected with respect to the first aspect.

[0048] In the context of this application, at least two tracking channels and at least one redundant tracking channel can be implemented as hardware tracking channels. Alternatively, these tracking channels can also be implemented as software tracking channels. At least one first multiplexing module, at least one comparator module, and a decision logic module can be implemented as hardware modules or software modules, or a combination thereof. To implement any of these entities as software, one or more processing units can be used.

[0049] The device may be a receiver of at least one signal or may be part of a receiver of at least one signal.

[0050] According to at least one embodiment, the apparatus further includes at least one second multiplexing module configured to demultiplex the output of each of at least two tracking channels and multiplex the demultiplexed output of each of the at least two tracking channels, wherein at least one comparator module is specifically configured to compare the output of at least one redundant tracking channel with the multiplexed demultiplexed output of each of the at least two tracking channels.

[0051] At least one second multiplexing module can be implemented as a hardware module or a software module, or a combination thereof. At least one second multiplexing module can have the same implementation as at least one first multiplexing module.

[0052] According to at least one embodiment, at least one first multiplexing module and at least one second multiplexing module are synchronized to demultiplex signals of the same tracking channel in at least two tracking channels within a specific time slot. For example, multiplexing modules can be configured at the beginning of each time slot such that the two multiplexing modules select the same primary tracking channel. The clocks of the first multiplexing module and the second multiplexing module can be synchronized.

[0053] According to at least one implementation, the received signal is a Global Navigation Satellite System (GNSS) signal.

[0054] Its advantage lies, particularly in GNSS receivers, where a large number of tracking channels are typically used. For example, dozens or hundreds of primary tracking channels may exist in such receivers. This has significant implications in the field because it provides high reliability by redundantly checking the signals on the primary tracking channels with redundant tracking channels, while keeping the number of redundant tracking channels low.

[0055] According to at least one embodiment, the apparatus further includes a counter module, wherein the counter module is configured to track the number of errors that occur during the tracking of the first signal.

[0056] In particular, the counter module can independently track errors occurring on each of at least two main tracking channels. The counter module can be implemented as a hardware module or a software module, or a combination thereof.

[0057] According to a third aspect, a computer program product includes instructions that, when executed on a computer, enable the computer to perform a method according to the first aspect or any possible implementation thereof.

[0058] According to the fourth aspect, a computer-readable storage medium includes a computer program product according to the third aspect.

[0059] The advantages and implementations of the third and / or fourth aspects generally correspond to the advantages and implementations discussed above with respect to the first and / or second aspects. Any features disclosed in the context of the first and / or second aspects may be applied accordingly to the third and / or fourth aspects. Attached Figure Description

[0060] The foregoing aspects of this disclosure and their embodiments will now be explained in more detail with the aid of the accompanying drawings. In all the drawings, elements and functional blocks having the same or similar functions have the same reference numerals, but may not need to be identical in all respects. Therefore, their description need not be repeated in the following drawings and may be provided only in their first appearance.

[0061] In the attached diagram:

[0062] Figure 1 A flowchart illustrating a method for tracking received signals according to one embodiment of the present disclosure is shown;

[0063] Figure 2 A schematic diagram of an apparatus for tracking received signals according to one embodiment of the present disclosure is shown;

[0064] Figure 3 A schematic diagram of an apparatus for tracking received signals according to another embodiment of the present disclosure is shown; and

[0065] Figure 4 A flowchart illustrating a method executed by a decision logic module according to an embodiment of the present invention is shown.

[0066] List of reference numerals

[0067] 1 device

[0068] 2 main tracking channels

[0069] 3 redundant tracking channels

[0070] 4 First Reuse Module

[0071] 5 Comparator Modules

[0072] 6 Decision Logic Module

[0073] 7 Second Multiplexing Module

[0074] Methods and steps 101-108

[0075] Methods and steps 201-209 Detailed Implementation

[0076] Figure 1 A flowchart illustrating a method for tracking received signals according to one embodiment of this disclosure is shown. This method can be applied, for example, to a GNSS receiver, or to any other signal receiver that receives and tracks signals on a tracking channel.

[0077] In step 101, at least two received signals on at least two tracking channels are tracked. The tracking of the at least two received signals can be performed in a manner known in the art. In particular, the tracking can be performed within the baseband frame of the signal processing. Specifically, the at least two received signals can be digital signals; that is, the method can be performed after the received signals have passed through an analog-to-digital converter. Therefore, the tracking of the at least two received signals can be performed in the digital region and can be implemented in hardware and / or software. In particular, the tracking channels themselves can be implemented in hardware.

[0078] In step 102, the received signals of each of the at least two tracking channels are de-splittered, and in step 103, they are multiplexed onto at least one redundant tracking channel. In other words, the input of each of the at least two tracking channels is linked to the input of at least one redundant tracking channel.

[0079] In step 104, the outputs of each of the at least two tracking channels are demultiplexed, and in step 105, they are multiplexed together. The multiplexing of the outputs of the at least two tracking channels is synchronized with the multiplexing of the inputs of the at least two tracking channels. In this case, when using time-division multiplexing, the inputs and outputs of the same tracking channel are used in different time slots, and the time slots are synchronized in time. For example, multiplexing modules can be configured at the beginning of each time slot such that the two multiplexing modules select the same primary tracking channel. The clocks of the first and second multiplexing modules can be synchronized.

[0080] In step 106, the output of at least one redundant tracking channel is compared with the multiplexed output of each of at least two tracking channels. After the multiplexed output of each of the at least two tracking channels has been compared with and successfully matched with the corresponding portion of the output of at least one redundant tracking channel, it can be assumed that at least one redundant tracking channel and at least two tracking channels are functioning correctly. If the multiplexed output of at least two tracking channels does not match the output of at least one redundant tracking channel used for at least one of the at least two tracking channels—that is, if the output of any one or more of the at least two tracking channels does not match the output of at least one redundant tracking channel in its corresponding portion (in its corresponding time slot for time-division multiplexing)—it can be assumed that the corresponding tracking channel among the at least two tracking channels is not functioning correctly. If all the outputs of the at least two tracking channels cannot match the corresponding portion of the output of the at least one redundant channel, it can be assumed that all the tracking channels among the at least two tracking channels are functioning incorrectly, and / or that at least one redundant tracking channel is functioning incorrectly.

[0081] In step 107, if any mismatch scenario described in step 106 has been detected, it is determined that an error has occurred on the corresponding tracking channel in at least two tracking channels and / or in at least one redundant tracking channel.

[0082] In step 108, if it is determined that an error has occurred in the tracking of the signal in either of at least two tracking channels, the current data on the faulty tracking channel is marked as invalid and / or the faulty tracking channel is reset and / or the faulty tracking channel is disabled and / or a counter counting the number of times the first tracking channel has failed is incremented. This will be discussed below regarding... Figure 4 Let's discuss this in more detail.

[0083] In addition, regarding Figure 1 It is understood that some steps described herein are optional, and the method can also be performed without the said optional steps. In particular, steps 104, 105, and / or 108 can be considered optional.

[0084] Figure 2 A schematic diagram of a device 1 for tracking received signals according to one embodiment of the present disclosure is shown. Figure 2 The device 1 shown may be a receiver or a device included in a receiver. Figure 2 This focuses on the parts of such a receiver that are directly related to the signal tracking concept described herein. Other parts of such a receiver (such as antennas, devices for radio frequency (RF) processing, analog-to-digital converters, etc.) are not shown herein but can be used in a known manner.

[0085] In this embodiment, device 1 includes two primary tracking channels 2, each configured to track a received signal. Device 1 also includes a redundant tracking channel 3. For ease of description, a simplified example using one redundant tracking channel 3 and two primary tracking channels 2 is chosen. However, any other combination of primary tracking channels 2 and redundant tracking channels 3 can be chosen accordingly, wherein the number of primary tracking channels 2 is greater than the number of redundant tracking channels 3.

[0086] The device 1 also includes a first multiplexing module 4, which is configured to demultiplex the two received signals at the inputs of the two main tracking channels 2 and multiplex the demultiplexed received signals to the input of the redundant tracking channel 3. In other words, the inputs of the two main tracking channels 2 are linked and multiplexed to the input of the redundant tracking channel 3.

[0087] The device 1 also includes a comparator module 5, which is configured to compare the multiplexed signal on the redundant tracking channel 3 with each received signal on the two main tracking channels 2 in their respective time slots.

[0088] The device 1 also includes a decision logic module 6, which is configured to determine whether an error has occurred when tracking either of the two received signals on either of the two main tracking channels 2 by determining whether a mismatch occurs between the corresponding portions of the output of either of the two main tracking channels 2 and the output of the redundant tracking channel 3.

[0089] exist Figure 2In the illustrated device 1, the two primary tracking channels 2 and the redundant tracking channel 3 can be implemented as hardware tracking channels. Alternatively, these tracking channels 2 and 3 can also be implemented as software tracking channels. The first multiplexing module 4, the comparator module 5, and the decision logic module 6 can be implemented as hardware modules, software modules, or a combination thereof. To implement any of the mentioned entities as software, one or more processors not shown herein can be used.

[0090] Figure 3 A schematic diagram of a device 1 for tracking received signals according to another embodiment of the present disclosure is shown. Aspects already described with respect to the previous drawings will not be repeated herein, but will be applied accordingly. Figure 3 The device 1 shown can be a receiver or can be included in a receiver. Figure 3 The apparatus shown can be used to implement Figure 1 The method is shown in the flowchart.

[0091] In this embodiment, device 1 includes five main tracking channels 2 for tracking received signals. Device 1 also includes a redundant tracking channel 3. Device 1 further includes a first multiplexing module 4, which is configured to demultiplex the inputs of the main tracking channels 2 and multiplex the signals of the main tracking channels 2 onto the redundant tracking channel 3.

[0092] The apparatus 1 also includes a second multiplexing module 7, which is configured to demultiplex the output of the main tracking channel 2 and multiplex the corresponding output signals together. The second multiplexing module 7 and the first multiplexing module 4 perform the same multiplexing function on the input and output of the main tracking channel 2, respectively. Therefore, the output of the first multiplexer 4 and the output of the second multiplexer 7 are related to the same received signal in different time slots.

[0093] The apparatus 1 further includes a comparator module 5, which is provided with the output of the redundant tracking channel 3 and the multiplexed output of the second multiplexing module 7. The comparator module 5 is configured to compare the outputs of the redundant tracking channel 3 with the multiplexed output of the second multiplexing module 7 in accordance with the above-described comparison of the signals.

[0094] The apparatus 1 also includes a decision logic module 6 corresponding to the aforementioned decision logic module 6. The decision logic module 6 may include a counter module (not shown herein) that counts the number of times an error has been detected on a specific tracking channel 2. Alternatively, the counter module may be implemented separately from the decision logic module 6.

[0095] Figure 3 All other aspects of the apparatus 1 shown can correspond to the above regarding Figure 1 and Figure 2 The aspects to be discussed.

[0096] Figure 4 A flowchart is shown of a method performed by a decision logic module (e.g., decision logic module 6 discussed above) according to one embodiment of the present disclosure. The decision logic performing the method knows the current time slot and one or more corresponding primary tracking channels associated with the time slot (i.e., whose inputs are linked to the inputs of redundant tracking channels in the time slot).

[0097] Describing a specific primary tracking channel N Figure 4 The method shown herein allows the primary tracking channel N to be any of, for example, primary tracking channel 2 described above. Therefore, this method can also be applied to any other primary tracking channel. In particular, the method can always be performed on the corresponding primary tracking channel (whose input is multiplexed to the input of the redundant tracking channel in the current time slot) for each primary tracking channel to be monitored using the mechanism disclosed herein.

[0098] In step 201, the decision logic module receives data from the comparator module (such as the one mentioned above). Figure 2 and Figure 3 The output of comparator module 5 is discussed.

[0099] In step 202, the decision logic module determines whether the output of the main tracking channel N matches the corresponding part of the main tracking channel output by the redundant tracking channel.

[0100] If the result of step 202 is "yes", then proceed to step 203. In step 203, the primary tracking channel N is marked as valid, and data on the primary tracking channel N can be processed normally without impairment.

[0101] In step 204, the method stops, and can be restarted in step 201 for the next primary tracking channel in the next time slot.

[0102] If the result of step 202 is "No", then step 205 is executed. In step 205, it is determined whether the counter of the main tracking channel N has reached a predetermined threshold. The predetermined threshold is set as the value of how frequently errors are detected on the main tracking channel N before the main tracking channel N is disabled, as will be clear from the following description.

[0103] If it is determined in step 205 that the predetermined threshold has not been reached, then step 206 is executed. In step 206, channel N is reset. To reset the master tracking channel in the context of this disclosure, for example, the master tracking channel can be set to be idle for a short period of time, the memory of the master tracking channel can be erased, the master tracking channel can be restarted, and tracking of the corresponding received signal on the master tracking channel can be restarted. This can resolve problems, for example, that arise when tracking signals on the master tracking channel via bit flips (i.e., soft faults), allowing the correct functioning of the master tracking channel to be restored.

[0104] After resetting channel N in step 206, in step 207, the counter of the main tracking channel N is incremented by 1.

[0105] In step 208, the data on the main tracking channel N of the current time slot where the error has been detected is marked as invalid.

[0106] The method then stops in step 204 and can be restarted in step 201 for the next master tracking channel in the next time slot.

[0107] If it is determined in step 205 that a predetermined threshold has been reached, then step 209 is executed. In step 209, the primary tracking channel N is disabled. By disabling the primary tracking channel N, the device can continue to operate in degraded mode by using the remaining primary tracking channels.

[0108] Before proceeding with the decision logic method described herein, it is assumed that all primary tracking channels are marked as active and not disabled, and that a counter for each primary tracking channel has a value of 0. Then, when an error is detected on a channel, the counter for each channel can be incremented until a threshold is reached. If the threshold is reached, it is assumed that an error has occurred on the corresponding channel, which cannot be resolved by resetting the channel, and therefore the corresponding channel is disabled.

Claims

1. A method for tracking a received signal, the method comprising: - Track (101) at least two received signals on at least two tracking channels (2); - The received signal of each of the at least two tracking channels (2) is split (102). - Multiplex the split-received signal (103) onto at least one redundant tracking channel (3); - Compare the output of the at least one redundant tracking channel (3) with the output of each of the at least two tracking channels (2) (106). as well as - It is determined (107) whether an error occurs when tracking the first signal of the at least two received signals on the first tracking channel by determining whether a mismatch occurs between the output of the corresponding first tracking channel (2) in the at least two tracking channels (2) and the corresponding portion of the output of the redundant tracking channel (3).

2. The method according to claim 1, wherein, The multiplexing of the split-received signal is time-division multiplexing of the split-received signal.

3. The method according to claim 1 or 2, further comprising the following step: - The output of each of the at least two tracking channels (2) is split (104). as well as - Multiplex the split output of each of the at least two tracking channels (2) as described in (105); The comparison (106) of the output of the at least one redundant tracking channel (3) with the output of each of the at least two tracking channels (2) includes: - Compare the output of the at least one redundant tracking channel (3) with the multiplexed output of each of the at least two tracking channels (2).

4. The method according to claim 1, wherein, Tracking the at least two received signals on the at least two tracking channels (2) is performed continuously.

5. The method according to claim 1, wherein, If it is determined that an error occurred while tracking the first signal, then perform at least one of the following steps: - Mark (208) the current data on the first tracking channel (2) as invalid; -Reset (206) the first tracking channel (2); -Disable (209) the first tracking channel (2); -Increase the counter (207) that counts the number of times the first tracking channel (2) fails.

6. The method according to claim 5, further comprising the following step: - Determine (205) whether the counter has reached a predetermined threshold; wherein, if the counter reaches the predetermined threshold, the first tracking channel is disabled.

7. The method according to claim 1, wherein, The time domain is divided into time slots, and the split-received signals are multiplexed onto the at least one redundant tracking channel (3), wherein one split-received signal is given for each time slot.

8. A device (1) for tracking received signals, the device (1) comprising: - At least two tracking channels (2), each of the at least two tracking channels (2) being configured to track the received signal; -At least one redundant tracking channel (3); - At least one first multiplexing module (4), the at least one first multiplexing module being configured to demultiplex the received signal of each of the at least two tracking channels (2) and multiplex the demultiplexed received signal onto the at least one redundant tracking channel (3); - At least one comparator module (5), the at least one comparator module being configured to compare a multiplexed signal on the at least one redundant tracking channel (3) with each received signal on the at least two tracking channels (2); as well as - Decision logic module (6), which is configured to determine whether an error has occurred when tracking the first signal of the at least two received signals on the first tracking channel by determining whether a mismatch has occurred between the output of the corresponding first tracking channel (2) of the at least two tracking channels (2) and the corresponding portion of the output of the redundant tracking channel (3).

9. The apparatus (1) according to claim 8, further comprising: - At least one second multiplexing module (7), the at least one second multiplexing module being configured to demultiplex the output of each of the at least two tracking channels (2) and multiplex the demultiplexed output of each of the at least two tracking channels (2); Specifically, the at least one comparator module (5) is configured to compare the output of the at least one redundant tracking channel (3) with the multiplexed output of each of the at least two tracking channels (2).

10. The apparatus (1) according to claim 9, wherein, The at least one first multiplexing module and the at least one second multiplexing module are synchronized to demultiplex the signals of the same tracking channel (2) in the at least two tracking channels (2) in a specific time slot.

11. The apparatus (1) according to any one of claims 8 to 10, wherein, The received signal is a Global Navigation Satellite System (GNSS) signal.

12. The apparatus (1) according to any one of claims 8 to 10, wherein the apparatus further comprises a counter module, wherein, The counter module is configured to track the number of times an error has been determined to have occurred while tracking the first signal.

13. A computer program product comprising instructions that, when executed on a computer, enable the computer to perform the method according to any one of claims 1 to 7.

14. A computer-readable storage medium comprising the computer program product according to claim 13.

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