基于EKF的北斗B1C信号数据/导频联合跟踪方法

赵琳; 柏亚国; 丁继成; 章小春

doi:10.13442/j.gnss.1008-9268.2020.06.001

基于EKF的北斗B1C信号数据/导频联合跟踪方法

doi: 10.13442/j.gnss.1008-9268.2020.06.001

1. 哈尔滨工程大学智能科学与工程学院, 哈尔滨 150001;
2. 内蒙古航天红岗机械有限公司, 呼和浩特 010076

基金项目:

国家自然科学基金重点项目（61633008）；中央高校基本科研业务费专项资金（HEUCFP201768）

详细信息

作者简介:
赵琳(1968-),男,教授,工学博士,研究方向为组合导航技术、卫星导航技术、惯性导航技术.

柏亚国(1995-),男,硕士研究生,研究方向为卫星无线电导航技术.

丁继成(1980-),男,副教授,工学博士,研究方向为卫星无线电导航技术、惯性导航技术、组合导航技术.

通信作者:
丁继成 E-mail:aaron.heu@163.com

中图分类号: TN967.1
计量
- 文章访问数: 670
- HTML全文浏览量: 191
- PDF下载量: 51
- 被引次数: 0
出版历程
- 收稿日期: 2020-08-17
- 网络出版日期: 2021-04-09

Data/pilot joint tracking method of BeiDou B1C signal based on extended Kalman filter

1. Harbin Engineering University College of Intelligent System Science and Engineering, Harbin 150001, China;
2. Inner Mongolia Aerospace Honggang Machinery Company Limited, Huhhot 010076, China

摘要

摘要: 针对北斗B1C信号在低载噪比情况下跟踪精度低的问题，提出一种基于扩展卡尔曼滤波（EKF）的北斗B1C信号数据/导频联合跟踪方法.通过构建数据/导频双通道联合跟踪模型，增加对B1C信号利用率，并在联合跟踪模型的基础上引入扩展卡尔曼滤波器，削弱传统跟踪环路中鉴别器和环路滤波器带来的跟踪误差，进一步提高跟踪环路对低载噪比信号的跟踪性能.仿真结果验证：在低载噪比情况下，相比于传统单导频通道跟踪、单导频扩展卡尔曼跟踪和联合跟踪，该方法可以有效提高跟踪精度.
- 北斗B1C信号 /
- 跟踪环路 /
- 联合跟踪 /
- 扩展卡尔曼滤波 /
- 低载噪比
Abstract: To improve the low tracking accuracy of BeiDou B1C signal under low carrier to noise ratio(CNR), we proposed a B1C signal data/pilot joint tracking method based on extended Kalman filter. By constructing a data/pilot dual channel joint tracking model, the utilization ratio of B1C signal is increased. To undermine the tracking errors introduced by discriminator and loop filter in traditional tracking loop, extended Kalman filter is applied on the basis of the proposed joint tracking model, which further improves the tracking performance of tracking loop for low carrier to noise ratio signal. The experimental results demonstrate that compared with the conventional single-pilot channel tracking method, single-pilot channel extended Kalman tracking method and joint tracking method, the proposed method can effectively enhance the tracking accuracy under low CNR.
- BeiDou B1C signal /
- tracking loop /
- joint tracking /
- extended Kalman filtering /
- low Carrier noise ratio

HTML全文

参考文献(19)

[1]	刘艳亮,张海平,徐彦田,等.全球卫星导航系统的现状与进展[J].导航定位学报,2019,7(1):18-21,27.
[2]	刘健,曹冲.全球卫星导航系统发展现状与趋势[J].导航定位学报,2020,8(1):1-8.
[3]	罗志斌,蒲小平.一种GNSS信号跟踪环路频相直调控制算法[J].电讯技术,2020,60(5):536-541.
[4]	CHENG Y,CHANG Q.A coarse-to-fine adaptivekalman filter for weak GNSS signals carrier tracking[J].IEEE communications letters,2019,23(12):2348-2352.DOI: 10.1109/LCOMM.2019.2940006.
[5]	WANG C H,CUI X W,MA T Y,et al.Asymmetric dual-Band tracking technique for optimal joint processing of BDS B1I and B1C signals[J].Sensors,2017,17(10):2306.DOI: 10.3390/s17102360.
[6]	冯瑞,任宇飞,马宏.BDS B1C信号同步方法研究[C]//第十届中国卫星导航年会论文集S03,2019:34-38.
[7]	YAN S L,LIN D,ZHANG Y G.Joint data/pilot tracking techniques for the modern Beidou B1C signal[J].2018 IEEE 4th international conference on computer and communications,2018:1331-1335.DOI: 10.1109/CompComm.2018.8780642.
[8]	BORIO D,MONGREDIRN C,LACHAPELLE G.Collaborative code tracking of composite GNSS signals[J].IEEE journal of sected topics in signal processing,2009,3(4):613-626.DOI: 10.1109/JSTSP.2009.2023349.
[9]	LIU Y C,LI H,CUI X W,et al.A tracking method for GPS L2C signal based on the joint using of data and pilot channels[J].IEEE 201411th international computer conference on wavelet actiev media technology and information processing (ICCWAMTIP),2015. DOI: 10.1109/ICCWAMTIP.2014.7073354.
[10]	MUTHURAMAN K.Tracking techniques for GNSS data/pilot signals[D].Modernized navigation signal tracking techniques,2010.
[11]	MUTHURMAN K,SHANMUGAM S K,LACHAPELLE G.Evaluation of data/pilot tracking algorithms for GPS L2C signals using software receiver[C]//Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation(ION GNSS 2007),2007:2499-2509.https://www.ion.org/publications/abstract.cfmarticleID=7514.
[12]	SIDDIQUI B A,ZHANG J,BHUIYAN M Z H,et al.Joint data-pilot acquisition and tracking of Galileo E1 open service signal[J].2010 Conference:ubiquitous positioning indoor navigation and location based service.DOI: 10.1109/UPINLBS.2010.5654005.
[13]	GAO Q,SHEN C,ZHANG K.Comparing digital phase-locked loop and kalman filter for clock tracking in ultrawideband location system[J].Journal of electrical and computer engineering,2018:1-5.DOI: 10.1155/2018/5873239.
[14]	汤新华,陈新,修金城,等.几种GNSS接收机跟踪环路配置的对比分析[J].中国惯性技术学报,2018,26(5):623-628.
[15]	JIN T,YUAN H L,LING K.Differential kalman filter design for GNSS open loop tracking[J].Remote sensing,2020,12(5):812.DOI: 10.3390/rs12050812.
[16]	卢来,邓文.一种改进扩展卡尔曼算法的伪码跟踪优化仿真[J].计算机仿真,2019,36(7):6-9,15.
[17]	JIN T,WANG C Y,LU X Y,et al.Analysis of a federal kalman filter-based tracking loop for GPS signals[J].GPS solutions,2019,23(119):1-13.DOI: 10.1007/s10291-019-0911-6.
[18]	刘轶,程旭红,程建华.基于改进强跟踪ASCKF算法的SINS/GNSS组合对准方法[J].导航定位与授时,2018,5(5):13-19.
[19]	HAO W J,GONG W F.Research on tracking algorithm of Beidou B1C signal[J].2019 IEEE 9th international conference on electronics information and emergency communication (ICEIEC),2019:226-229.DOI: 10.1109/ICEIEC.2019.8784628.