CN104215981B - Adaptive tracking method under a kind of receiver high dynamic environment - Google Patents

Abstract

The invention discloses adaptive tracking method under a kind of receiver high dynamic environment.The method adjusts the bandwidth that the FLL in track loop, phaselocked loop and FLL aid in phaselocked loop loop filter by the dynamic characteristic and noise characteristic of real-time detection receiver tracking signal so as to keep optimal value；Simultaneously the auxiliary coefficient of also adjustment FLL auxiliary phaselocked loop improves stability of the track loop under high dynamic environment increasing the dynamically adapting scope of track loop.The present invention proposes tracking can make receiver adjust inherent parameters under dynamic change environment in time, the error of tracking satellite navigation signal is maintained in less scope, overcome receiver tracking error under high dynamic environment in prior art and greatly, be susceptible to the shortcoming of loss of lock.

Description

Adaptive tracking method under a kind of receiver high dynamic environment

Technical field

The present invention relates to adaptive tracing side under satellite communication receiver, more particularly to a kind of receiver high dynamic environment Method.

Background technology

Beidou satellite navigation system (hereinafter referred to as BD) be China independently build, independent operating, and with other satellites of the world The compatible GPS for sharing of navigation system.By circularly ball rail in 5 geostationary orbit (GEO) satellites, 27 Road (MEO) satellite and 3 inclination geostationary orbit (IGSO) satellite compositions.Beidou satellite navigation system is succeeded in sending up at present 16 satellites, define regional service ability, provide passive location, navigation and time service etc. towards China and periphery most area Service.

BD satellite-signals have tri- frequencies of B1, B2 and B3, and wherein B1 and B2 is two civil signals.B1 and B2 signals by I, " ranging code+navigation message " orthogonal modulation of two branch roads of Q is constituted on carrier wave.

The base band signal process of BD receivers mainly includes capturing, tracks, synchronous (frame synchronization and bit synchronization) and navigational solution The steps such as calculation.BD receivers after the carrier signal for receiving corresponding frequency by antenna, by carrier signal through down coversion and Analog-to-digital conversion becomes digital intermediate frequency signal, there is provided to trapping module.Trapping module by reappear IF carrier and ranging code and Adjust their parameter to obtain the carrier frequency of all visible satellites and the coarse value of range finding code phase.Track loop is based on and catches Obtaining the information that module obtains carries out further accurate measurement to the carrier frequency of visible satellite and the phase place of ranging code.Work as tracking During loop success locking satellite signal, it is possible to carry out bit synchronization, and frame synchronization operation, finally according to the textual information for obtaining Carry out position, speed, time (PVT) resolving.

In BD receivers, track loop carries out accurate tracking by the carrier frequency to BD signals and range finding code phase, And pseudo-range information is obtained according to the range finding code phase of code tracking loop measurement, navigation message information is demodulated from in-phase branch, from And the pseudorange and telegraph text data for needed for navigation calculation is provided.Therefore, the pseudorange accuracy of track loop measurement and navigation message solution Quenched amount directly determines the positioning precision of BD receivers.

In track loop, the performance of loop filter decides the performance of track loop, and determines loop filter The mainly exponent number of loop filter and the noise bandwidth of energy.High exponent number can track the Dynamic Signal of high order.Narrow makes an uproar Vocal cords width contributes to filtering noise in loop, improves the tracking accuracy of loop.Wide noise bandwidth following range is larger, be suitable for The higher signal of track dynamic, but can also increase the noise in loop simultaneously.At present, existing BD receiver tracking loop circuits are at least wrapped The one kind in FLL, phaselocked loop and FLL auxiliary phaselocked loop is included, its exponent number and loop bandwidth are set already, limit ring The dynamic scope of application on road, easily causes tracking error increasing, or even the phenomenon of loop losing lock under high dynamic environment.Specifically ask Topic is as follows：

1) although phaselocked loop is less to carrier tracking error, dynamic property is poor, and tracking under high dynamic environment is carried Wave phase difficulty is larger, easy losing lock；

2) although FLL has larger following range to Dynamic Signal, tracking error is than larger；

3) although FLL auxiliary phaselocked loop can improve the dynamic property of track loop to a certain extent, which is solid Fixed initial loop bandwidth limits the ability of loop dynamics and anti-noise jamming.And, although based on Kalman filtering The track loop of technology can preferably track signal, but its complexity is high, and software cost of implementation is high.

Content of the invention

For the problems referred to above, the present invention proposes adaptive tracking method under a kind of new receiver high dynamic environment, its Comprise the following steps：

S100, the IF carrier frequency according to capture and range finding code phase, initialization carrier generator and ranging code occur Device produces the relevant parameter of signal；

S200, the signal pair frequency carrier wave data signal produced using carrier generator and range finding code generator carry out carrier wave Peel off and ranging code is peeled off, extract baseband digital signal；

S300, phase demodulation, frequency discrimination and carrier-to-noise ratio is carried out to baseband digital signal calculate；

S400, according to phase demodulation, frequency discrimination and carrier-to-noise ratio result of calculation, ask for new frequency locking according to default mathe-matical map relation Loop bandwidth and phase-locked loop bandwidth and FLL aid in the auxiliary coefficient of phaselocked loop；

S500, the auxiliary coefficient for aiding in phaselocked loop according to new frequency-locked loop bandwidth and phase-locked loop bandwidth and FLL Reset the bandwidth of loop filter；

S600, according to the output result of loop filter adjust carrier generator and range finding code generator, return to step S200.

Embodiments in accordance with the present invention, in above-mentioned steps S100, the relevant parameter includes that the phase place of carrier generator increases Amount control word and the initial phase of range finding code generator；

The phase increment control word △ P of carrier generator is initialized according to the following formula can_f：

In formula, word lengths of the M for the phase accumulator of carrier generator, f_clkFor the clock of carrier generator, f_carrFor capture IF carrier frequency values；

The initial phase C of ranging code generator is initialized according to the following formula can_pha0：

C_pha0=C_pha

In formula, C_phaFor the range finding code phase values for capturing.

Embodiments in accordance with the present invention, in above-mentioned steps S300, the phase demodulation includes yard ring phase demodulation and carrier wave ring phase demodulation, institute Stating frequency discrimination includes carrier wave ring frequency discrimination.

Embodiments in accordance with the present invention, it is preferable that in above-mentioned steps S300, first can be integrated to baseband digital signal Cumulative, then the calculating of phase demodulation, frequency discrimination and carrier-to-noise ratio is carried out to integrating accumulation result again.

Embodiments in accordance with the present invention, in above-mentioned steps S400, the mathe-matical map relation is included time interval T_KInterior Carrier-to-noise ratio of the average of carrier-to-noise ratio result of calculation as the tracked satellite-signal of t

In formula, CNR (k) is k-th carrier-to-noise ratio result of calculation, and K is moment t-T_KTo carrier-to-noise ratio result of calculation between moment t Number.

Embodiments in accordance with the present invention, in above-mentioned steps S400, the mathe-matical map relation includes being calculated newly according to following formula I rank FLLs loop bandwidth Bf_i'：

In formula, i represents FLL exponent number, V⁽ⁱ⁺¹⁾Represent the i+1 order derivatives of receiver bearer rate, λ_iFor i rank FLLs Loop bandwidth and the proportionality coefficient of characteristic frequency,For the carrier-to-noise ratio of the tracked satellite-signal of t, T for integration cumulative when Between, F is one and carrier-to-noise ratioRelevant parameter.

Embodiments in accordance with the present invention, in above-mentioned steps S400, the mathe-matical map relation includes being calculated newly according to following formula J rank phaselocked loops loop bandwidth Bp_j'：

In formula, j represents phaselocked loop exponent number, V^(j)Represent the j order derivatives of receiver bearer rate, μ_jFor j rank cycle of phase-locked loop Bandwidth and the proportionality coefficient of characteristic frequency,For the carrier-to-noise ratio of the tracked satellite-signal of t, T is integration accumulation interval.

Embodiments in accordance with the present invention, in above-mentioned steps S500, the mathe-matical map relation includes：

Calculate the sighting distance acceleration a of receiver carrier t_tWith sighting distance acceleration a_t'；

In formula, f_eK () is k-th carrier wave ring frequency discrimination result, K is moment t-T_KTo the carrier wave ring frequency discrimination exported between moment t As a result number, λ_iFor i rank FLLs loop bandwidth and the proportionality coefficient of characteristic frequency, Bf_iFor the current loop of i rank FLLs Bandwidth；

If sighting distance acceleration and sighting distance acceleration are respectively less than corresponding threshold value, FLL auxiliary phaselocked loop is set Auxiliary coefficient α>1,0<β<1；

If sighting distance acceleration is more than corresponding threshold value, and sighting distance acceleration, less than corresponding threshold value, is arranged FLL aids in the auxiliary coefficient 0 of phaselocked loop<α<1, β>1；

If sighting distance acceleration and sighting distance acceleration are all higher than corresponding threshold value, FLL auxiliary phaselocked loop is set Auxiliary coefficient 0<α<0.5, β>1.

Embodiments in accordance with the present invention, further, in above-mentioned steps S500, the loop filter include FLL, Phaselocked loop and FLL auxiliary cycle of phase-locked loop ring wave filter and Loop filter, loop bandwidth according to new FLL, The loop bandwidth of phaselocked loop, and the product of the identified result of auxiliary coefficient α and carrier wave ring phase discriminator output, auxiliary coefficient β with The product of the frequency discrimination result of carrier wave ring frequency discriminator output resets FLL, phaselocked loop and FLL auxiliary cycle of phase-locked loop The bandwidth of ring wave filter.

Embodiments in accordance with the present invention, further, further, in above-mentioned steps S600, according to FLL auxiliary lock The output result of phase ring loop ring wave filter, carrier generator adjustment produce the relevant parameter of signal, according to filtered code ring Identified result, code generator adjustment of finding range produce the relevant parameter of signal.

Compared with prior art, technical scheme proposed by the present invention has advantages below：

1st, by the dynamic characteristic and noise characteristic of real-time detection receiver come the bandwidth of adjustment loop so that track loop Can be in the environment of dynamic change, the bandwidth of timely adjustment loop wave filter especially in the environment of high dynamic change so as to Optimal value is kept, tracking error is remained in less scope.

2nd, the auxiliary coefficient of phaselocked loop is aided in further to increase the dynamically adapting scope of track loop by adjusting FLL, So as to the stability for enhancing track loop in the environment of dynamic change, especially in the environment of high dynamic change.

3rd, present invention proposition technical scheme overcomes receiver tracking error under high dynamic environment in prior art and greatly, holds Easily there is the shortcoming of loss of lock, and complexity is low, can easily realize by software.

Other features and advantages of the present invention will be illustrated in the following description, and partly be become from specification It is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can pass through in specification, right will Seek in book and accompanying drawing specifically noted structure to realize and obtain.

Description of the drawings

Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for specification, the reality with the present invention Apply example to be provided commonly for explaining the present invention, be not construed as limiting the invention.In the accompanying drawings：

Fig. 1 is the structured flowchart of the track loop of the BD receivers employed in the embodiment of the present invention；

Fig. 2 is the implementing procedure figure of the adaptive tracking method of BD receivers in the embodiment of the present invention.

Specific embodiment

With reference to the accompanying drawings and examples technical scheme is described in detail.

Fig. 1 shows the structured flowchart of the track loop of the BD receivers employed in the embodiment of the present invention.Wherein, carrier wave NCO and code ring NCO represent carrier generator and range finding code generator respectively, are digital controlled oscillator.FLL auxiliary PLL loops ring filters Ripple device is the abbreviation that FLL aids in cycle of phase-locked loop ring wave filter.

The BD receivers work according to the flow chart shown in Fig. 2, and the control errors of tracking satellite navigation signal can exist In less scope.

S100, the IF carrier frequency according to capture and range finding code phase, initialization carrier generator and ranging code occur Device produces the relevant parameter of signal.Particular content is as follows.

After BD receivers receive the carrier signal of corresponding frequency by antenna, will carry through down coversion and analog-to-digital conversion Ripple signal becomes digital intermediate frequency signal, there is provided to trapping module.Trapping module reproduction IF carrier and ranging code, obtain intermediate frequency load Wave frequency rate, f_carrCoarse value C with range finding code phase_pha.

According to the IF carrier frequency values f for obtaining_carrWith range finding code phase values C_pha, initialize carrier generator and range finding Code generator produces the relevant parameter of signal.In the present embodiment, these relevant parameters include the phase increment of carrier generator Control word △ P_f, and the initial phase C of range finding code generator_pha0.Wherein：

C_pha0=C_pha

Wherein, word lengths of the M for the phase accumulator of carrier generator, f_clkClock for carrier generator.

S200, the signal pair frequency data signal produced using carrier generator and range finding code generator carry out carrier wave stripping Peel off with ranging code, extract baseband digital signal.Particular content is as follows.

Carrier generator and range finding code generator produce corresponding signal respectively to the middle frequency that obtains through analog-to-digital conversion Word signal carries out carrier wave and peels off and ranging code stripping, so as to obtain following six road baseband digital signal：

Advanced code i_E(n)q_E(n) orthogonal two-way；

That is time-code i_P(n)q_P(n) orthogonal two-way；

Delayed code i_L(n)q_L(n) orthogonal two-way；

Wherein n=0,1,2 ... is sampled point sequence number.

S300, carries out phase demodulation, frequency discrimination and carrier-to-noise ratio and calculates to baseband digital signal.Particular content is as follows.

In embodiments of the present invention, it is preferable that also above-mentioned six roadbeds band signal is integrated cumulative, following six tunnel is obtained Low speed base band data：

Wherein, k=0,1,2 ... is that cumulative rear data point sequence number, T are integration accumulation interval, and N is original intermediate frequency in time T Data sampling point number.

Then six road low speed base band datas are inputed to a yard ring phase discriminator, carrier wave ring phase discriminator, carrier wave ring frequency discriminator and load Make an uproar than computing unit, carry out corresponding phase demodulation, frequency discrimination and carrier-to-noise ratio and calculate (as shown in Figure 1).Wherein, code ring phase discriminator is exported Identified result is designated as φ_eK (), the identified result of carrier wave ring phase discriminator output are designated as θ_e(k), the frequency discrimination of carrier wave ring frequency discriminator output As a result f is designated as_eK (), the result of calculation of carrier-to-noise ratio computing unit output are designated as CNR (k).

It should be appreciated that in the present embodiment, being integrated the knot cumulative, then integration is added up to baseband digital signal Fruit carries out phase demodulation, frequency discrimination and carrier-to-noise ratio and calculates, and is to further reduce noise jamming.But this is not precluded from, directly to base band Data signal carries out the feasibility that phase demodulation, frequency discrimination and carrier-to-noise ratio are calculated.

S400, according to phase demodulation, frequency discrimination and carrier-to-noise ratio result of calculation, ask for new frequency locking according to default mathe-matical map relation Loop bandwidth and phase-locked loop bandwidth and FLL aid in the auxiliary coefficient of phaselocked loop.Particular content is as follows.

In the present embodiment, preferably acquisition time interval T_KThe result of interior carrier-to-noise ratio computing unit output, takes its average and makees Carrier-to-noise ratio for the tracked satellite-signal of t

Wherein, CNR (k) is k-th carrier-to-noise ratio result of calculation, and K is moment t-T_KTo carrier-to-noise ratio computing unit between moment t The number of the result of output.

According to the loop bandwidth Bf that following formula calculates new (i.e. subsequent time) i rank FLLs_i'：

Wherein, i represents FLL exponent number, V⁽ⁱ⁺¹⁾Represent the i+1 order derivatives of receiver bearer rate, λ_iFor i rank FLLs Loop bandwidth and the proportionality coefficient of characteristic frequency, T are integration accumulation intervals.F is the carrier-to-noise ratio of and tracked satellite-signalRelevant parameter, works as carrier-to-noise ratioDuring more than given threshold value, F takes 1, works as carrier-to-noise ratioLess than given threshold value When, F takes 2.

According to the loop bandwidth Bp that following formula calculates new (i.e. subsequent time) j rank phaselocked loops_j'：

Wherein, j represents phaselocked loop exponent number, V^(j)Represent the j order derivatives of receiver bearer rate, μ_jFor j rank cycle of phase-locked loop Bandwidth and the proportionality coefficient of characteristic frequency, T are integration accumulation intervals.

Based on frequency discrimination result f that frequency discriminator is exported_eK (), calculates the sighting distance dynamic value of receiver carrier t, Ye Jiji Calculate sighting distance acceleration a_tWith sighting distance acceleration a_t'：

Wherein, f_eK () is k-th frequency discrimination result, K is moment t-T_KTo the number for exporting frequency discrimination result between moment t；Bf_i Loop bandwidth for current time i rank FLL.

In the present embodiment, the auxiliary coefficient α and β of FLL auxiliary phaselocked loop is according to sighting distance acceleration a_tWith sighting distance plus plus Speed a_t' size, reset according to following mechanism：

Assume the threshold value accelerated given sighting distanceThreshold value with sighting distance acceleration

WhenWhen, auxiliary coefficient value α>1,0<β<1；

WhenWhen, auxiliary coefficient value 0<α<1, β>1；

WhenWhen, auxiliary coefficient value 0<α<0.5, β>1.

S500, the auxiliary coefficient for aiding in phaselocked loop according to new frequency-locked loop bandwidth and phase-locked loop bandwidth and FLL Reset the bandwidth of loop filter.Particular content is as follows：

Loop bandwidth Bf according to new FLL_i', the loop bandwidth Bp of new phaselocked loop_j', and new auxiliary coefficient Identified result θ that α is exported with carrier wave ring phase discriminator_eThe product of (k), the mirror that new auxiliary coefficient β is exported with carrier wave ring frequency discriminator Frequency result f_eK the product of () resets the bandwidth that FLL, phaselocked loop and FLL aid in cycle of phase-locked loop ring wave filter.

S600, according to the output result of loop filter adjust carrier generator and range finding code generator, return to step S200.

Specifically, as shown in figure 1, aiding in the output result of cycle of phase-locked loop ring wave filter according to FLL, carrier wave occurs Device adjustment produces the relevant parameter of signal, and produces new signal accordingly, and the carrier wave for carrying out a new round is peeled off；Simultaneously according to code ring Output result (namely filtered identified result φ of wave filter_e(k)), code generator adjustment of finding range produces the related ginseng of signal Number, and produce new signal accordingly, the ranging code for carrying out a new round is peeled off.

Adjusted by this iterative cycles, the error of tracking satellite navigation signal is maintained at less scope by BD receivers Interior, it is achieved that the carrier frequency and the accurate measurement of range finding code phase to satellite.

Tracking proposed by the present invention, according to the dynamic characteristic and the noise characteristic of signal of detection receiver local environment Come the bandwidth of real-time adjustment track loop loop filter and the auxiliary coefficient of FLL and phaselocked loop so that track loop Inherent parameters are adjusted in time in the environment of dynamic change, tracking error is maintained in less scope, while also increasing The dynamically adapting scope of track loop, improves the stability of track loop, solves existing BD receivers in high dynamic ring Under border, track loop error is big, be susceptible to the problem of losing lock.Additionally, the mathe-matical map relation set in above-described embodiment can be with Realized by corresponding software is write in the original central control unit of receiver, need not increase extra cost, realize multiple Miscellaneous degree is low.

Finally it should be noted that：Various embodiments above only in order to technical scheme to be described, rather than a limitation；To the greatest extent Pipe has been described in detail to the present invention with reference to foregoing embodiments, it will be understood by those within the art that：Its according to So the technical scheme described in foregoing embodiments can be modified, or which part or all technical characteristic are entered Row equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology The scope of scheme.

Claims (9)

1. adaptive tracking method under a kind of receiver high dynamic environment, comprises the following steps：

S100, the IF carrier frequency according to capture and range finding code phase, initialization carrier generator and range finding code generator are produced The relevant parameter of raw signal；

S200, the signal pair frequency carrier wave data signal produced using carrier generator and range finding code generator carry out carrier wave stripping Peel off with ranging code, extract baseband digital signal；

S300, phase demodulation, frequency discrimination and carrier-to-noise ratio is carried out to baseband digital signal calculate；

S400, according to phase demodulation, frequency discrimination and carrier-to-noise ratio result of calculation, ask for new frequency-locked loop according to default mathe-matical map relation Bandwidth and phase-locked loop bandwidth and FLL aid in the auxiliary coefficient of phaselocked loop；

S500, according to the auxiliary coefficient of new frequency-locked loop bandwidth and phase-locked loop bandwidth and FLL auxiliary phaselocked loop again The bandwidth of loop filter is set；Wherein, the loop filter includes FLL, phaselocked loop and FLL auxiliary phaselocked loop Loop ring wave filter and Loop filter, the loop bandwidth of loop bandwidth, phaselocked loop according to new FLL, and auxiliary system The product of the identified result that number α is exported with carrier wave ring phase discriminator, auxiliary coefficient β and the frequency discrimination result of carrier wave ring frequency discriminator output Product resets the bandwidth that FLL, phaselocked loop and FLL aid in cycle of phase-locked loop ring wave filter；

S600, according to the output result of loop filter adjust carrier generator and range finding code generator, return to step S200.

2. adaptive tracking method as claimed in claim 1, it is characterised in that：

In step S100, the relevant parameter includes the phase increment control word of carrier generator and the initial of code generator of finding range Phase place；

The phase increment control word △ P of carrier generator is initialized according to the following formula_f：

${\mathrm{\&Delta;P}}_f=\frac{2^M\&CenterDot;f_{carr}}{f_{clk}}$

Wherein, word lengths of the M for the phase accumulator of carrier generator, f_clkFor the clock of carrier generator, f_carrIn for capture Frequency carrier frequency value；

The initial phase C of ranging code generator is initialized according to the following formula_pha0：

C_pha0=C_pha

Wherein, C_phaFor the range finding code phase values for capturing.

3. adaptive tracking method as claimed in claim 1, it is characterised in that：

In step S300, the phase demodulation includes that yard ring phase demodulation and carrier wave ring phase demodulation, the frequency discrimination include carrier wave ring frequency discrimination.

4. the adaptive tracking method as described in claims 1 to 3 any one, it is characterised in that：

Further, in step S300, first baseband digital signal is integrated cumulative, then again to integrate accumulation result carry out Phase demodulation, frequency discrimination and carrier-to-noise ratio are calculated.

5. adaptive tracking method as claimed in claim 4, it is characterised in that in step S400, the mathe-matical map relation Including by time interval T_KCarrier-to-noise ratio of the average of interior carrier-to-noise ratio result of calculation as the tracked satellite-signal of t

${\stackrel{\&OverBar;}{CNR}}_t=\frac{1}{K}\underset{k=0}{\overset{K}{\&Sigma;}}CNR\left(k\right)$

Wherein, CNR (k) is k-th carrier-to-noise ratio result of calculation, and K is moment t-T_KTo between moment t carrier-to-noise ratio result of calculation Number.

6. adaptive tracking method as claimed in claim 4, it is characterised in that in step S400, the mathe-matical map relation Including calculating the loop bandwidth Bf of new i rank FLLs according to following formula_i'：

${{\mathrm{Bf}}_i}^{\&prime;}=\sqrt[2i+1]{\frac{{\mathrm{\&pi;}}^2{T}^2\&CenterDot;{\stackrel{\&OverBar;}{CNR}}_t\&CenterDot;{\left(V^{(i+1)}\right)}^2\&CenterDot;{\left({\mathrm{\&lambda;}}_i\right)}^{2i}}{9F\&CenterDot;(1+\frac{1}{9F\&CenterDot;{\stackrel{\&OverBar;}{CNR}}_t})}}$

Wherein, i represents FLL exponent number, V⁽ⁱ⁺¹⁾Represent the i+1 order derivatives of receiver bearer rate, λ_iFor i rank FLL loops Bandwidth and the proportionality coefficient of characteristic frequency,For the carrier-to-noise ratio of the tracked satellite-signal of t, T is to integrate accumulation interval, F For one and carrier-to-noise ratioRelevant parameter.

7. adaptive tracking method as claimed in claim 4, it is characterised in that in step S400, the mathe-matical map relation Including calculating the loop bandwidth Bp of new j rank phaselocked loops according to following formula_j'：

${{\mathrm{Bp}}_j}^{\&prime;}=\sqrt[2j+1]{\frac{4{\stackrel{\&OverBar;}{CNR}}_t\&CenterDot;{\left({\mathrm{\&mu;}}_j\right)}^{2j}\&CenterDot;{\left(V^{\left(j\right)}\right)}^2}{9(1+\frac{1}{9T\&CenterDot;{\stackrel{\&OverBar;}{CNR}}_t})}}$

Wherein, j represents phaselocked loop exponent number, V^(j)Represent the j order derivatives of receiver bearer rate, μ_jFor j rank PLL loop bandwidths With the proportionality coefficient of characteristic frequency,For the carrier-to-noise ratio of the tracked satellite-signal of t, T is integration accumulation interval.

8. adaptive tracking method as claimed in claim 4, it is characterised in that in step S500, the mathe-matical map relation Including：

Calculate the sighting distance acceleration a of receiver carrier t_tWith sighting distance acceleration a_t'；

$\begin{array}{cc}{a}_t=\frac{1}{K}\underset{k=0}{\overset{K}{\&Sigma;}}{f}_e\left(k\right)\&CenterDot;({\mathrm{Bf}}_i/{\mathrm{\&lambda;}}_i)& {a_t}^{\&prime;}=\frac{1}{K}\underset{k=0}{\overset{K}{\&Sigma;}}{f}_e\left(k\right)\&CenterDot;{({\mathrm{Bf}}_i/{\mathrm{\&lambda;}}_i)}^2\end{array}$

Wherein, f_eK () is k-th carrier wave ring frequency discrimination result, K is moment t-T_KTo the carrier wave ring frequency discrimination result exported between moment t Number, λ_iFor i rank FLLs loop bandwidth and the proportionality coefficient of characteristic frequency, Bf_iLoop for current time i rank FLL Bandwidth；

If sighting distance acceleration and sighting distance acceleration are respectively less than corresponding threshold value, the auxiliary of FLL auxiliary phaselocked loop is set Help factor alpha>1,0<β<1；

If sighting distance acceleration is more than corresponding threshold value, and sighting distance acceleration, less than corresponding threshold value, arranges frequency locking Ring aids in the auxiliary coefficient 0 of phaselocked loop<α<1, β>1；

If sighting distance acceleration and sighting distance acceleration are all higher than corresponding threshold value, the auxiliary of FLL auxiliary phaselocked loop is set Help coefficient 0<α<0.5, β>1.

9. the adaptive tracking method as described in claims 1 to 3 any one, it is characterised in that：

Further, in step S600, according to the output result that FLL aids in cycle of phase-locked loop ring wave filter, carrier generator Adjustment produces the relevant parameter of signal, and according to filtered code ring identified result, code generator adjustment of finding range produces the phase of signal Related parameter.