CN101246212B - Correlated device capable of receiving and processing reflection signal of navigational satellite - Google Patents
Correlated device capable of receiving and processing reflection signal of navigational satellite Download PDFInfo
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Abstract
The invention discloses a relative device for receiving and processing navigation satellite reflected signal, uses the parallel multi-passage relative module as the core, according to the CPU configuration information, gives relative power outputs at various chip/Doppler time for reflected signal. Parallel multi-passage relative module is controlled by passage configuration module, and is connected with time-base generator, UART interface and DSP interface, every module accepts logistic control of reset control. The device ensures early software development of design, modeling, system-level simulation, IP core integration, and combined verification, and is suitable for various receiver systems and design of configuration function. The invention can process GPS direct signal and reflected signal at the same time, uses direct signal to navigate and position, outputs the power relating to reflected signal under the control of DSP at various delay times.
Description
Technical field
The invention belongs to the communications field, relate to a kind of signal processing apparatus, but be specifically related to a kind of relevant apparatus of receiving and processing reflection signal of navigational satellite.
Background technology
Along with developing rapidly of GNSS (GLONASS (Global Navigation Satellite System)), at present, research at navigational satellite reflected signal is risen just day by day, European and American countries developing engine is just energetically carried or spaceborne reflected signal receiving trap, explore the application of reflected signal, obtained multinomial achievement in theory research and the army and the people's application facet.The research application of reflected signal mainly concentrates on the sea and surveys height, Ocean Wind-field, land humidity, the earth salinity, afforestation rate, spacecraft and sea of being correlated with or land Moving Target Exploitation etc.The application of navigational satellite reflected signal, its gordian technique are how to realize the physical state inverting of reception, data processing and the realistic objective of reflected signal.U.S. NASA lists the research plan one of in the most rising new technology project.China ocean, meteorology, Aeronautics and Astronautics and military service also attach great importance to this Progress in technique, and are just listing in relevant plan of science and technology and the engineering application.
The receiving and processing device of reflected signal is different from general direct signal receiver, domestic research to reflected signal mainly concentrates on mechanism research, also there is not further investigation target inverse model and method aspect to the core technology hardware correlator of reflected signal receiving and processing device.Postpone the mapping receiver by the airborne serial of 12 passages of Beijing Institute of Aeronautics development, the patent No.: ZL200420050636.9, its acp chip---hardware correlator adopt the GP2021 of external Zarlink company, and have the shortcoming of monotype.The reflected signal receiving trap of abroad succeeding in developing at present mainly is divided into: serial postpones mapping receiver, parallel delay mapping receiver and Doppler and postpones to shine upon receiver.Although its core component hardware correlator has had ripe ASIC product, however its dirigibility be restricted simultaneously, generally do not support many radio frequencies scheme and multi-mode to handle.In case and product approval, increase again or revise the limited in one's ability of interface and inner structure, do not have upgradability.
Summary of the invention
But the relevant apparatus of a kind of receiving and processing reflection signal of navigational satellite of the present invention is a core with the parallel multi-channel correlation module, according to the CPU configuration information, reflected signal is given in the related power output that different chip/Doppler postpone the moment.Guaranteed design carry out software development, modeling, system-level emulation in early days, IP kernel is integrated and joint verification, and adapts to different receiver systems and structure function design needs.The output difference postpones related powers constantly under DSP control, and using for the research of reflected signal provides data source.
But a kind of relevant apparatus of receiving and processing reflection signal of navigational satellite comprises channel arrangement module, time-base generator, reset control logic, resampling decoding module, UART interface, parallel multi-channel correlation module, USB interface and dsp interface.The parallel multi-channel correlation module is realized the related power output of the catching fast of direct signal, meticulous tracking, data transmission and reflected signal according to the CPU configuration information; Under the clock signal effect that control signal that reset control logic produces and time-base generator produce, the digital medium-frequency signal of A/D converter output latchs through the resampling decoding module, exports 3 bit digital intermediate-freuqncy signals to USB interface; USB interface delivers on the PC hard disk 3 bit digital intermediate-freuqncy signals after the resampling decoding module latchs as original data storage; The channel arrangement module receives the control command of DSP simultaneously, normal reflection number of active lanes under the configuration different working modes; 3 bit digital intermediate-freuqncy signals under the gating control of channel arrangement module after the resampling decoding module latchs enter the parallel multi-channel correlation module and make relevant treatment, and the related power after being correlated with is given DSP via dsp interface; DSP disposes reflected signal code delay and the Doppler frequency deviation of estimating to the parallel multi-channel correlation module via dsp interface then; The parallel multi-channel correlation module is according to these control information configuration local code and carrier wave, slide the code delay of local signal and Doppler shift then to calculate the reflected signal related power under different chips and the Doppler shift, related power is delivered to application processing function via the UART interface, finishes until correlated process.
Each single channel of described parallel multi-channel correlation module is made up of complex multiplier, carrier wave NCO, sign indicating number NCO, CA code generator, decoding unit, integration remover, a second inside counting device.Digital medium-frequency signal enters each passage in the parallel multi-channel correlation module simultaneously, carrier wave NCO the local carrier that produces under the control from the carrier wave NCO frequency control word of DSP with latch after channel data in complex multiplier, multiply each other, to peel off carrier wave; Sign indicating number NCO accepts the sign indicating number NCO frequency control word from DSP, the local code that produces current branch road outputs to the CA code generator, the CA code generator is according to implementing related interval control from the relevant spacing control information of DSP, produce current, hysteresis, leading three tunnel pseudo-random codes, and the quadrature after peeling off through carrier wave, in-phase branch signal are input to decoding unit and multiply each other respectively, obtain six tunnel results and send into the integration remover and carry out coherent accumulation and obtain related power, finish until correlated process.
In each single channel of described parallel multi-channel correlation module, complex multiplier is peeled off carrier wave, and carrier wave NCO realizes carrier frequency mixing under the frequency control word effect; Sign indicating number NCO module is used for driving the CA code generator; The CA code generator produces three road signals, and the code delay between the control signal, thereby influences final related power precision; Carry out the auto-correlation computation of signal in the integration remover, the sequence that enters this module obtains maximum output energy constantly at a local pseudo-code end cycle; Inside counting second device carries out a second inside counting, is made up and allocation contents by the DSP program.
20ms counter epoch, 1ms counter epoch, code phase counter in the described second inside counting device module, sign indicating number NCO phase counter has been formed the pseudo range observed quantity registers group jointly, carries out a second inside counting.Be that carry concerns completely between four counters.Sign indicating number NCO counter whenever overflows once, and the code phase counter adds one, 1ms counter epoch and 20ms counter epoch and the like.
Described parallel multi-channel correlation module contains 24 single channels, and 3 bit digital intermediate-freuqncy signals enter each single channel simultaneously respectively, carry out relevant treatment.
Described channel arrangement module is selected by multichannel, direct signal and reflected signal configuration is input in each single channel, thus the channel arrangement of realization different working modes correspondence.
But the advantage of the relevant apparatus of a kind of receiving and processing reflection signal of navigational satellite of the present invention is:
(1) the present invention has adopted and line correlation hyperchannel module is carried out relevant treatment, cooperates with DSP to handle reflected signal, for the GNSS reflected signal application of many navigational system compatibility, many constellation combination provides the core technology deposit.
(2) the present invention receives the relevant apparatus of handling as being used for the GNSS reflected signal, and for adapting to the reflected signal related power requirement of different accuracy, associated code postpones adjustable flexibly, can be set to 1/2,1/4 or 1/8 chip.Doppler shift also can be provided with as required, can search between all frequency displacement intervals or designation area.
(3) parameter request of channel arrangement under the different mode of the present invention and output signal is all different.Survey height, exportable reflected signal and the direct signal time delay of obtaining elevation information as the sea; For the Ocean Wind-field inverting, the related power data that then exportable reflector satellite signal different time postpones; For other target detections, the two-dimensional correlation power of exportable target different time delay and Doppler shift.
(4) the present invention is a core with the parallel multi-channel correlation module, peripheral expansion UART interface, USB interface, functions such as attached data transmission, collection, and adapt to different receiver systems and structure function design needs.
(5) the present invention is based on fpga chip exploitation, guaranteed design carry out software development, modeling, system-level emulation in early days, IP kernel is integrated and joint verification.The dirigibility of FPGA and reliability have realized the function of ASIC in the past, make the design user oriented more of system, control more flexible.
Description of drawings
But Fig. 1 is the main assembly structural drawing of the relevant apparatus of a kind of receiving and processing reflection signal of navigational satellite of the present invention;
But Fig. 2 is the workflow diagram of the relevant apparatus of a kind of receiving and processing reflection signal of navigational satellite of the present invention;
But Fig. 3 is a single pass composition structural drawing in the parallel multi-channel correlation module of relevant apparatus of a kind of receiving and processing reflection signal of navigational satellite of the present invention;
But Fig. 4 is the workflow diagram of parallel multi-channel correlation module of the relevant apparatus of a kind of receiving and processing reflection signal of navigational satellite of the present invention;
But Fig. 5 is the coherent signal of the relevant apparatus of a kind of receiving and processing reflection signal of navigational satellite of the present invention is three-dimensional artificial figure between the normalized power of a reflected signal and code delay, the Doppler frequency deviation.
Among the figure: 1. relevant apparatus 101. channel arrangement modules 102. resampling decoding module 103.USB interfaces 104. parallel multi-channel correlation module 104a. complex multiplier 104b. carrier wave NCO 104c. decoding unit 104d.CA code generator 104e. integration remover 104f. inside counting second device 104g. sign indicating number NCO105. reset control logic 106.DSP interface 107.UART interfaces 108. time-base generator 2.DSP
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, the present invention is made up of parallel multi-channel correlation module 104, channel arrangement module 101, time-base generator 108, resampling decoding module 102, reset control logic 105, UART interface 107, usb 1 03 and dsp interface 106.Wherein parallel multi-channel correlation module 104 is the system core, peripheral expansion UART interface 107, usb 1 03 and dsp interface 106.When time-base generator 108 is externally exported 1PPS, observed quantity interruption, integration interrupt clock signal, as shown in Figure 2, under the sampled clock signal effect of its generation, 8 bit digital intermediate-freuqncy signals of A/D converter output at first latch through resampling decoding module 102, export 3 bit digital intermediate-freuqncy signals to usb 1 03; The high speed data transfer function that usb 1 03 provides 107 UART interfaces not have delivers on the PC hard disk 3 intermediate-freuqncy signals after resampling decoding module 102 latchs as original data storage, for software receiver provides data source; Resampling decoding module 102 is exported 3 bit digital intermediate-freuqncy signals in addition and is made relevant treatment at direct projection passage or reflection channel that the gating of channel arrangement module 101 control lower channel data enter in the parallel multi-channel correlation module 104, and final related power is given DSP2 via dsp interface 106.Correlated results for direct signal, DSP2 finishes catching fast and following the tracks of of satellite-signal according to common GPS receiver tupe, the related power that utilizes direct signal to provide carries out navigator fix and finds the solution, the data message that obtains navigator fix is sent UART interface 107 back to via dsp interface 106, sends to application processing function; Reflected signal is different from the closed-loop process of direct signal, is an open loop process, does not promptly need DSP2 to carry out acquisition and tracking.Receiver location and satellite position that DSP2 draws according to the navigator fix signal, calculating all satellite reflection points respectively postpones and Doppler frequency deviation, estimate reflected signal time of occurrence interval and Doppler shift, give parallel multi-channel correlation module 104 with reflected signal code delay and the Doppler frequency deviation estimated via dsp interface 106 configurations then, parallel multi-channel correlation module 104 is according to control information configuration local code and carrier wave from dsp interface 106, and the code delay of the local signal that slides then and Doppler shift are to calculate the reflected signal related power under different chip/Doppler shifts.The data message of reflected signal related power need not given DSP2 to carry out acquisition and tracking, directly exports the application processing function of PC to via UART interface 107.Application processing function also sends to relevant apparatus 1 through UART interface 107 to the configuration information of DSP2 and relevant apparatus 1; Being about to the UART that data send, the task amount of information interaction concentrates on FPGA handles.The benefit of doing like this is to have alleviated because the blocking performance that serial ports sends increases task amount suddenly for what DSP2 caused.In the above-mentioned module, resampling decoding module 102, channel arrangement module 101, parallel multi-channel correlation module 104, usb 1 03 are driven by the same clock of homophase frequently of the sampling clock of time-base generator 108 all, because the digital medium-frequency signal of above-mentioned module input all enters each module with sample frequency, has then guaranteed the phase relation of signal Processing.All the other each modules can drive with external clock or its frequency-dividing clock and get final product.When this device powered on, reset control logic 105 sent reset signal, and each module is resetted by reset signal control all, and each module begins operate as normal, finishes until correlated process.
Parallel multi-channel correlation module 104 is places, core of relevant apparatus 1, and the related power output of the demodulation of direct signal and reflected signal etc. is operated in wherein to be finished.As shown in Figure 3, each single channel is made up of complex multiplier 104a, carrier wave NCO 104b, sign indicating number NCO104g, CA code generator 104d, decoding unit 104c, integration remover 104e, a second inside counting device 104f in the parallel multi-channel correlation module 104.
3 bit digital intermediate-freuqncy signals enter 24 passages in the parallel multi-channel correlation module 104 simultaneously, and the complex multiplier 104a in each passage peels off carrier wave; Carrier wave NCO104b produces local homophase, quadrature carrier by tabling look-up under the frequency control word effect, realize carrier frequency mixing; Outgoing carrier complete cycle counting and carrier phase are represented the integral part and the fraction part numerical value of carrier phase respectively, are latched under the effect of TIC signal; Change frequency control word may command local carrier Doppler shift.CA code generator 104d produces pseudo-random code (PRN), implements related interval control, produces integration and latchs and clear signal, changes star and reset function or the like.The code delay current, leading, that lag behind between three road signals that CA code generator 104d produces can be 1/2,1/4 or 1/8 chip, thereby influences final related power precision.Sign indicating number NCO104g principle and carrier wave NCO104b are basic identical, and institute's difference is that its output just is used for driving CA code generator 104d, and needn't search the amplitude-phase conversion table; Send into a second inside counting device 104f with the count value of time-code NCO104g, drive second each sub-rolling counters forward of inside counting device 104f, export the inside counting second value of this relevant treatment.Carry out the auto-correlation computation of signal among the integration remover 104e, the sequence that enters this module obtains maximum output energy constantly at a local pseudo-code end cycle, and be that the correlation energy value is latched immediately this moment one, in order to the loop use of back; The 2nd, because the chip of back will enter integrator rapidly with the resolution of sample frequency, so integrator is emptied.Program will be spaced apart the clock in a sampling period respectively as latching and clear signal when realizing, lose a sampling point, and this loss for whole channel signal to noise ratio (S/N ratio) is inappreciable.
Inside counting second device 104f comprises 20ms counter epoch, 1ms counter epoch, code phase counter, and they have formed the pseudo range observed quantity registers group jointly with the phase counter of sign indicating number NCO104g.Inside counting second device 104f carries out a second inside counting, be that carry concerns completely between four counters, and the measuring accuracy of pseudorange depends on the resolution of the phase counter of the sign indicating number NCO104g that counts as lowest order.This counter module can be made up and be distributed their content easily by the DSP program, thereby can both be suitable for the device of different demodulating data speed.
As shown in Figure 4, carrier wave NC0104b at the homophase, the quadrature two-way local carrier that produce under the control from the carrier wave NCO frequency control word of DSP2 and the channel data after latching in complex multiplier 104a, multiply each other, to peel off carrier wave.Sign indicating number NCO104g accepts the sign indicating number NCO frequency control word from DSP2, the local code that produces current branch road outputs to CA code generator 104d, CA code generator 104d is according to implementing related interval control from the relevant spacing control information of DSP2, produce pseudo-random code (PRN), leading and the delay 1/2 with the local code of current branch road, 1/4 or 1/8 chip, produce leading, lag behind, when first three road local signal, and with peel off through carrier wave after quadrature, the in-phase branch signal is input to decoding unit 104c together and multiplies each other respectively, obtain six tunnel results and send into integration remover 104e and carry out coherent accumulation, obtain related power; By the control of inside counting second device 104f, the maximum output energy of a local pseudo-code end cycle of output finishes until correlated process.
The Doppler frequency deviation and the local code that can change local carrier by the frequency control word that changes carrier wave NCO104b and sign indicating number NCO104g postpone, to obtain the reflected signal related power under different code delay/Doppler frequency deviations.
Channel arrangement module 101 receives the DSP2 order, and the signal that control enters each passage is direct signal or reflected signal, realizes the configuration of normal reflection number of active lanes under the different working modes.Be under 24 the situation, to can be configured to 12 direct projection passages, 12 reflection channels or 18 direct projection passages, 6 different working modes such as reflection channel at the overall channel number.
As shown in Figure 1, time-base generator 108 modules are bases of whole procedure, produce for chip internal and external function module under the master clock signal that radio-frequency front-end provides drives and finish the required clock signal of specific function.Clock signal comprises:
1. offer the sampling clock of A/D converter, the clock period of sampling clock and dutycycle all can be adjustable as required;
2. offer the time scale standard TIC and the employed drive clock of channel interior functional module (with sampling clock frequency homophase together) of each passage.TIC is one of most important signal in the middle of the whole receiver software design, variable cycle square wave that default cycles is 0.999999s normally, be used for carrying out receiver local zone time counting, drive observed quantity look-at-me (MEAS_INT) and 1PPS output signal (TIMEMARK), multinomial work such as pseudorange and carrier phase observed quantity sampling latch, its cycle can be by the DSP2 real time modifying.Time-base generator 108 is provided with the TIC counter simultaneously to guarantee the normal operation of TIC tally function.
3. integration look-at-me (ACCUM_INT) is a notification signal towards DSP, and its function is to inform that DSP2 in time handles after having new integration data arrival.Comprise the interruption handshake mechanism in the time-base generator 108 simultaneously, guaranteeing can the same interruption of duplicate responses after a secondary response.
4. observed quantity interruption (MEAS_INT) is that interruption is extracted in observed quantity, and its drive clock derives from TIC, and default cycles is 100ms usually
5.TIMEMARK be 1Hz pulse signal (1PPS), its clock also derives from TIC, and can make TIMEMARK output and the whole second of UTC (general timing system, i.e. Coordinated Universal Time(UTC)) aim at by regulating the TIC cycle, obtains 1PPS output.
In the present embodiment, fpga chip adopts the EP2S60F672C5 chip of the higher altera corp of cost performance, this device contains 24176 logical blocks, total built-in RAM is 2,544,192bits, built-in DSP module has 36, built-in PLLs has 12, embedded multiplier (18-bit * 18-bit) have 144, maximum available I/O quantity is 499, is encapsulated as 672 pin FPGA, consistent with the developing direction of the STRATIX device of Altera, the back compatible of pin lays the foundation for the improvement upgrading of system in the future.Development system is selected the development board based on the EP2S60 chip for use, utilizes its DSP kit to carry out system development.
The present most popular Altera development platform QuartusII7.1 of development environment utilization, this system provides from input, comprehensive, the front and back emulation complete series function until configuration, and a series of instruments such as comprising RTL reader, power consumption calculation device, logic analyser, timing closure allocation plan device, bottom logic device and engineering change (EC) manager are provided, make to begin abundant assurance to be arranged to finishing checking from engineering construction.
The chip delay scope is set according to demand, and its resolution can be set at 1/2,1/4 or 1/8 chip, because the Doppler shift scope is relevant with the remote sensing geometric relationship with the platform motion state, can't determine in advance usually.At first according to limit of integration-1～6 chip of the chip delay range computation maximum of setting, calculating the Doppler's maximal value and the minimum value at integration edge then in the emulation, be Doppler's window scope, is-1000～1000Hz in the present embodiment.In order to make emulation can better analyze the reflected signal feature, temporarily ignored the influence of noise item, and the related power of reflected signal has been carried out normalization with the related power of direct signal.
As shown in Figure 5, X-axis is the relative delay with respect to the specular reflection point travel-time, i.e. code delay; Y-axis is the relative Doppler frequency deviation of relative mirror point Doppler shift; The Z axle is a normalized power.As seen, the concentration of energy of scattered signal time delay Doppler related power is at mirror point, i.e. code delay is 0 chip, Doppler frequency deviation is near the 0Hz relatively, and reduce greatly with the change of time delay, and change with the variation of Doppler shift, integral body presents typically " water chestnut " shape.
Claims (5)
1. but the relevant apparatus of a receiving and processing reflection signal of navigational satellite comprises channel arrangement module, time-base generator, reset control logic, resampling decoding module, UART interface, parallel multi-channel correlation module, USB interface and dsp interface; The parallel multi-channel correlation module is realized the related power output of the catching fast of direct signal, meticulous tracking, data transmission and reflected signal according to the CPU configuration information; When relevant apparatus powered on, reset control logic sent reset signal, controlled each module and resetted, and each module begins operate as normal, finishes until correlated process; Under the clock signal effect that time-base generator produces, the digital medium-frequency signal of A/D converter output latchs through the resampling decoding module, exports 3 bit digital intermediate-freuqncy signals to USB interface; USB interface delivers on the PC hard disk 3 bit digital intermediate-freuqncy signals after the resampling decoding module latchs as original data storage; The channel arrangement module receives the control command of DSP simultaneously, normal reflection number of active lanes under the configuration different working modes; 3 bit digital intermediate-freuqncy signals under the gating control of channel arrangement module after the resampling decoding module latchs enter the parallel multi-channel correlation module and make relevant treatment, and the related power after being correlated with is given DSP via dsp interface; DSP disposes reflected signal code delay and the Doppler frequency deviation of estimating to the parallel multi-channel correlation module via dsp interface then; The parallel multi-channel correlation module is according to these control information configuration local code and carrier wave, slide the code delay of local signal and Doppler shift then to calculate the reflected signal related power under different chips and the Doppler shift, related power is delivered to application processing function via the UART interface, finishes until correlated process; Each single channel of described parallel multi-channel correlation module is made up of complex multiplier, carrier wave NCO, sign indicating number NCO, CA code generator, decoding unit, integration remover, a second inside counting device; Digital medium-frequency signal enters each passage in the parallel multi-channel correlation module simultaneously, carrier wave NCO the local carrier that produces under the control from the carrier wave NCO frequency control word of DSP with latch after channel data in complex multiplier, multiply each other, to peel off carrier wave; Sign indicating number NCO accepts the sign indicating number NCO frequency control word from DSP, the local code that produces current branch road outputs to the CA code generator, the CA code generator is according to implementing related interval control from the relevant spacing control information of DSP, produce current, hysteresis, leading three tunnel pseudo-random codes, and the quadrature after peeling off through carrier wave, in-phase branch signal are input to decoding unit and multiply each other respectively, obtain six tunnel results and send into the integration remover and carry out coherent accumulation and obtain related power, finish until correlated process.
2. but according to the relevant apparatus of the described a kind of receiving and processing reflection signal of navigational satellite of claim 1, it is characterized in that: in each single channel of described parallel multi-channel correlation module, complex multiplier is peeled off carrier wave, and carrier wave NCO realizes carrier frequency mixing under the frequency control word effect; Sign indicating number NCO module is used for driving the CA code generator; The CA code generator produces three road signals, and the code delay between the control signal, thereby influences final related power precision; Carry out the auto-correlation computation of signal in the integration remover, the sequence that enters this module obtains maximum output energy constantly at a local pseudo-code end cycle; Inside counting second device carries out a second inside counting, is made up and allocation contents by the DSP program.
3. but according to the relevant apparatus of claim 1 or 2 described a kind of receiving and processing reflection signal of navigational satellite, it is characterized in that: 20ms counter epoch, 1ms counter epoch, code phase counter in the described second inside counting device module, sign indicating number NCO phase counter has been formed the pseudo range observed quantity registers group jointly, carries out a second inside counting; Be that carry concerns completely between four counters; Sign indicating number NCO counter whenever overflows once, and the code phase counter adds one, 1ms counter epoch and 20ms counter epoch and the like.
4. but according to the relevant apparatus of the described a kind of receiving and processing reflection signal of navigational satellite of claim 1, it is characterized in that: described parallel multi-channel correlation module contains 24 single channels, and 3 bit digital intermediate-freuqncy signals enter each single channel simultaneously respectively, carry out relevant treatment.
5. but according to the relevant apparatus of the described a kind of receiving and processing reflection signal of navigational satellite of claim 1, it is characterized in that: described channel arrangement module is selected by multichannel, direct signal and reflected signal configuration are input in each single channel, thus the channel arrangement of realization different working modes correspondence.
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| CN101377542B (en) * | 2008-09-19 | 2011-10-26 | 北京航空航天大学 | Method and device for estimating GNSS reflected signal parameter |
| CN101441260B (en) * | 2008-12-18 | 2011-04-06 | 中国科学院微电子研究所 | Global positioning receiver tracking system and tracking method thereof |
| CN101825695A (en) * | 2009-03-04 | 2010-09-08 | 重庆星熠导航设备有限公司 | Multi-module embedded combined navigation receiver and positioning method |
| CN101571584B (en) * | 2009-06-15 | 2011-09-28 | 北京航空航天大学 | Configurable reflection signal power processing system |
| CN102004236B (en) * | 2009-08-28 | 2012-12-26 | 上海伽利略导航有限公司 | Global position system (GPS) signal tracking method, tracking channel loop and adjusting method thereof |
| US8174441B2 (en) * | 2010-06-01 | 2012-05-08 | Mediatek Inc. | Configurable calculating circuit and receiver having a plurality of configurable calculating circuits |
| CN101975959B (en) * | 2010-09-03 | 2012-07-25 | 北京航空航天大学 | Device for acquiring inversion significant wave height and relative elevation in delay mapping receiver |
| CN104617392A (en) * | 2015-02-09 | 2015-05-13 | 上海航天测控通信研究所 | Satellite-borne GNSS-R multi-beam phased array antenna beam control unit |
| CN104678409B (en) * | 2015-02-11 | 2017-03-01 | 北京航空航天大学 | A kind of GNSS reflected signal synchronous method in short-term being applied to spaceborne environment |
| CN104678386B (en) * | 2015-02-11 | 2017-02-01 | 北京航空航天大学 | Method for detecting target by utilizing relevant power of GNSS(global navigation satellite system) sea surface reflection signal |
| CN109298435B (en) * | 2017-11-02 | 2023-05-23 | 天津讯联科技有限公司 | Satellite reflected signal tracking method, device and receiver |
| CN110031873B (en) * | 2019-04-17 | 2023-04-11 | 桂林电子科技大学 | GNSS multipath signal simulation method and GNSS multipath signal simulator |
| CN114690218B (en) * | 2022-03-23 | 2024-04-30 | 中国科学院国家空间科学中心 | Method for observing GNSS reflected signals and capturing GNSS direct signals |
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