Efficient and robust multi-structure GNSS receiver based on signal quality monitoring
Article Text (Baidu Translation)
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摘要: 为保证复杂环境下全球卫星导航系统(GNSS)导航性能的同时兼顾接收机的运行效率，充分利用传统标量跟踪环路(STL)、矢量跟踪环路(VTL)以及直接位置估计(DPE)接收机的优势，设计了一种基于信号质量监测的多结构GNSS接收机，通过实时监测卫星信号质量自适应切换接收机的工作模式；除基本的STL、VTL和DPE这3种工作模式外，进一步在STL和VTL模式中增加排除多径通道模式和窄相关技术抗多径模式，在DPE模式中增加排除多径通道模式。研究结果表明：对于仿真信号来说，卫星信号质量良好的环境下，接收机进入STL模式，水平和垂直定位误差分别为2.20和4.65 m，多径出现时切换至STL抗多径模式，对应的水平和垂直定位误差分别为3.23和18.18 m，较切换前的STL模式(误差分别为28.07和112.24 m)显著减小，当存在卫星遮挡时，接收机切换至VTL工作模式，此时水平和垂直定位误差分别为7.24和38.44 m，优于切换前的STL抗多径模式(误差分别为16.59和110.10 m)，当进入弱信号环境时，接收机切换至DPE模式，对应的水平和垂直定位误差分别为3.24和17.30 m，较切换前模式(误差分别为4.47和24.89 m)进一步改善，仿真试验结果验证了多结构接收机能根据实时信号监测结果切换至最佳工作模式；对于实测数据来说，信号质量良好的情况下接收机在STL模式工作，水平和垂直定位误差分别为7.74和13.19 m，当部分卫星被遮挡时，接收机切换至VTL模式，水平和垂直定位误差分别为16.07和9.31 m，进入弱信号环境下，切换至DPE模式，对应的水平和垂直定位误差分别为6.72和48.99 m，均优于切换前的VTL模式。Abstract: To ensure the navigation performance of global navigation satellite system (GNSS) in complex environment while maintaining receiver efficiency, a multi-structure GNSS receiver was designed based on signal quality monitoring. The advantages of traditional scalar tracking loop (STL), vector tracking loop (VTL), and direct position estimation (DPE) receivers were fully utilized. The receiver adapted its operating mode in real-time by monitoring satellite signal quality. In addition to the basic STL, VTL, and DPE modes, the multipath channel exclusion and the narrow correlation anti-multipath were further added to both STL and VTL modes, and the exclusion multipath technolygy mode was added to DPE mode. Research results show that for simulation signal, under good satellite signal conditions, the receiver operates in STL mode, the horizontal and vertical positioning errors are 2.20 and 4.65 m, respectively. In the presence of multipath, the receiver switches to STL anti-multipath mode, the horizontal and vertical positioning errors are 3.23 and 18.18 m, respectively, significantly less than those in previous STL mode, which errors are 28.07 and 112.24 m. Under satellite occlusion, the receiver switches to VTL mode, the horizontal and vertical positioning errors are 7.24 and 38.44 m, respectively, better than those in previous STL anti-multipath mode, which errors are 16.59 and 110.10 m. In weak signal environment, the receiver switches to DPE mode, the horizontal and vertical positioning errors are 3.24 and 17.30 m, respectively, further improved from those in the previous mode, which errors are 4.47 and 24.89 m. The simulation results confirm that the multi-structure receiver switches to the optimal operating mode according to real-time signal monitoring. Based on the measured data, the receiver operates in STL mode under good signal condition, with horizontal and vertical positioning errors of 7.74 and 13.19 m. When some satellite are occluded, the receiver switches to VTL mode, with horizontal and vertical positioning errors of 16.07 and 9.31 m. In weak signal environment, the receiver switches to DPE mode, with horizontal and vertical positioning errors of 6.72 and 48.99 m. These errors are better than those in previous VTL mode.
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图 9 PRN2通道相位锁定指示器与即时码相关值
Figure 9. Phase lock detector and prompt code correlation value of PRN2 channel
图 10 各跟踪通道载噪比估计值
Figure 10. Estimated carrier-to-noise ratios of each tracking channel
图 11 仿真试验DPE联合积累输出结果
Figure 11. DPE joint accumulation output results of simulation experiments
图 12 数据采集场景、卫星分布及试验设备
Figure 12. Data acquisition scene, satellite distribution and experimental equipment
图 13 PRN27通道相位锁定指示器与即时码相关值
Figure 13. Phase lock detector and prompt code correlation value of PRN27 channel
图 14 受影响跟踪通道载噪比估计值
Figure 14. Estimated carrier-to-noise ratio of affected tracking channels
图 15 实测试验DPE的联合积累输出结果
Figure 15. DPE joint accumulation output results of actual experiments
表 1 仿真信号参数
Table 1. Simulation signal parameters
卫星信号参数 参数值 伪随机噪声(Pseudo-Random Noise, PRN) 1、2、3、6、14 信号中频/MHz 1.405 信号采样率/MHz 5.714 信号质量 时间为[0, 27) s，信噪比为-20 dB，正常信号 时间为[27, 42) s，信噪比为-20 dB，PRN1卫星存在多径干扰 时间为[42, 52) s，信噪比为-20 dB，正常信号 时间为[52, 62) s，信噪比为-20 dB，PRN2卫星被遮挡 时间为[62, 72) s，信噪比为-20 dB，正常信号 时间为[72, 100) s，信噪比为-40 dB，弱信号 
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表 2 仿真信号定位误差的均值
Table 2. Mean values of simulation signal positioning error
信号质量 水平定位误差的均值 垂直定位误差的均值 正常信号 STL模式：2.20 m STL模式：4.65 m PR1卫星存在多径 STL模式：28.07 m STL模式：112.24 m STL抗多径模式：3.23 m STL抗多径模式：18.18 m PRN2卫星存在遮挡 STL抗多径模式：16.59 m STL抗多径模式：110.10 m VTL模式：7.24 m VTL模式：38.44 m 弱信号 VTL模式：4.47 m VTL模式：24.89 m DPE模式：3.24 m DPE模式：17.30 m
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表 3 数据采集系统及可见卫星参数
Table 3. Data acquisition system and visible satellite parameters
卫星信号参数 参数值 接收机中频/MHz 0 接收机采样率/MHz 6 前端带宽/MHz 2 可见卫星PRN 4、8、9、14、26、27、31
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表 4 实测信号定位误差的均值
Table 4. Mean values of measured signal positioning error
信号质量 水平定位误差的均值 垂直定位误差的均值 正常信号 STL模式：7.74 m STL模式：13.19 m 卫星存在遮挡 STL模式：50.14 m STL模式：102.46 m VTL模式：16.07 m VTL模式：9.31 m 弱信号 VTL模式：22.41 m VTL模式：60.20 m DPE模式：6.72 m DPE模式：48.99 m
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