48 results about "Coherent integration" patented technology

A signal acquisition method includes: establishing a sub-integration length of a prime code signal to be a half of a symbol duration of navigation data, where the prime code signal is received by a signal receiver and includes a plurality of sub-integration pairs, and each sub-integration pair includes a first sub-integration and a second sub-integration; for each sub-integration, generating a first local replica and a second local replica based on the prime code signal; and executing FFT based convolution on the prime code signal, the first local replica and the second local replica to yield two convolution results; comparing two convolution maximum peak values and selecting convolution maximum peak values with higher magnitude in the sub-integration pair as first and second convolution peak values; and comparing the first convolution peak value and the second convolution peak value to obtain a corresponding IFFT convolution result to be outputted.

The invention relates to a decision-guided frequency compensation type carrier tracking method and system, and belongs to the field of satellite navigation. According to the method, aiming at the tracking lock losing problem caused by overlarge capture frequency deviation and navigation signal bit hopping in a capture-to-tracking link of a traditional frequency-locked loop, after receiving initial frequency deviation and code phase for delay alignment, down-conversion and coherent integration are carried out on intermediate frequency data based on the initial frequency deviation to obtain two groups of values; a frequency discriminator is used for calculating a first frequency difference, reverse frequency compensation is carried out on the first frequency difference to obtain a second frequency difference, frequency offset is synthesized to form two frequency assumptions, subsequent signals are processed in parallel, and correct frequency offset is output by comparing absolute values of coherent integration results, so that the frequency tracking range is effectively expanded, and the bit hopping interference resistance is enhanced. And the stability and the reliability of the navigation receiver in a high dynamic environment are improved.

The invention relates to a method for a radar system and to a radar system for detecting surroundings, comprising: transmission means having a plurality of transmitting antennas operating in parallel for emitting transmission signals which contain one or more sequences of K individual signals; means for changing the phase position of the transmitted individual signals, via which a different phase progression for the transmitting antennas is realized via the K individual signals; receiving means having a plurality of receiving antennas for receiving transmission signals reflected at objects; and signal processing means for processing the received signal; wherein not all transmitting antennas emit the same average transmission level, a non-coherent integration is carried out via certain signal components (TX integration); and wherein this non-coherent TX integration is carried out multiple times under the assumption of different radial relative velocities of an object and, optionally, distances away at which an object is located, and in the non-coherent TX integration, signal components are weighted more heavily the higher the emitted transmission level of the associated transmitting antenna is, and the result of the non-coherent TX integration is used in order to identify the phase progression resulting from the object relative speed and, optionally, object distance, and / or to identify a variable derived therefrom.

The application relates to the technical field of satellite navigation, and discloses a satellite navigation system receiver signal tracking method and system. The method comprises the following steps: obtaining a local carrier signal according to a carrier phase residual at a previous moment, performing coherent integration processing on an intermediate frequency carrier signal to obtain a coherent integration value; establishing a carrier signal state model and a carrier signal observation model of an extended Kalman filter of the intermediate frequency carrier signal according to the coherent integration value, performing extended Kalman filter iterative calculation on the coherent integration value to obtain a state vector estimation value of the intermediate frequency carrier signal; performing multi-channel carrier signal joint tracking on the coherent integration values corresponding to the intermediate frequency carrier signals of each antenna element, and obtaining a carrier phase residual at a current moment according to the obtained dynamic phase weight value, correcting the phase of the corresponding state vector estimation value to obtain a carrier signal phase estimation value. The method improves the signal tracking precision of the satellite navigation system receiver.

The invention relates to a method for a radar system and to a radar system for environment detection, comprising: a transmitting device having MTX > = 2 transmitting antennas operating in parallel for transmitting a transmission signal, said transmission signal comprising one or more sequences of K individual signals; means for changing the phase of the transmitted single signal; a receiving device having an MRX > = 1 receiving antenna for receiving a transmission signal reflected on an object; and signal processing means for processing the received signals, in which coherent integration or incoherent integration (TXRX integration) is performed on the basis of the MRX received signals arriving at the receiving antenna or on the basis of the signals derived from the received signals and on the basis of the MTX signal components, i.e. On the basis of the MTX MRX values, respectively, and the signal processing means for processing the received signals, in which coherent integration or incoherent integration (TXRX integration) is performed on the basis of the MRX received signals arriving at the receiving antenna. A value is given at a time and performed multiple times assuming different radial relative speeds and optionally distances of the object, and the phase step resulting from the object relative speeds and optionally object distances and / or a quantity derived therefrom is identified using the results of the multiple TXRX integration.

The application discloses a kind of cable branch box electromechanical collaborative test method, its steps are: using random mechanical excitation force in external environment as passive test source, three-dimensional acceleration mechanical vibration wave and metal shielding ground line wideband weak current of box shell are synchronously collected, and double-mode time sequence is generated;Based on coherent integration algorithm, filter out power frequency induction component, extract induced displacement current and calculate electromechanical conversion coupling coefficient matrix;Using Fourier transform fitting dielectric relaxation response rate, output frequency-dependent dielectric relaxation characteristic vector;Response rate is mapped to different physical depth of insulating layer by combining radial propagation sound path difference model, and radial space charge concentration gradient parameter is output;Based on Poisson equation, reconstruct micro electric field stress distortion curve by reverse integration;Extract maximum stress peak value and compare with dendritic breakdown threshold value, and automatically output adaptive adjustment instruction.The application does not need to apply electrical excitation additionally, and can passively perceive internal space charge distribution and electric field stress distortion of insulating medium.

The invention relates to an ultra-wideband navigation signal tracking method and device based on linear frequency modulation spreading codes, and belongs to the technical field of satellite navigation. The method comprises the following steps: receiving an ultra-wideband navigation signal and multiplying the ultra-wideband navigation signal by a local in-phase carrier and a local orthogonal carrier respectively to obtain an in-phase component and an orthogonal component; acquiring a local linear frequency modulation spreading code output after phase calculation, phase quantization, code generation and signal transmission delay binding; acquiring a local pseudo-random spreading code output after signal transmission delay binding; combining the two types of spread spectrum codes to generate delayed, instant and advanced spread spectrum codes, and performing coherent integration on the spread spectrum codes, an in-phase component and an orthogonal component which are divided into three paths; calculating a phase error and a time delay error between the current receiving signal and a local carrier according to a coherent integration result; and finally, generating repeated carrier waves and two types of spreading codes based on error feedback so as to circularly realize ultra-wideband navigation signal tracking. According to the method, the complexity of ultra-wideband navigation signal tracking can be reduced.

A multi-frame coherent detection and tracking method for weak target line spectra is disclosed, based on multi-frame coherent integration. Step 1: Perform multi-frame coherent integration on the passive sonar received data to obtain measured values; Step 2: Establish a state equation including a target presence indicator variable; Step 3: Establish a multi-frame coherent integration measurement equation based on the coherence of the signal phase in the multi-frame data; Step 4: Derive the likelihood ratio function based on multi-frame coherent integration that matches the measurement equation; Step 5: Combine the measured values ​​from Step 1 and the multi-frame coherent detection and tracking model established in Steps 2 to 4, and use a particle filter iterative algorithm to obtain a more robust target line spectrum detection and tracking result. This invention addresses the problem of numerous missed detections in single-frame detection and tracking methods caused by amplitude fluctuations in the received signal in dynamically time-varying marine acoustic channels. It can be applied to most sonar equipment.

The invention provides a method and device for capturing a GNSS signal in real time, and relates to the technical field of GNSS satellite signal processing, and the method comprises the steps: caching the GNSS signal after baseband front-end digital signal processing to an AEFIFO in real time; when the length of the data cached in the AEFIFO reaches the data caching threshold value, reading a target data segment from the AEFIFO, and locally generating a pseudo code-carrier signal corresponding to a preset Doppler-code phase search range at the same time; coherent integration processing is carried out on the target data segment and the pseudo code-carrier signal, and after the amplitude of a coherent integration result is obtained, the coherent integration result and a historical incoherent accumulation result are superposed and temporarily stored; under the condition that the number of times of incoherent integration reaches a preset value, peak value searching is carried out, and the Doppler frequency and the code phase corresponding to the maximum value are determined as GNSS signal capturing results. According to the invention, high-sensitivity GNSS signal capture under limited storage resources can be realized.

This application discloses a method and system for tracking spread spectrum signals, belonging to the field of signal processing. This application generates a spread spectrum digital signal by oversampling the acquired spread spectrum modulated signal. In-phase and quadrature components are generated by mixing, despreading, and coherent integration of this digital signal. Frequency and phase error information are calculated based on the components at continuous time intervals to correct the local carrier. The corrected local carrier is then used to mix the signal to baseband. An adjustable fractional delay is applied, and the instantaneous correlation energy peak is searched to determine the target fractional delay, thereby obtaining code phase error information. After correcting the local pseudocode using this code phase error information, the corrected local carrier and local pseudocode are used to initialize a narrow-bandwidth frequency-locked loop, phase-locked loop, and delay-locked loop, thus initiating precise tracking. This enables high-precision and stable locking of the spread spectrum signal in a short time.

The invention discloses a half-bit matching differential coherent integral capturing method capable of overcoming NH code hopping. The method comprises the following steps: acquiring an intermediate frequency signal and a local carrier; the method comprises the following steps: respectively modeling an intermediate frequency signal and a local carrier to obtain an intermediate frequency signal model and a local carrier model, mixing the intermediate frequency signal model and the local carrier waveform to obtain a frequency mixing result, calculating an integral accumulation term to be accumulated based on the frequency mixing result, and calculating a differential coherent integral accumulation model based on the integral accumulation term; establishing a zero-padding FFT model, supplementing a 1ms zero value behind a 1ms local carrier by the zero-padding FFT model, and performing FFT operation to obtain a 1ms coherent integration result; the delay time of differential coherent integration is set to be 20ms, and four differential coherent integration results of 10ms are obtained through accumulation; and 4 continuous 10ms differential coherent integration results are paired in pairs, and the influence of data bit hopping is eliminated through symbol discussion and addition operation. According to the invention, the Beidou NH code jump can be overcome, and the capturing effect of the Beidou satellite signal is improved.

This application relates to a method and apparatus for re-acquiring a lost-lock signal based on a short-time burst synchronization signal. The method includes: designing a short-time burst synchronization signal based on a short-time burst system; reading a certain length of baseband received signal from the starting position of the short-time burst synchronization signal and generating a corresponding local modulation sequence; calculating a carrier signal; performing coherent integration on the carrier signal to obtain the amplitude; determining whether the carrier Doppler frequency range search is complete; if not, recalculating the amplitude according to the Doppler search step; if complete, determining whether the phase search in the time domain is complete; if not, shifting the starting position forward by a certain distance and calculating a new amplitude; if complete, finding the maximum amplitude; and determining whether the maximum amplitude of the acquisition search is greater than a preset threshold; if greater, the signal is considered successfully acquired; otherwise, the signal is considered not acquired. This method can improve the success rate of acquisition.

The application relates to a satellite-ground ranging method suitable for a multi-satellite measurement and control situation, and relates to a satellite-ground ranging method. The application aims to solve the problem that a physical layer of advanced on-orbit system system service data stream and pseudo code data stream cannot be compatible in a multi-satellite measurement and control scene. The process is as follows: at a transmitting end: a downlink telemetry uplink remote control signal is directly sequence spread through a CA code at the transmitting end I path, so as to realize transmission of measurement and control information between a satellite and the ground; a pseudo code ranging sequence is directly sequence spread through the CA code at the transmitting end Q path, so as to realize a ranging function between the satellite and the ground; at a receiving end: 1, transmitting signals of different satellites are separated, and a pseudo code phase and a Doppler frequency shift are obtained; 2, a carrier tracking loop and a pseudo code tracking loop are realized to stably work; 3, I path coherent integration output is carried out to output continuous bits; Q path coherent integration output is carried out to output continuous bits, transmission time is solved, and then actual satellite-ground distance is obtained. The application is used in the field of space technology.

The application provides a GNSS reflection remote sensing signal processing method based on a multi-frequency point combination, comprising: in response to receiving a direct signal from a GNSS satellite, locally reproducing two signal components with different frequency points of the direct signal to obtain two local reference signals; determining a phase difference between the two signal components according to the coherent integration results of the two local reference signals and the direct signal; for each local reference signal, mixing the local reference signal with a standard carrier to obtain a mixed local reference signal; aligning the two mixed local reference signals by using the phase difference; coherently superimposing the two mixed local reference signals with aligned carrier phases to obtain a combined local reference signal; and applying a Doppler frequency shift and a time delay to the combined local reference signal to generate a reflection signal combined local code.

A radar system that uses a range walk compensation algorithm to reduce system losses resulting from moving targets. During the coherent integration of pulse radar systems, the conventional Fast Fourier Transform (FFT) for Doppler processing needs to change the input range bin number in accordance to the velocity of the target. The algorithm allows for configuration of Doppler groups to compute several Dopplers with one FFT. Each Doppler group has a transform Doppler that is close to the center of the group which will dictate the change of range bins for the input data to the FFT. As the range bins are changed, there are two input filter techniques: nearest bin select, and 2-tap filter. After range walk compensation processes all Doppler groups by FFT, the resultant output block has much higher coherent integration as compared to just a conventional FFT.

The present application relates to a kind of based on signal quality monitoring's deception attack detection method, belong to GNSS deception attack detection technical field.The present application is directed to the change of the coherent integration value distribution characteristics of E or L correlator caused by deception attack, in calibration phase, MLE is used to determine the coherent integration value rices distribution parameter;In evaluation phase, using the method based on Kolmogorov-Smirnov test respectively monitor the change of the correlation integration amplitude statistical characteristics of E and L correlator, respectively, the coherent integration sample of E, L correlator is established suitable detection statistics, two detection statistics are integrated, final decision is made based on OR principle.The present application is advantageous to analyze the difference of E and L coherent integration value distribution characteristics and then effectively detect the change of correlation peak symmetry, on the other hand, it is advantageous to detect the coherent integration amplitude characteristic change of E or L correlator caused by spoofing signal, can effectively solve the performance defect problem faced by traditional SQM technology, improve the performance and robustness of middle-level deception attack detection.

The application relates to a distributed radar coherent synthesis detection method based on non-cooperative signal sensitive synchronization, belongs to the technical field of radar signal processing, and particularly relates to a distributed millimeter wave radar coherent synthesis detection method based on weak and small target non-cooperative signal sensitive synchronization. For non-cooperative weak and small targets in a radar detection space, traditional methods are difficult to obtain coherent parameters to realize effective receiving coherent synthesis. The method uses special point targets in the space, adaptively compensates phase differences caused by relative positions of multiple targets and system errors, can effectively realize mixed receiving coherent synthesis of multiple targets in the space, and improves signal-to-noise ratios and detection performances of the multiple targets.

A LiDAR echo signal processing method is disclosed. The method includes: receiving an echo signal reflected by a to-be-detected object, where the echo signal includes multidimensional signal emission angles; buffering the echo signal based on the multidimensional signal emission angles to obtain buffered signals; when the number of buffered signals reaches a preset buffering number, extracting a target signal corresponding to a preset neighborhood window from the buffered signals; and performing non-coherent integration on the target signal and outputting the integrated target signal.

The invention relates to a synchronous and asynchronous GNSS (Global Navigation Satellite System) signal coherent integral gain mechanism analysis method. The method comprises the following steps: for a synchronous signal generation scene, generating a local copy enabling the total correlation energy to be maximum; coherent integral output is calculated according to a local copy and an intermediate frequency signal, a pseudo-random code normalization correlation function and residual frequency difference simplification are introduced, after an output signal is obtained, an output signal-to-noise ratio is calculated in combination with preset noise power, and a conclusion that the synchronous scene output signal-to-noise ratio is linearly proportional to coherent integral time is deduced. The method comprises the following steps: respectively generating independent local copies for a real signal and a plurality of forwarded signals according to an asynchronous signal forwarding scene; and calculating a correlation integral of conjugation of the local copy and the mixed input signal, simplifying an integral result, deducing an asynchronous scene output signal-to-noise ratio expression, and obtaining a conclusion that the asynchronous scene output signal-to-noise ratio expression is in direct proportion to the input signal-to-noise ratio and coherent integral time. By adopting the method, a theoretical support can be provided for the optimization design of the capturing and tracking link of the GNSS array receiver.

The invention belongs to the technical field of global satellite navigation system signal processing, and particularly relates to a code tracking method and system for joint multi-frequency signals, and the method comprises the steps: carrying out the filtering, amplification, coherent integration and code discrimination of received signals of a plurality of frequency points, the digital intermediate frequency signals corresponding to the received signals and the code delay error estimation values thereof can be accurately obtained; the target weight of each code delay error estimation value is determined through the acquired variance of the target estimation error value of each digital intermediate frequency signal, and then weighted fusion can be performed on each code delay error estimation value based on each target weight to obtain common-mode code phase output and differential-mode code phase output with higher precision. Therefore, the target code rate correction amount of the inter-frequency deviation corresponding to each received signal can be accurately obtained, and each inter-frequency deviation is dynamically corrected, so that the code tracking precision of the joint multi-frequency signal is effectively improved.

The invention discloses a method for capturing and tracking a time-hopping direct sequence spread spectrum signal, which comprises the following steps of: carrying out matched filtering on the signal to obtain an incoherent detection quantity; judging whether a target signal exists or not; determining the existence time of the target signal and obtaining a time hopping sequence of the signal according to the existence time and the receiving time interval sequence; mixing the time hopping sequence of the signal with a local carrier to obtain an I / Q demodulation signal, determining an error value of a pseudo code phase according to the I / Q demodulation signal and the pseudo code, and adjusting the phase of the local pseudo code to realize accurate synchronization of the pseudo code at the receiving end and the pseudo code at the sending end; coherent integration is carried out on an I / Q demodulation signal and an instant code of a local pseudo code to obtain a phase difference between a received signal carrier and a local reference carrier, and the output frequency and phase of a voltage-controlled oscillator are controlled. According to the invention, signals can be rapidly and accurately captured and stably tracked in a complex communication environment, and the overall performance of a communication system is improved.

The invention provides an unmanned aerial vehicle-mounted GNSS-R sea surface height measurement method based on subcarriers, and belongs to the technical field of satellite navigation and remote sensing height measurement. According to the method, direct signals and sea surface reflection signals of a global navigation satellite system (GNSS) are simultaneously received on an unmanned aerial vehicle platform, and dual-frequency combined tracking processing is performed on the direct signals so as to eliminate phase inconsistency errors introduced by independent tracking; on the basis, performing interference processing on a direct signal and a reflected signal, constructing a virtual subcarrier interference signal, and suppressing a high-frequency error component through long-time coherent integration processing to obtain a continuous and stable virtual subcarrier interference phase; and further combining the geometrical relationship among the GNSS satellite, the unmanned aerial vehicle platform and the sea surface to realize the inversion calculation of the sea surface height change. The method can effectively improve the precision and stability of GNSS-R sea surface height measurement in an unmanned aerial vehicle-mounted dynamic environment, and has the advantages of being clear in processing flow, high in anti-noise capability and suitable for implementation of a low-cost unmanned aerial vehicle platform.

The invention discloses a line spectrum target detection method based on a vertical array and space-time gain enhancement, and belongs to the field of underwater acoustic detection and array signal processing. According to the invention, the problems of high complexity and poor robustness of the existing array-based processing method are solved. The method comprises the following steps: segmenting a received signal of a vertical array, carrying out DFT (Discrete Fourier Transform) on the segmented signal to obtain a three-dimensional Lofar matrix of the received signal of the vertical array, and respectively calculating a two-dimensional signal matrix and a two-dimensional steering vector corresponding to each group of target motion model parameters in a preset parameter search space; and then motion parameters of the target are obtained based on coherent integration search, passive positioning of the line spectrum target is realized, high space-time gain detection of the line spectrum target is realized through space-time coherent integration, and the detection performance of a weak line spectrum target is improved. The method can be applied to line spectrum target detection.

The invention provides an FPGA capture implementation method suitable for spread spectrum burst signals. The FPGA capture implementation method comprises the following steps that S1, a receiver carries out matched filtering and down-sampling processing on a received burst transmission sequence to obtain a down-sampling signal y (n); s2, carrying out secondary real-time sampling and storage on the sampling signal y (n); s3, sampling and storing the pseudo code in real time; s4, performing coherent integral operation on the sampling points and the sampling pseudo code points; s5, designing the degree of parallelism of coherent integral operation; s6, performing storage and FFT (Fast Fourier Transform) two-dimensional search on a result of the coherent integral operation, and performing peak detection on a search result; and S7, judging whether the capturing process is completed or not according to a peak value detection result. According to the FPGA capture implementation method suitable for the spread spectrum burst signal, the synchronization time under a low-speed burst transmission system can be shortened, and the resource utilization rate is improved.

The application relates to the technical field of satellite navigation, and discloses a low-orbit satellite and medium-orbit satellite acquisition tracking method, which comprises the following steps: acquiring the orbital height of a satellite and the Doppler rate of a satellite signal; determining the type of the satellite based on the orbital height and the Doppler rate; determining the acquisition parameters and the tracking loop parameters corresponding to the satellite based on the type of the satellite; acquiring the satellite according to the acquisition parameters, wherein the acquisition parameters comprise a Doppler search step and a coherent integration time; and setting a tracking loop according to the tracking loop parameters to track the satellite, wherein the tracking loop parameters comprise Kalman filter weights, a phase-locked loop bandwidth and a frequency-locked loop bandwidth. The application adjusts the acquisition parameters of a receiver according to the type of the satellite to quickly acquire a low-orbit satellite signal and reduce the acquisition time of a medium-orbit satellite signal, and adjusts the tracking loop parameters of the receiver according to the type of the satellite to ensure the tracking accuracy of the medium-orbit satellite signal and improve the tracking stability of the low-orbit satellite signal.

Techniques are provided for generating pre-correlation phase coherent samples that can be used with coherent integration. Samples received over a buffer duration are equally divided into sub-buffers. A pre-correlation accumulation (PCA) output is generated, for each of a plurality of different test Doppler remainders of an unknown Doppler shift, using different multiples of the Doppler remainder being tested. A differential operation, to mitigate the Doppler shift, is executed on the PCA output for a test Doppler remainder, and the PCA output is mixed with a delayed version of itself to generate a PCA differential result. Signal despreading is executed by mixing the PCA differential result with a code matching differential result to generate a despreading result. Coherent integration is executed by accumulating the despreading result to generate a correlation output. If the correlation output meets a predefined threshold, signal detection is confirmed.

This application relates to a method and apparatus for open-loop estimation of carrier Doppler frequency in low-Earth orbit (LEO) satellite navigation signals. The method includes: symbol stripping of the satellite navigation signal to obtain a single-tone signal; generating local signals at redshift and blueshift frequencies based on the single-tone signal and initial estimates of the carrier Doppler frequency of the satellite navigation signal; performing digital down-conversion and coherent integration accumulation on the single-tone signal in the redshift and blueshift branches respectively, to obtain a redshift correlator and a blueshift correlator; constructing a normalized carrier discriminator based on the redshift and blueshift correlators; and updating the initial estimate of the carrier Doppler frequency of the satellite navigation signal using the normalized carrier discriminator to obtain the open-loop estimate of the carrier Doppler frequency of the satellite navigation signal. This method can reduce the computational complexity caused by DFT or FFT operations.

The application provides a motion compensation method and device for passive sonar detection, the compensation method comprising: acquiring underwater acoustic signals collected by a passive sonar in real time within a preset period; performing segmented processing and Fourier transform on the underwater acoustic signals to obtain underwater acoustic frequency domain signal segments; constructing a parameterized search matrix for each underwater acoustic frequency domain signal segment, determining motion compensation parameters for each underwater acoustic frequency domain signal segment through energy spectrum search; performing phase compensation on the underwater acoustic frequency domain signal segments based on the motion compensation parameters to obtain compensated frequency domain signal segments; and performing inverse discrete Fourier transform on the compensated frequency domain signal segments to obtain compensated time domain signal segments, so as to determine a long-time coherent integration result corresponding to the underwater acoustic signals. Through the above method, the gain of passive sonar detection processing under low signal-to-noise ratio conditions is improved, and the accuracy and stability of passive sonar detection are improved.

The application provides a GNSS / INS / Vision deep combination system for GNSS carrier phase long coherent integration tracking, which comprises an upper-layer multi-source data fusion subsystem, a bottom-layer GNSS baseband signal processing subsystem and a deep combination auxiliary module, the upper-layer multi-source data fusion subsystem generates multi-source dynamic auxiliary Doppler information through the deep combination auxiliary module and inputs the multi-source dynamic auxiliary Doppler information to the bottom-layer GNSS baseband signal processing subsystem, so as to eliminate the dynamic stress generated by the relative motion between the receiver and the satellite in the coherent integration process; and the bottom-layer GNSS baseband signal processing subsystem provides pseudorange, Doppler and carrier phase observations for the upper-layer multi-source data fusion subsystem, and is used for calculating the navigation state of the receiver. The application can improve the continuity and availability of GNSS carrier phase in a complex environment, and can provide continuous centimeter-level positioning in the complex environment, so as to meet the precise positioning and navigation requirements of robots and autonomous vehicles in the complex environment.

A chirp spread spectrum-based load phase compensation method, system, device and medium, the method comprising: decoupling an output continuous time offset into an integer offset and a residual decimal offset based on a carrier frequency offset estimated value and a continuous time offset synchronously output by a leading frame, compensating the carrier frequency offset estimated value and the integer offset in sequence, and compensating the residual decimal offset in sequence; and reverse compensation is applied to the residual decimal offset to level the frequency trajectory, splicing compensation is applied to the fixed phase deviation caused by the residual decimal offset, a fractional order deviation is re-estimated by using a three-point method and is fed back to the residual decimal offset to carry out closed-loop iteration tracking, and finally an ideal coherent integration condition is reconstructed on the physical level. The phase continuity of the load signal is recovered; the system, the equipment and the medium are used for implementing the method. The method can effectively inhibit the fixed phase deviation at the frequency folding boundary, reduces the spectrum energy leakage and double-peak distortion, improves the spectrum main peak concentration ratio and demodulation reliability, and is suitable for a high-dynamic chirp spread spectrum communication scene.