高動態(tài)GNSS接收機載波跟蹤的性能研究
發(fā)布時間：2019-03-18 10:06
【摘要】：目前,全球衛(wèi)星導航系統(tǒng)(GNSS)已經(jīng)滲透到世界各國的諸多領域中,成為一種提供全天候導航定位服務的空間信息基礎設施。GNSS具有廣闊的應用前景與巨大的產(chǎn)業(yè)化效益,各航天大國都在極力研制和推廣各自的導航接收機。然而,在航空、航天與導彈制導等應用領域,衛(wèi)星信號的多普勒頻移及其變化率非常大,傳統(tǒng)的載波跟蹤環(huán)路難以承受由高速運動帶來的動態(tài)應力,極易失鎖,接收機無法工作。本文擬解決高動態(tài)環(huán)境下接收機載波跟蹤環(huán)路的性能優(yōu)化與魯棒性設計等問題,為我國高動態(tài)GNSS導航接收機的研制提供一定的理論基礎。 本文首先介紹GNSS的系統(tǒng)構成與接收機組成原理,其次構建高動態(tài)GNSS信號模型并產(chǎn)生基帶中頻信號源,然后闡明了傳統(tǒng)跟蹤環(huán)路對動態(tài)應力的局限性和基于信號參數(shù)估計理論的跟蹤環(huán)路。最后,針對接收機的高動態(tài)運動模型,將卡爾曼濾波理論與粒子濾波理論引入環(huán)路的結構設計,以突破傳統(tǒng)跟蹤環(huán)路性能上的局限,提出幾種適用于高動態(tài)環(huán)境的載波跟蹤環(huán)路。本文的主要工作可以概括如下： (1)為解決傳統(tǒng)環(huán)路中帶寬必須在動態(tài)應力與跟蹤精度間折中的矛盾,對最優(yōu)帶寬優(yōu)化算法展開研究,提出了一種基于強跟蹤自適應濾波(ASTF)的高動態(tài)載波跟蹤環(huán)路,并設計兩種實現(xiàn)結構：帶鑒別器的閉環(huán)結構與參數(shù)估計結構。通過對ASTF環(huán)路的性能分析,推導閉環(huán)結構與鎖相環(huán)的結構等效性,證明強跟蹤機制帶來的穩(wěn)態(tài)帶寬調整能力,最后探討參數(shù)估計結構與閉環(huán)結構的性能差異。 (2)針對ASTF環(huán)路在處理非線性觀測模型時求解雅各比矩陣帶來的跟蹤精度降低與算法復雜度高的問題,在平方根無跡卡爾曼濾波中引入基于新息協(xié)方差的自適應漸消因子,提出了一種基于自適應平方根無跡卡爾曼濾波(ASRUKF)的高動態(tài)載波跟蹤環(huán)路,并設計其參數(shù)估計的實現(xiàn)結構。由于UT變換的逼近精度達到了二階以上,ASRUKF環(huán)路的跟蹤精度較ASTF更高。 (3)基于貝葉斯最優(yōu)估計與粒子濾波理論,提出了一種基于高斯粒子濾波(GPF)的高動態(tài)載波跟蹤環(huán)路,設計了相應的環(huán)路實現(xiàn)方案,并對其進行性能分析。為解決GPF對初始值敏感和建議分布不合理的問題,在原有算法框架下提出兩種優(yōu)化方法：強跟蹤濾波優(yōu)化(STF-GPF)和無跡卡爾曼濾波優(yōu)化(UGPF),增強了GPF的魯棒性和濾波精度。GPF環(huán)路利用粒子濾波的優(yōu)越性能,有效地提高了接收機的靈敏度和跟蹤性能。 本文所提出的算法在軟件接收機平臺上進行高動態(tài)仿真測試,驗證了算法的可行性,并取得良好的跟蹤性能,對我國高動態(tài)GNSS接收機的性能優(yōu)化算法研究有一定的借鑒意義。
[Abstract]:At present, Global Satellite Navigation system (GNSS) has penetrated into many fields all over the world and become a kind of spatial information infrastructure to provide all-weather navigation and positioning service. All the big spaceflight countries are making great efforts to develop and promote their navigation receivers. However, in the fields of aerospace, aerospace and missile guidance, the Doppler frequency shift and its rate of change of satellite signals are very large, and the traditional carrier tracking loop is difficult to withstand the dynamic stress caused by high-speed motion, so it is easy to lose lock. The receiver does not work. In this paper, the performance optimization and robustness design of carrier tracking loop in high dynamic environment are solved, which provides a theoretical basis for the development of high dynamic GNSS navigation receiver in China. In this paper, the structure of GNSS system and the principle of receiver are introduced firstly. Secondly, the high dynamic GNSS signal model is constructed and the baseband intermediate frequency signal source is generated. Then the limitation of the traditional tracking loop to the dynamic stress and the tracking loop based on the theory of signal parameter estimation are expounded. Finally, aiming at the high dynamic motion model of the receiver, Kalman filter theory and particle filter theory are introduced into the loop structure design to break through the limitations of the traditional tracking loop performance. Several carrier tracking loops suitable for high dynamic environment are proposed. The main work of this paper can be summarized as follows: (1) in order to solve the contradiction between dynamic stress and tracking accuracy in traditional loop, the optimal bandwidth optimization algorithm is studied. A high dynamic carrier tracking loop based on strong tracking adaptive filter (ASTF) is proposed and two implementation structures are designed: closed loop structure with discriminator and parameter estimation structure. By analyzing the performance of the ASTF loop, the equivalence of the closed loop structure and the phase locked loop structure is deduced, and the steady-state bandwidth adjustment capability brought by the strong tracking mechanism is proved. Finally, the performance difference between the parameter estimation structure and the closed loop structure is discussed. (2) in order to solve the problem of reduced tracking accuracy and high algorithm complexity caused by Jacobi matrix when ASTF loop is used to deal with nonlinear observation model, an adaptive fading factor based on innovation covariance is introduced into square root unscented Kalman filter. A high dynamic carrier tracking loop based on adaptive square root unscented Kalman filter (ASRUKF) is proposed and its parameter estimation architecture is designed. Because the approximation accuracy of UT transform is higher than the second order, the tracking accuracy of ASRUKF loop is higher than that of ASTF. (3) based on Bayesian optimal estimation and particle filter theory, a high dynamic carrier tracking loop based on Gao Si particle filter (GPF) is proposed. The corresponding loop implementation scheme is designed and its performance is analyzed. In order to solve the problem of sensitivity of GPF to initial values and unreasonable distribution of recommendations, two optimization methods, strong tracking filter (STF-GPF) and unscented Kalman filter (UGPF), are proposed in the framework of the original algorithm. The GPF loop makes use of the superior performance of particle filter to improve the sensitivity and tracking performance of the receiver effectively. The algorithm proposed in this paper is tested on the software receiver platform by high dynamic simulation, and the feasibility of the algorithm is verified, and good tracking performance is obtained. It can be used for reference to study the performance optimization algorithm of high dynamic GNSS receiver in our country.
【學位授予單位】：廈門大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TN965.5
本文編號：2442757
[Abstract]:At present, Global Satellite Navigation system (GNSS) has penetrated into many fields all over the world and become a kind of spatial information infrastructure to provide all-weather navigation and positioning service. All the big spaceflight countries are making great efforts to develop and promote their navigation receivers. However, in the fields of aerospace, aerospace and missile guidance, the Doppler frequency shift and its rate of change of satellite signals are very large, and the traditional carrier tracking loop is difficult to withstand the dynamic stress caused by high-speed motion, so it is easy to lose lock. The receiver does not work. In this paper, the performance optimization and robustness design of carrier tracking loop in high dynamic environment are solved, which provides a theoretical basis for the development of high dynamic GNSS navigation receiver in China. In this paper, the structure of GNSS system and the principle of receiver are introduced firstly. Secondly, the high dynamic GNSS signal model is constructed and the baseband intermediate frequency signal source is generated. Then the limitation of the traditional tracking loop to the dynamic stress and the tracking loop based on the theory of signal parameter estimation are expounded. Finally, aiming at the high dynamic motion model of the receiver, Kalman filter theory and particle filter theory are introduced into the loop structure design to break through the limitations of the traditional tracking loop performance. Several carrier tracking loops suitable for high dynamic environment are proposed. The main work of this paper can be summarized as follows: (1) in order to solve the contradiction between dynamic stress and tracking accuracy in traditional loop, the optimal bandwidth optimization algorithm is studied. A high dynamic carrier tracking loop based on strong tracking adaptive filter (ASTF) is proposed and two implementation structures are designed: closed loop structure with discriminator and parameter estimation structure. By analyzing the performance of the ASTF loop, the equivalence of the closed loop structure and the phase locked loop structure is deduced, and the steady-state bandwidth adjustment capability brought by the strong tracking mechanism is proved. Finally, the performance difference between the parameter estimation structure and the closed loop structure is discussed. (2) in order to solve the problem of reduced tracking accuracy and high algorithm complexity caused by Jacobi matrix when ASTF loop is used to deal with nonlinear observation model, an adaptive fading factor based on innovation covariance is introduced into square root unscented Kalman filter. A high dynamic carrier tracking loop based on adaptive square root unscented Kalman filter (ASRUKF) is proposed and its parameter estimation architecture is designed. Because the approximation accuracy of UT transform is higher than the second order, the tracking accuracy of ASRUKF loop is higher than that of ASTF. (3) based on Bayesian optimal estimation and particle filter theory, a high dynamic carrier tracking loop based on Gao Si particle filter (GPF) is proposed. The corresponding loop implementation scheme is designed and its performance is analyzed. In order to solve the problem of sensitivity of GPF to initial values and unreasonable distribution of recommendations, two optimization methods, strong tracking filter (STF-GPF) and unscented Kalman filter (UGPF), are proposed in the framework of the original algorithm. The GPF loop makes use of the superior performance of particle filter to improve the sensitivity and tracking performance of the receiver effectively. The algorithm proposed in this paper is tested on the software receiver platform by high dynamic simulation, and the feasibility of the algorithm is verified, and good tracking performance is obtained. It can be used for reference to study the performance optimization algorithm of high dynamic GNSS receiver in our country.
【學位授予單位】：廈門大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TN965.5
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