68 results about "Vector tracking" patented technology

The invention discloses a satellite signal vector tracking method based on SINS/GPS deep integration data fusion. In the method, compensation is carried out on inertia element errors through channel filter information fusion, SINS/GPS deep integration navigation data fusion and an SINS system based on an SINS/GPS deep integration navigation system; and position and speed parameters of a current computation period are corrected to obtain accurate navigation parameters and generate local inference signals as well as keep the tracking for all visual GPS satellite signals; and a loop formed by channel filters and a main filter is utilized to complete the vector tracking and integration navigation information processing to the GPS satellite signals. The invention has excellent noise inhibitioncapacity and dynamic tracking performance, can ensure the navigation accuracy and the reliability of an integration system during the temporary interruption of the GPS satellite signals, and can maintain better pseudo code phase and carrier frequency tracking property in an environment with low carrier-to-noise ratio.

The invention discloses a signal tracing algorithm of a GNSS receiver. The signal tracing algorithm is capable of overcoming the phase-locked loop lock loosing problem by means of a frequency locking/phase locking cascade tracking loop, after the phase-locked loop is unlocked, a frequency locking loop helps the phase-locked loop to restore quickly, and moreover, a loop filter reset scheme is designed to control the error between the output value of the loop filter and the Doppler observed value at the last time, so that the phase-locked loop is fastened to restore from the lock loos state. The signal tracing algorithm automatically switches between a vector tracking loop and a scalar tracking loop according to the signal environment so as to improve the usability and dynamic property of the receiver. Whether the signal to noise ratio is low or the signal is momently interrupted due to shield, the performance of the receiver is not lower than the ordinary GNSS receiver, the influence of the accumulative error caused by the signal failure or interference of a satellite on the other satellite signal processing channels is avoided, and the system stability and the location output reliability are improved.

The invention relates to the field of satellite navigation, in particular to a global position system (GPS) receiver anti-interference method based on a vector tracking loop. The anti-inference method based on the vector tracking loop includes inputting signals into a C/A code phrase discriminator and a carrier wave frequency discriminator at a k moment, obtaining a pseudo-range error which is tested by a receiver and a pseudo-range rate error which is tested by the receiver, estimating a real pseudo-range error and a real pseudo-range rate error between a carrier and a satellite at a k+1 moment; calculating a position error and a speed error of the receiver at the k+1 moment, obtaining position and speed of the carrier at the k+1 moment and updating a unit observation vector. The anti-inference method based on the vector tracking loop utilizes a method that various track channels distribute various weight coefficients, enables channel information with a high signal to noise radio to assist channel information with a low signal to noise radio, improves the whole tracking ability of the tracking loop and inhibits influence of interference signals on the tracking loop.

A satellite-based positioning receiver includes processing channels, each processing channel being associated with a respective satellite from among N satellites, and an extended Kalman filter for performing a vector tracking for the set of satellites using signals received from the satellites. The extended Kalman filter performs a resetting on the basis of the phase error and code error received directly from the phase and code discriminators, of each channel, and the receiver includes first means for calculating the code-wise and carrier-wise control signals for the said code phase and carrier phase numerically-controlled oscillators, on the basis of data provided by the said extended Kalman filter, for each channel.

The invention discloses a supercompact combination satellite navigation receiver which comprises a radio frequency front end, a signal preprocessor, a base band prefilter, a navigation filter, a micro inertial navigation module, a pseudo-range and pseudo-range rate calculating module and an ephemeris resolving and start selection calculating module. A self-adaptive filter is arranged between the base band prefilter and the navigation filter. An output of the base band prefilter is used as an input to be switched in the self-adaptive filter and then an output of the self-adaptive filter is used as an observed quantity to be input into the navigation filter to carry out data fusion, and thus, the stability and the tracking accuracy of a tracking loop can be obviously improved, so that the adaption capacity of GNSS (Global Navigation Satellite System) positioning on the environment and the motion state is improved. Furthermore, the vector tracking loop is formed by the signal proprocessor, the base band prefilter, the self-adaptive filter, the navigation filter and the pseudo-range and pseudo-range rate calculating module; and the navigation filter adopts a federated filter, so that the stability and the tracking accuracy of the tracking loop can be improved, and thus, the performances of reliability, positioning accuracy and the like of the GNSS positioning are improved.

The present invention discloses a method and apparatus for encoding/decoding an image using motion vector tracking. The image encoding method includes determining corresponding areas of a plurality of reference pictures that are to be used to predict a current block by tracking a motion vector route of a corresponding area of a reference picture referred to by the current block; generating a prediction block of the current block by calculating a weighted sum of the corresponding areas of the plurality of reference pictures; and encoding a difference between the current block and the prediction block.

The invention discloses a GNSS/SINS deeply-coupled navigation method based on fault-tolerant vector tracking. The method comprises following steps: 1, a carrier discriminator and a code discriminator output measurement information for a sub filter in a corresponding channel, a fault detection function is used for detecting the operation state of the sub filter, and the information outputted by the sub filter is inputted to a navigation filter to estimate corresponding errors; 2, a coupled navigation filter receives pseudo-range and pseudo-range errors outputted by the GNSS tracking channel and the SINS as measurement information, and estimated SINS system errors are used for feedback correction on the SINS; and 3, the corrected SINS and clock error and clock drift information outputted by the navigation filter are used for calculating parameters of a vector tracking loop for controlling the local pseudo-code of a receiver and a carrier numerically-controlled oscillator to maintain stable tracking on input signals. The method of the invention improves the fault-tolerant performance of the deeply-coupled navigation system and is applied to an environment with partial signals to be blocked, and the application prospect is broad.

The invention discloses a permanent magnetic brushless direct current motor low torque ripple Hall fault tolerance control method which comprises the following steps: via a vector analysis and coordinate transformation method, brushless direct current motor parameters under an abc coordinate system are converted into alpha and beta coordinate system parameters, an electrical equation comprising electric motor parameters under the alpha and beta coordinate system is obtained; an instantaneous torque equation about a current vector i, a back electromotive force vector e and rotor rotating speed [omega]m is obtained; a movement track of a synthesis current vector ip is obtained; a pulse width modulation PWM is generated, an electric motor is controlled to operate according to requirements, a vector tracking observer is used for subjecting discrete rotor information of a Hall position sensor to estimating operation and then continuous position information can be obtained; a Fourier expansion series analysis tool is used for decomposing and decoupling Hall signals in a normal state and a fault state, a lookup table is used for storing decoupled waveforms of harmonic waves, and the vector tracking observer is used for completing estimating and compensating operation via fundamental wave signal feedback and harmonic wave signal feedback.

For the problems that in a conventional vector tracking method, loop update frequency depends on navigation message rate, so that a loop cannot be designed flexibly and cannot be directly used for receiving Beidou B1I signals, the invention provides a Beidou navigation signal vector tracking method based on an incoherent discriminator. By introducing the incoherent discriminator, flexible design of the vector tracking loop update frequency is realized. The method, by optimizing incoherent accumulation time of the incoherent discriminator, not only can eliminate the influence of navigation messages on vector tracking loop update rate, but also can improve the performance of the vector tracking loop.

The invention discloses a navigation method based on an INS-assisted (Inertial Navigation System) GNSS (Global Navigation Satellite System) vector tracking loop. The navigation method comprises the following steps: S1: converting a received satellite signal into an intermediate frequency digital signal, and carrying out carrier wave removal and integral clearing on the intermediate frequency digital signal to obtain an I/Q signal; S2: utilizing the I/Q signal to obtain a carrier-to-noise ratio C/N0 of the satellite signal; S3: determining a signal tracking loop order and an optimal bandwidth according to the carrier to noise ratio C/N0; and S4: if the dynamic stress of the carrier is greater than a set threshold value, adopting the INS-assisted vector tracking loop to track the I/Q signal,and otherwise, adopting an INS-assisted scalar tracking loop to track the I/Q signal. By use of the method, the navigation ability of a highly dynamic receiver under a high-adverse electromagnetic environment can be improved, and the method is especially suitable for navigation requirements of missile-borne high-dynamic satellite navigation under a complex electromagnetic environment.

The invention proposes a spherical phased array single pulse digital tracking system and aims to provide a sum-difference beam tracking system without tracking phasing and with the capability of improving the over-top tracking performance. The system is implemented according to the following technical scheme: vector tracking angle error extraction equipment is used for extracting azimuth difference voltage and pitching difference voltage according to the sum, azimuth difference and pitching difference beam digital signals, a direction vector in the current three-dimensional cartesian coordinate system is converted into an error voltage of each component of the vector, which is sent into an angle tracking loop for vector tracking; the vector angle tracking equipment is used for expressing the current target azimuth and the pitching as the direction vector in the three-dimensional cartesian coordinate system, the error voltage of each component of the direction vector extracted in the three-dimensional cartesian coordinate system is sent into the angle tracking loop for vector tracking, the direction vector output by the tracking loop is converted into azimuth and pitching values obtained by tracking, which are fed back to all-digital single-pulse sum-difference beam forming equipment to achieve closed-loop feedback of target direction vector tracking.

The invention discloses an autonomous integrity monitoring method suitable for GNSS (Global Navigation Satellite System) vector tracking. The method comprises the following steps that: 1) extracting satellite information, and calculating the position of a satellite; 2) determining a measurement relationship matrix H<K> according to the position of the satellite and a positioning result of a receiver; 3) constructing test statistics Z<k><2> according to the measurement relationship matrix H<K> and a code phase error; 4) setting a P<FA> (Probability of False Alarm), setting a test statistics threshold T according to the P<FA>, and comparing the test statistics Z<k><2> with the threshold to finish statistics testing; 5) calculating an error PL (Protection Limit) according to the positioning result of the receiver and P<HMI> (Probability Hazardously Misleading Information); and 6) if the PL is smaller than an error threshold AL and Z<k><2> is smaller than the threshold T, proving that a vector tracking loop is under a normal working state, if PL is smaller than AL but Z<k><2> is greater than or equal to the threshold T, closing a corresponding fault satellite channel, and if the PL exceeds the AL, immediately giving an alarm to the system. By use of the method, error coupling between satellite signal tracking channels can be avoided, and the anti-jamming capability andthe reliability of the receiver are improved.

Aiming at a channel tracking deviation problem possibly existing in a navigation signal vector tracking method, the present invention provides a steady unbiased navigation signal vector tracking method. According to the method, a diagonal weighting matrix is used for the feedback control of various channels and eliminates the mutual transmission of the error estimation results between the channels, so that the situation that an algorithm possesses unbiasedness is guaranteed, and accordingly, the robustness of the vector tracking method is improved. The method can overcome the problem that a tracking result of a vector tracking loop is biased, and guarantees the satiation that a tracking error is not transmitted mutually between the channels. The analysis and the simulation show that the tracking robustness of the method is better than that of the conventional vector tracking method, and the tracking result unbiasedness can be guaranteed.

The invention discloses an adaptive vector tracking method for a GPS Receiver. The method includes the following steps that: vector tracking loop initialization is carried out, wherein the vector tracking loop initialization includes the initial position, velocity, clock difference, clock drift and satellite ephemeris of the receiver; carrier and code NCO prediction parameters are calculated according to the position, velocity, clock difference, clock drift and satellite ephemeris estimated by using a navigation filter; the navigation filter carries out adaptive processing, wherein the adaptive processing includes the calculation of a scale factor calculation and a fuzzy controller, wherein the scale factor is used for judging an error channel, and the fuzzy controller outputs the measurement variance adjustment parameter of the corresponding channel with the ratio of a an innovation sequence variance to a measurement noise variance adopted as the input of the fuzzy controller; and the output of a carrier frequency discriminator and a code loop discriminator is adopted as the measurement information of the navigation filter, the measurement information is used for estimating the position, velocity, clock difference, clock drift and satellite ephemeris of the receiver, and the estimated information is used for correcting the position and velocity of the receiver, and the carrier and code NCO prediction parameters are calculated based on the satellite ephemeris, and therefore, stable tracking of input signals can be kept. The adaptive vector tracking method has the advantages of high navigation precision and stable tracking performance.

The invention discloses a cascaded GNSS/SINS deep integrated navigation method. The method comprises a step of designing a vector tracking loop: a carrier discriminator and a code discriminator output measurement information for a guide filter and are used for estimating receiver position, speed, clock error and clock drift, and the estimated information is used for calculating a receiver loop parameter, a step of building an integrated guide main filter model: the integrated guide main filter receives the measurement information outputted by a GNSS tracking channel and an SINS, and updates a state variable and feeds a navigation error parameters back to an SINS system to correct an SINS system error, a step of calculating a loop parameter by using inertial information: an integrated system calculates a tracking loop parameter by using the corrected SINS navigation information and ephemeris information and is used for controlling the local pseudo code of the receiver and a carrier digital controlled oscillator so as to maintain the stable tracking of an input signal. The method has good anti-interference performance and instantaneous signal bridge connection ability, a good positioning effect can be obtained in a high dynamic environment and a weak signal environment, and prospect of application is wide.

The embodiment of the invention provides a vector tracking method and a filter. A target function of position, speed and acceleration information of a receiver is established by comprehensively using pseudo code information of the tracked satellite of each tracking channel, and deep integration of the pseudo code information of the satellite of different moments and the state variable of the receiver is performed so that the carrier wave Doppler frequency shift and the pseudo code phase of each tracking channel of the receiver are maintained to be consistent with the carrier wave Doppler frequency shift and the pseudo code phase of the tracked satellite signals when the receiver is in the noisy environment.

A control system for indoor position and vector tracking includes a plurality of radio frequency (RF) transmitters to detect a mobile radio frequency identification (RFID) tag. The control system includes an intelligent controller to receive location information from the RF transmitters and to calculate a vector associated with the mobile RFID tag. The intelligent controller may utilize the vector as a control input to an algorithm for selecting a control operation for one or more of plurality of networked devices.

The invention discloses a single-hole underground water seepage vector monitoring device. The single-hole underground water seepage vector monitoring device comprises an auxiliary material, a vector tracking mechanism, a position monitoring assembly, a device reset mechanism and a main control circuit board; the auxiliary structure supports the vector tracking mechanism, the position monitoring assembly, the device reset mechanism and the main control circuit board; the main control circuit board is connected with the device reset mechanism and the position monitoring assembly; the device reset mechanism is connected with the vector tracking mechanism; the vector tracking mechanism has magnetization characteristic; the vector tracking mechanism horizontally moves along the seepage of the underground water; the position monitoring assembly monitors the motion vector data of the vector tracking mechanism and transmitting the motion vector data to the main control circuit board; after one-time measuring period is completed, the main control circuit board resets the vector tracking mechanism by controlling the device reset mechanism and enters the next measuring period. The single-holeunderground water seepage vector monitoring device can measure the flow speed and the flow direction of the underground water at the measuring point position simultaneously, and can control reset torealize repeated and continuous measurement.

The invention discloses a vector tracking method for a GPS receiver. The steps are as follows: use the scalar tracking result to initialize the vector tracking loop, including the initial position, speed, clock difference, clock drift and satellite ephemeris of the receiver; Calculate the carrier and code NCO prediction parameters of the position, velocity, clock error, clock drift and satellite ephemeris; the output of the carrier frequency discriminator and code ring discriminator is used as the measurement information of the navigation filter to estimate the receiver's position, velocity, Clock difference and clock drift error, use the estimated information to correct the receiver position and velocity, and then use the corrected receiver position and velocity combined with the satellite ephemeris to calculate the carrier and code NCO to keep track of the input signal. The method of the present invention has good navigation accuracy and tracking performance, and at the same time has an excellent ability to instantaneously bridge the blocked signal, and can maintain good pseudo-code phase and carrier frequency tracking performance in an environment with a low carrier-to-noise ratio, and has broad application prospects .

The present invention discloses a joint non-coherent integral vector tracking method based on a spatial domain, which is used for further improving the performance of a vector tracking GPS (Global Positioning System) receiver. In a new vector tracking strategy design, a phase discriminator/a frequency discriminator in a traditional vector tracking loop is discarded, and baseband signals of visible satellites in each channel are taken as an observation value after performing non-coherent integration, and EKE (abbreviation of Extended Kalman Filter) is used to estimate directly and to solve the position, the velocity, a clock error, etc. of the GPS receiver. Because of the existence of non-coherent integral calculation, when GPS satellite signals are relatively weak, a carrier to noise ratio of an observation value may be effectively improved, and the tracking sensitivity is improved.

An interfered channel self-detection GPS vector tracking loop scheme includes five steps: 1. according to arrangement and a fusion relation of information flow in GPS vector tracking loop, a precise GPS vector tracking loop (including a VFLL and a VDLL) system models are derived and established; 2. according to the system models of the VFLL and VDLL, transfer functions and noise bandwidth models of the VFLL and VDLL are established; 3. an interfered channel self-detection GPS vector tracking loop scheme working process is designed; 4. an interfered channel self-detection GPS vector tracking loop combined filter model is designed; and 5. a channel error on-line detection algorithm is utilized to detect and eliminate interfered channels in the GPS vector tracking loop. The method provided by the invention can effectively identify and isolate the interfered signal channels, thereby improving anti-interference of GPS vector tracking and navigation calculation precision of a GPS vector receiver.