CN101201396B - High sensitive receiver for global positioning system as well as indoor and outdoor seamless switch method thereof - Google Patents

Abstract

The invention relates to a global position system (GPS) receiver technology, in particular to a global position system receiver with high sensitivity for the location and navigation, which is applied in a high sensitivity navigation receiver in an interior environment, and an indoor and outdoor seamless switching method. The receiver is a partial structure of an assistant satellite navigation location system (AGNSS); the assistant satellite navigation location system (AGNSS) comprises at least a constellation, the antenna, an emitting frequency circuit, a location server and a reference receiver etc; the components are combined into an integrated location system. The method realizes the seamless switching method between the interior and the exterior through three switching methods; the invention mainly solves the related technical problems, such as the integrated hardware and the software for the seamless switching method between the interior and the exterior. The invention has the positive effects that the storage capture and the flow follow are realized for the more rapid and exact location; the invention improves the sensitivity index of the end user; the invention has the advantage of the realization of seamless switch under the condition of two signals with simplicity and reliability.

Description

High sensitive receiver for global positioning system and indoor and outdoor seamless handover method thereof

Technical field

The present invention relates to a kind of global position system GPS (Global Position System) receiver technology, refer to a kind of location and navigation and indoor and outdoor seamless handover method thereof that is mainly used in the high sensitivity navigation neceiver under the indoor environment especially.

Background technology

The overwhelming majority uses the user distributions of hand-held positioning equipment in the intensive urban area of high building, and the most of the time is in indoor.Between indoor, high building, in the environment such as underground parking, overpass; Owing to covered, the satellite-signal of GPS is very faint, sometimes even have only-160dBmW; Be lower than 30dB under the environment of open ground, common satellite navigation receiver can't be located.Current, GPS is constantly development, like the Galileo system in GPS of USA system, Europe, the triones navigation system of China.The navigation neceiver technology is the gordian technique of GPS, and the general marketplace GPS receiver of location based services (LBS:Location Based Servers) is the main direction of its development.In order to satisfy the application in the urban environment, possess the high sensitivity navigation neceiver that receives the weak satellite signal capabilities and receive publicity.

Professional for LBS; The signal capture ability of high sensitivity navigation neceiver and positioning time are its key indexs; Large-scale parallel correlator is the main method that realizes quick weak signal location, but has brought hardware resource increase, power consumption to become drawback such as big simultaneously.And many times the user does not need continuous locator meams, and therefore a kind of single-point locator meams based on snap (Snapshot) location technology develops rapidly.Described like U.S. Pat 6707422, this scheme adopts jumbo storage unit, raw satellite signal is stored, and provide the result of single-point location through receiver algorithm.Owing to comprise the information of all satellites in the raw data, generally speaking, once storage can calculate the position.This method not only is suitable for the flexible realization of high sensitivity algorithm, and can more effectively utilize supplementary, can more closely combine with communications platform, supports the various station-keeping modes of communication terminal, is convenient to realize the mode of operation of low-power consumption.

Because the high sensitivity acquisition algorithm has great challenge, many high sensitivity GPS chip business have proposed the solution of compromise.Like the SiRFstar III chip of U.S. SiRF company, its requirement have a satellite-signal be better than-during 147dBmW, can realize sensitivity index-155dBmW; The Mantaray high sensitivity chip of Global Locate company, must have a satellite-signal be better than-during 142dBmW, could realize sensitivity index-160dBmW.Under strong signal, two kinds of conditions of weak signal, all can effectively work is the characteristic of high sensitivity navigation neceiver.

Compare with existing product, adopt the receiver of Snapshot single-point location, possess better sensitivity index, and on positioning time and power consumption, possess advantage equally.But if this scheme is applied under the outdoor strong signal conditioning, owing to there is the contradiction between memory capacity and the sensitivity index, the location of acquisition mode is difficult to satisfy the index request of bearing accuracy.Therefore, the present invention propose to catch in the Snapshot single-point location receiver and real-time follow-up between the method switched.

Summary of the invention

In order to overcome above-mentioned weak point; Fundamental purpose of the present invention aims to provide a kind of navigation neceiver for auxiliary satellite navigation positioning system AGNSS part structure; Accomplish catching of signal through the snap trapping module in the baseband correlators circuit of navigation neceiver; The real-time follow-up module is accomplished the Continuous Tracking of signal; Catch/follow the tracks of synchronization module accomplish between catching and following the tracks of synchronously, under auxiliary mode, the high sensitivity navigation neceiver can realize more fast under indoor environment, location more accurately;

Another object of the present invention aim to provide catch in a kind of fast fearness Snapshot single-point location receiver and real-time follow-up between the method switched; Through three kinds of switch instances: catching under the strong signal conditioning switches to real-time follow-up; The tracking of strong signal switches to catching of weak signal; The losing of real-time follow-up signal recaptured and followed the tracks of, effectively satisfy the performance index of receiver under two kinds of signal conditionings, and realized the seamless switching under two kinds of signal conditionings simply, reliably.

The technical matters that the present invention will solve is: to the requirement of room area hi-Fix, mainly solve the whole hardware problem of implementation of high sensitivity satellite navigation receiver; Solve through whole hardware system and how to obtain the high-precision location ramification problem; Solve and exist memory-type to catch the switching problem of following the tracks of with continuous-flow type; Solve the crucial synchronous control technique problem of catching/following the tracks of synchronization module; Solve the handover information problem of catching baseband processing unit output in the snap trapping module; Solve and how to improve sensitivity index, realize more fast, relevant technologies problem such as location more accurately.

The technical solution adopted for the present invention to solve the technical problems is: this positioning system is made up of parts such as server, interface, antenna, receiver, radio circuit, constellation, communication network and computing machines; The transmitting terminal of said positioning system is through the receiving end of transmission of wireless signals to receiver; Said receiver is a part of structure of auxiliary satellite navigation positioning system AGNSS, and this auxiliary satellite navigation positioning system AGNSS comprises at least:

Satellite navigation and location system GNSS constellation, terminal receiving antenna, radio circuit, baseband correlators circuit, navigation data processing, location-server, reference receiver and reference receiver antenna, each device is combined as holistic positioning system; Radio circuit receives the satellite navigation signals from satellite navigation and location system GNSS constellation through the terminal receiving antenna, and reference receiver receives the satellite navigation signals from satellite navigation and location system GNSS constellation through the reference receiver antenna;

The output terminal of one radio circuit respectively simultaneously with the baseband correlators circuit in snap trapping module and the input end of real-time follow-up module be connected;

One baseband correlators circuit mainly by the snap trapping module, catch/follow the tracks of synchronization module and the real-time follow-up module is formed; Follow the tracks of at snap trapping module that memory-type is caught and continuous-flow type and to have added one between the real-time follow-up module and catch/follow the tracks of synchronization module, the input/output terminal that is used for the snap trapping module of signal capture is connected with the I/O of catching/following the tracks of synchronization module; Be used to catch with follow the tracks of between the input/output terminal of synchronous catching/follow the tracks of synchronization module be connected with the I/O of the real-time follow-up module that is used for the signal Continuous Tracking;

The input/output terminal of one navigation data processing module is divided into four the tunnel: the I/O of the snap trapping module in the first via and the baseband correlators circuit is connected; The second the tunnel with the baseband correlators circuit in the I/O of catching/following the tracks of synchronization module be connected; The I/O of the real-time follow-up module in Third Road and the baseband correlators circuit is connected; The four the tunnel is connected with the I/O of location-server;

The output terminal of one reference receiver is connected with the input end of location-server, and the input/output terminal of location-server is connected with the I/O of navigation data processing module.

The snap trapping module of described GPS high sensitivity navigation neceiver comprises: snap storage unit, clock counter, catch baseband processing unit and trapping module interface, wherein:

One road input end of snap storage unit is connected with the output terminal of radio circuit, and the output terminal on another road is connected with the input end of clock counter, and one tunnel input/output terminal is connected with the I/O of catching the baseband processing unit module again;

The output terminal of clock counter is connected with the input end of catching/following the tracks of synchronization module through count signal;

The input/output terminal of catching the baseband processing unit module is divided into three the tunnel: the first via is connected with the I/O of snap storage unit; The second tunnel transmission through the code phase parameter is connected with the I/O of catching/following the tracks of synchronization module; Third Road is connected with the I/O of trapping module interface;

The output terminal of trapping module interface is connected with the input end of navigation data processing module;

The snap storage unit is gathered the sampled data signal of radio circuit output, and when beginning to gather, clock counter begins counting, recording time information; Catching result that baseband processing unit will catch exports to navigation data through the trapping module interface and handles.

The real-time follow-up module of described GPS high sensitivity navigation neceiver comprises: follow the tracks of correlator passage and tracing channel interface, wherein:

The road input end of following the tracks of the correlator passage is connected with the output terminal of radio circuit, and the input/output terminal on another road is connected with the I/O of catching/following the tracks of synchronization module, and one tunnel input/output terminal is connected with the I/O of tracing channel interface again;

One road input/output terminal of tracing channel interface is connected with the I/O of following the tracks of the correlator passage, and the output terminal on another road is connected with the input end of navigation data processing module;

Catching/following the tracks of under the signal controlling of synchronization module, tracing channel startup work is handled in real time the sampled data signal of radio circuit output, and the result is exported to the navigation data processing section.

The synchronization module of catching/follow the tracks of of described GPS high sensitivity navigation neceiver comprises: time synchronized computing module and interface module, wherein:

One road input end of time synchronized computing module receives the counting Count signal from the time counter value of snap trapping module output; In addition, the input/output terminal of time synchronized computing module is divided into three the tunnel: the first via is connected with the I/O of Doppler frequency signal with the snap trapping module through the code phase that captures; The second the tunnel is connected with the I/O of interface module; Third Road is connected with the I/O of real-time follow-up module; The time synchronized computing module transmits processing to the time counter value counting Count of snap trapping module output with the code phase, the Doppler frequency signal that capture, under the control of navigation data processing module, starts the signal of real-time follow-up module;

One road input/output terminal of interface module is connected with the I/O of time synchronized computing module, and the output terminal on another road is connected with the input end of navigation data processing module.

A kind of indoor and outdoor seamless handover method of high sensitive receiver for global positioning system; This method through snap trapping module in the baseband correlators circuit, catch/follow the tracks of the combination of synchronization module and real-time follow-up module; Follow the tracks of at snap trapping module that memory-type is caught and continuous-flow type and to have added one between the real-time follow-up module and catch/follows the tracks of synchronization module, the technology of realization indoor and outdoor seamless switching; Through the result of calculation of time synchronized computing module, control real-time follow-up module startup work, a sign indicating number generator that makes it to follow the tracks of the correlator passage is started working from initial phase; Through the main handover information code phase signal of catching baseband processing unit output in the snap trapping module; Accomplish three kinds of switch instances of main A, B, C of receiver: catching under the strong signal conditioning switches to real-time follow-up; The tracking of strong signal switches to catching of weak signal and recaptures with losing of real-time follow-up signal and follow the tracks of, wherein:

A. catching of outdoor strong signal switches to real-time follow-up: adopt the high sensitive receiver of snapshot acquisition mode, the outdoor strong satellite-signal of initial acquisition is also sent into tracking loop, accomplishes the time relativity of snapshot acquisition mode and tracking loop; Through catching/follow the tracks of the time synchronized computing module of synchronization module,, calculate and switch required temporal information according to value and the code phase and the Doppler frequency information of catching baseband processing unit output of clock counter;

The concrete job step that switches to method for real time tracking of catching of this strong signal is:

Step 1. snap storage unit image data, clock counter begins to count A

Step 2. is caught the baseband processing unit A that under strong aspect, works

Execute snap storage unit image data, after clock counter begins to count the A module, then get into and catch the baseband processing unit A module of under strong aspect, working;

Step 3. judges whether to capture signal A

Execute and catch baseband processing unit after the A module of working under the strong aspect, then get into and judge whether to capture signal A module,, then get into and judge whether signal intensity satisfies real-time follow-up A module if capture signal; If do not capture signal, then feedback gets into and to catch the baseband processing unit A module of under strong aspect, working;

Step 4. judges whether signal intensity satisfies real-time follow-up A

If signal intensity is to satisfy real-time follow-up; Then get into the time synchronized computing module work of catching/following the tracks of synchronization module; This time synchronized computing module calculates and switches required temporal information according to the value and the code phase and the Doppler frequency information of catching baseband processing unit output of clock counter;

Follow the tracks of when full if signal intensity is discontented, then feedback gets into and catches the baseband processing unit A module of under strong aspect, working;

Step 5. time synchronized computing module control real-time follow-up module startup work

After executing the time synchronized computing module operational module of catching/following the tracks of synchronization module; Then entry time is calculated module controls real-time follow-up module startup work synchronously; Result of calculation according to the time synchronized computing module; Control real-time follow-up module startup work is followed the tracks of the sign indicating number generator of correlator passage and is started working from initial phase;

Step 6. is accomplished the switching that captures tracking

After executing time synchronized computing module control real-time follow-up module startup operational module, then get into and accomplish the handover module that captures tracking;

B. the tracking of strong signal switches to catching of weak signal: through catching/follow the tracks of the synchronous control technique of synchronization module; Catch baseband processing unit when the real-time follow-up module is extracted pseudo range observed quantity and start the snap storage unit, gather the data of catching passage under the weak signal acquisition mode; Navigation data is handled this observed quantity wait constantly of buffer memory and is caught the output result of passage simultaneously; The snap trapping module is exported the result that catches under the weak signal mode; Under the help of the supplementary that location-server provides, navigation data is handled and will be caught the result and constitute the navigation calculation equation with the observed quantity of the real-time follow-up module of buffer memory, accomplishes positioning calculation;

The concrete job step that the tracking of this strong signal switches to the catching method of weak signal is:

Step 1. snap storage unit image data, clock counter begins to count B

Step 2. is caught the baseband processing unit B that under strong aspect, works

Execute snap storage unit image data, after clock counter begins to count the B module, then get into and catch the baseband processing unit B module of under strong aspect, working;

Step 3. judges whether to capture signal B

Execute and catch baseband processing unit after the B module of working under the strong aspect, then get into and judge whether to capture signal B module,, then get into and judge whether signal intensity satisfies real-time follow-up B module if capture signal; If do not capture signal, then feedback gets into and to catch the baseband processing unit B module of under strong aspect, working;

Step 4. judges whether signal intensity satisfies real-time follow-up B

If signal intensity is to satisfy real-time follow-up, then get into and catch/follow the tracks of synchronization module control real-time follow-up module, switch to strong satellite-signal and follow the tracks of;

Follow the tracks of when full if signal intensity is discontented, then feedback gets into and catches the baseband processing unit B module of under strong aspect, working;

Step 5. judges whether the number of satellite of real-time follow-up signal satisfies condition

Execute and catch/follow the tracks of synchronization module control real-time follow-up module; After switching to strong satellite-signal tracking module; Then get into the number of satellite judge the real-time follow-up signal module that whether satisfies condition; If the number of satellite of real-time follow-up signal is to satisfy condition, then gets into navigation data and handle to position and resolve module;

If the number of satellite of real-time follow-up signal does not satisfy condition, then get into and catch/follow the tracks of synchronization module startup snap storage unit, and synchronization acquistion and tracing channel module;

Step 6. navigation data is handled to position and is resolved

Navigation data is handled and the continuous working of real-time follow-up module, up to end;

Step 7. is caught/is followed the tracks of synchronization module and starts the snap storage unit, and synchronization acquistion and tracing channel

Catching/follow the tracks of synchronization module controls as follows: catch baseband processing unit when the real-time follow-up module is extracted pseudo range observed quantity and start the snap storage unit, gather the data of catching passage under the weak signal acquisition mode; Navigation data is handled this observed quantity wait constantly of buffer memory and is caught the output result of passage simultaneously;

Step 8. judges whether to capture weak signal

Execute and catch/follow the tracks of synchronization module startup snap storage unit; And after synchronization acquistion and the tracing channel module; Then get into judgement and do not capture the weak signal module,, then get into the object module of catching under the snap trapping module output weak signal mode if capture weak signal;

If do not capture weak signal, then get into and finish module;

Step 9. navigation data is handled according to the tracking observation amount of catching result and buffer memory and is carried out navigation calculation

Execute under the snap trapping module output weak signal mode catch object module after, then get into navigation data and handle according to the tracking observation amount of catching result and buffer memory and carry out the navigation calculation module;

Catch the result under the snap trapping module output weak signal mode, under the help of the supplementary that location-server provides, navigation data is handled and will be caught the result and constitute the navigation calculation equation with the observed quantity of the real-time follow-up module of buffer memory, accomplishes positioning calculation;

Step 10. finishes

Execute navigation data handle carry out the navigation calculation module according to the tracking observation amount of catching result and buffer memory after, then get into the end module.

C. the catching again and following the tracks of of real-time follow-up signal: be with above two kinds of duties that situation combines; It mainly is the signal of losing to following the tracks of; Realize again after catching rapidly following the tracks of; Again acquisition procedure makes full use of the parameter in real-time follow-up stage, and the real-time follow-up module is through catching/follow the tracks of synchronization module, the code phase of tracking mode and Doppler frequency information is passed to catch baseband processing unit; Catch baseband processing unit and realize catching rapidly, and give the real-time follow-up module it switching; If catch actual effect again, the tracking that then can get into strong signal switches to the situation of catching of weak signal, realizes catching of weak signal, and combines tracking signal to position to resolve;

The concrete job step of catching again with tracking of this real-time follow-up signal is:

Step 1. real-time follow-up module one passage satellite-signal loses tracking

Step 2. navigation data is handled and is judged whether and need catch again

Execute after real-time follow-up module one passage satellite-signal loses tracking module; Then get into the navigation data processing and judge whether trapping module again; If it is to catch again that navigation data is handled, then gets into the real-time follow-up module and transmit parameter to catching the baseband processing unit module;

Do not need to catch again if navigation data is handled, then get into the real-time follow-up module and abandon this channel signal module;

Step 3. real-time follow-up module is transmitted parameter to catching the baseband processing unit module

The real-time follow-up module is through catching/follow the tracks of synchronization module, the code phase of tracking mode and Doppler frequency information passed to catch baseband processing unit;

Step 4. snap storage unit image data, clock counter begins to count C

Step 5. is caught the baseband processing unit C that under strong aspect, works

Execute snap storage unit image data, after clock counter begins to count the C module, then get into and catch the baseband processing unit C module of under strong aspect, working;

Step 6. judges whether to capture signal C

Execute and catch baseband processing unit after the C module of working under the strong aspect, then get into and judge whether to capture signal C module,, then get into and judge whether signal intensity satisfies real-time follow-up C module if capture signal;

If do not capture signal, then getting into and catching passage work is weak signal acquisition mode module;

Step 7. judges whether signal intensity satisfies real-time follow-up C

If signal intensity is to satisfy real-time follow-up, then gets into the real-time follow-up module and switch to strong satellite-signal tracking;

Follow the tracks of when full if signal intensity is discontented, then getting into and catching passage work is weak signal acquisition mode module;

It is the weak signal acquisition mode that step 8. is caught passage work

Execute and catch after passage work is weak signal acquisition mode module, then get into and finish module;

Step 9. real-time follow-up module switches to strong satellite-signal and follows the tracks of

Execute after the real-time follow-up module switches to strong satellite-signal tracking module, then get into to accomplish and catch again and the real-time follow-up module;

Step 10. real-time follow-up module is abandoned this channel signal

Catch/follow the tracks of the time synchronized computing module of synchronization module, calculate with code phase of catching baseband processing unit output and Doppler frequency information according to the value of clock counter and switch required temporal information; And according to the result of calculation of time synchronized computing module, control real-time follow-up module startup work is followed the tracks of the sign indicating number generator of correlator passage and is started working from initial phase;

Execute after the real-time follow-up module abandons this channel signal module, then get into and finish module;

Step 11. is accomplished and is caught again and real-time follow-up

Execute that completion is caught again and the real-time follow-up module after, then get into to finish (3051) module;

Step 12. finishes

Whole process finishes.

The indoor and outdoor seamless handover method of described high sensitive receiver for global positioning system, the time synchronized computing module computing method of catching/following the tracks of synchronization module wherein as shown in the formula:

$\mathrm{Time}\_\mathrm{Phase}\_\mathrm{Shift}=\mathrm{Count}+\mathrm{CodeShift}+\mathrm{SystemShift}+\frac{\mathrm{Freq}\_\mathrm{doppler}}{\mathrm{Carrier}\_\mathrm{Freq}}\×\mathrm{SamplingFreq}\×\mathrm{Interval}\_\mathrm{Time}$

In the formula: the time/phase pushing figure of Time_Phase_Shift for finding the solution;

Count is the output valve of clock counter;

CodeShift is the code phase of catching;

SystemShift is the system handles mistiming;

Freq_doppler is the doppler frequency values;

Carrier_Freq is a carrier frequency;

SamplingFreq is a signal sampling rate;

Interval_Time catches the interval time that switches to tracking

The code phase of the indoor and outdoor seamless handover method of described high sensitive receiver for global positioning system is to catch the spike of output to the distance between the starting point; In conjunction with the value of the clock counter signal of code phase time information corresponding therewith, calculate the phase deviation between input signal and the local reconstruction signal.

The invention has the beneficial effects as follows: to the characteristics of utilizing satellite navigation signals to position in the indoor environment; Designed the navigation neceiver of auxiliary satellite navigation positioning system AGNSS part structure; Under auxiliary mode, the high sensitivity navigation neceiver can be realized more fast under indoor environment, locate more accurately; Solve memory-type and caught the switching problem of following the tracks of with continuous-flow type; The synchronous control technique problem of catching/following the tracks of synchronization module with key; Switch to real-time follow-up through catching under the strong signal conditioning; The tracking of strong signal switches to the three kinds of changing methods recapturing and follow the tracks of with losing of real-time follow-up signal of catching of weak signal; Accomplish catch in the fast Snapshot of the fearness single-point location receiver and real-time follow-up between the switching carried out; The navigation neceiver that is designed can be handled satellite-signal faint in the indoor environment; Improve terminal user's sensitivity index, and can effectively satisfy the performance index of receiver under two kinds of signal conditionings, and realized the seamless switching under two kinds of signal conditionings simply, reliably.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention is further specified.

Accompanying drawing 1 is the auxiliary satellite navigation AGNSS of system structural representation of the present invention;

Accompanying drawing 2 is snap trapping module structure block diagram of the present invention;

Accompanying drawing 3 is real-time follow-up modular structure block diagram of the present invention;

Synchronization module structure block diagram is caught/followed the tracks of to accompanying drawing 4 for the present invention;

The code phase information synoptic diagram that accompanying drawing 5 is caught for the present invention;

Accompanying drawing 6 switches to real-time follow-up process blocks synoptic diagram for catching of the strong signal of the present invention;

Accompanying drawing 7 switches to catching of weak signal and accomplishes the flow process block diagram that resolves for the tracking of the strong signal of the present invention;

Accompanying drawing 8 is the flow process block diagram of catching again and following the tracks of of real-time follow-up signal of the present invention;

Label declaration in the accompanying drawing:

1-terminal receiving antenna;

The 2-radio circuit;

3-baseband correlators circuit; 31-snap trapping module;

The 4-navigation data is handled; 32-catches/follows the tracks of synchronization module;

The 5-location-server; 33-real-time follow-up module;

The 6-reference receiver; 311-snap storage unit;

7-reference receiver antenna; The 312-clock counter;

8-satellite navigation and location system GNSS constellation; 313-catches baseband processing unit;

331-follows the tracks of the correlator passage; 314-trapping module interface;

332-tracing channel interface; 321-time synchronized computing module;

The 3131-code phase; The 322-interface module;

The 322-interface module;

3010-snap storage unit (311) image data, clock counter (312) begins to count A;

3011-catches baseband processing unit (313) A that under strong aspect, works;

Whether 3012-captures signal A;

Whether the 3013-signal intensity satisfies real-time follow-up A;

3014-catches/follows the tracks of time synchronized computing module (321) work of synchronization module (32);

The startup work of 3015-time synchronized computing module (321) control real-time follow-up module (33);

3016-accomplishes the switching that captures tracking;

3020-snap storage unit (311) image data, clock counter (312) begins to count B;

3021-catches baseband processing unit (313) B (3021) that under strong aspect, works;

Whether 3022-captures signal B;

Whether the 3023-signal intensity satisfies real-time follow-up B;

3024-catches/follows the tracks of synchronization module (32) control real-time follow-up module (33), switches to strong satellite-signal and follows the tracks of;

Whether the number of satellite of 3025-real-time follow-up signal satisfies condition;

3026-navigation data processing (4) positions resolves;

3027-catches/follows the tracks of synchronization module (32) and starts snap storage unit (311), and synchronization acquistion and tracing channel;

Whether 3028-captures weak signal;

3029-snap trapping module (31) is exported the result that catches under the weak signal mode;

The 3030-navigation data is handled (4) and is carried out navigation calculation according to the tracking observation amount of catching result and buffer memory;

3031-finishes;

3040-real-time follow-up module (33) one passage satellite-signals lose tracking;

The 3041-navigation data is handled (4) and is judged whether and need catch again;

3042-real-time follow-up module (33) is abandoned this channel signal;

3043-real-time follow-up module (33) is transmitted parameter to catching baseband processing unit (313) module;

3044-snap storage unit (311) image data, clock counter (312) begins to count C;

3045-catches baseband processing unit (313) C that under strong aspect, works;

Whether 3046-captures signal C;

Whether the 3047-signal intensity satisfies real-time follow-up C;

It is the weak signal acquisition mode that 3048-catches passage work;

3049-real-time follow-up module (33) switches to strong satellite-signal and follows the tracks of;

3050-accomplishes and catches again and real-time follow-up;

3051-finishes;

Embodiment

See also accompanying drawing 1,2,3,4,5,6,7, shown in 8; Positioning system of the present invention is made up of parts such as server, interface, antenna, receiver, radio circuit, constellation, communication network and computing machines; The transmitting terminal of said positioning system is through the receiving end of transmission of wireless signals to receiver; Said receiver is a part of structure of auxiliary satellite navigation positioning system AGNSS (AssistedGlobal Navigation Satellite System), and this auxiliary satellite navigation positioning system AGNSS comprises at least:

Satellite navigation and location system GNSS constellation 8, terminal receiving antenna 1, radio circuit 2, baseband correlators circuit 3, navigation data processing 4, location-server 5, reference receiver 6 and reference receiver antenna 7, each device is combined as holistic positioning system; The satellite navigation signals that radio circuit 2 receives from satellite navigation and location system GNSS constellation 1 through terminal receiving antenna 1, the satellite navigation signals that reference receiver 6 receives from satellite navigation and location system GNSS constellation 1 through reference receiver antenna 7;

The output terminal of one radio circuit 2 respectively simultaneously with baseband correlators circuit 3 in snap trapping module 31 and the input end of real-time follow-up module 33 be connected;

One baseband correlators circuit 3 mainly by snap trapping module 31, catch/follow the tracks of synchronization module 32 and real-time follow-up module 33 is formed; Follow the tracks of at snap trapping module 31 that memory-type is caught and continuous-flow type and to have added one between the real-time follow-up module 33 and catch/follow the tracks of synchronization module 32, the input/output terminal that is used for the snap trapping module 31 of signal capture is connected with the I/O of catching/following the tracks of synchronization module 32; Be used to catch with follow the tracks of between the input/output terminal of synchronous catching/follow the tracks of synchronization module 32 be connected with the I/O of the real-time follow-up module 33 that is used for the signal Continuous Tracking;

The input/output terminal that one navigation data is handled 4 modules is divided into four the tunnel: the I/O of the snap trapping module 31 in the first via and the baseband correlators circuit 3 is connected; The second the tunnel with baseband correlators circuit 3 in the I/O of catching/following the tracks of synchronization module 32 be connected; The I/O of the real-time follow-up module 33 in Third Road and the baseband correlators circuit 3 is connected; The four the tunnel is connected with the I/O of location-server 5;

The output terminal of one reference receiver 6 is connected with the input end of location-server 5, and the input/output terminal of location-server 5 is connected with the I/O that navigation data is handled 4 modules.

See also shown in the accompanying drawing 2, the snap trapping module 31 of described GPS high sensitivity navigation neceiver comprises: snap storage unit 311, clock counter 312, catch baseband processing unit 313 and trapping module interface 314, wherein:

One road input end of snap storage unit 311 is connected with the output terminal of radio circuit 2; The output terminal on another road is connected with the input end of clock counter 312, and one tunnel input/output terminal is connected with the I/O of catching baseband processing unit 313 modules again;

The output terminal of clock counter 312 is connected with the input end of catching/following the tracks of synchronization module 32 through count signal;

The input/output terminal of catching baseband processing unit 313 modules is divided into three the tunnel: the first via is connected with the I/O of snap storage unit 311; The second tunnel transmission through code phase 3131 parameters is connected with the I/O of catching/following the tracks of synchronization module 32; Third Road is connected with the I/O of trapping module interface 314;

The output terminal of trapping module interface 314 is connected with the input end that navigation data is handled 4 modules;

Snap storage unit 311 is gathered the sampled data signal of radio circuit 2 outputs, and when beginning to gather, clock counter 312 begins counting, recording time information; Catching result that baseband processing unit 313 will catch exports to navigation data through trapping module interface 314 and handles 4.

See also shown in the accompanying drawing 3, the real-time follow-up module 33 of described GPS high sensitivity navigation neceiver comprises: follow the tracks of correlator passage 331 and tracing channel interface 332, wherein:

The road input end of following the tracks of correlator passage 331 is connected with the output terminal of radio circuit 2; The input/output terminal on another road is connected with the I/O of catching/following the tracks of synchronization module 32, and one tunnel input/output terminal is connected with the I/O of tracing channel interface 332 again;

One road input/output terminal of tracing channel interface 332 is connected with the I/O of following the tracks of correlator passage 331, and the output terminal on another road is connected with the input end that navigation data is handled 4 modules;

Catching/following the tracks of under the signal controlling of synchronization module 32, tracing channel startup work is handled in real time the sampled data signal of radio circuit 2 outputs, and the result is exported to navigation data handle 4 parts.

See also shown in the accompanying drawing 4, the synchronization module 32 of catching/follow the tracks of of described GPS high sensitivity navigation neceiver comprises: time synchronized computing module 321 and interface module 322, wherein:

One road input end of time synchronized computing module 321 receives the counting Count signal from the time counter value of snap trapping module 31 outputs; In addition, the input/output terminal of time synchronized computing module 321 is divided into three the tunnel: the first via is connected with the I/O of snap trapping module 31 with Doppler Doppler frequency signal through the code phase that captures; The second the tunnel is connected with the I/O of interface module 322; Third Road is connected with the I/O of real-time follow-up module 33; The time counter value counting Count of 321 pairs of snap trapping modules of time synchronized computing module, 31 outputs transmits processing with the code phase, the Doppler Doppler frequency signal that capture; Handle at navigation data under the control of 4 modules, start the signal of real-time follow-up module 33;

One road input/output terminal of interface module 322 is connected with the I/O of time synchronized computing module 321, and the output terminal on another road is connected with the input end that navigation data is handled 4 modules.

See also accompanying drawing 1,2,3,4,5,6,7, shown in 8; A kind of indoor and outdoor seamless handover method of high sensitive receiver for global positioning system; It is characterized in that: this method through snap trapping module 31 in the baseband correlators circuit 3, catch/follow the tracks of the combination of synchronization module 32 and real-time follow-up module 33; Follow the tracks of at snap trapping module 31 that memory-type is caught and continuous-flow type and to have added one between the real-time follow-up module 33 and catch/follows the tracks of synchronization module 32, the technology of realization indoor and outdoor seamless switching; Through the result of calculation of time synchronized computing module 321, the 33 startup work of control real-time follow-up module, a sign indicating number generator that makes it to follow the tracks of correlator passage 331 is started working from initial phase; Through main handover information code phase 3131 signals of catching baseband processing unit 313 outputs in the snap trapping module 31; Accomplish three kinds of switch instances of main A, B, C of receiver: catching under the strong signal conditioning switches to real-time follow-up; The tracking of strong signal switches to catching of weak signal and recaptures with losing of real-time follow-up signal and follow the tracks of, wherein:

A. catching of outdoor strong signal switches to real-time follow-up: adopt the high sensitive receiver of snapshot acquisition mode, the outdoor strong satellite-signal of initial acquisition is also sent into tracking loop, accomplishes the time relativity of snapshot acquisition mode and tracking loop; Through catching/follow the tracks of the time synchronized computing module 321 of synchronization module 32, value and the code phase 3131 and Doppler frequency information of catching baseband processing unit 313 outputs according to clock counter 312 calculate and switch required temporal information;

The concrete job step that switches to method for real time tracking of catching of this strong signal is:

Step 1. snap storage unit 311 image data, clock counter 312 begins to count A 3010

Step 2. is caught baseband processing unit 313 A 3011 that under strong aspect, works

Execute snap storage unit 311 image data, after clock counter 312 begins to count the A3010 module, then get into and catch the baseband processing unit 313 A3011 module of under strong aspect, working;

Step 3. judges whether to capture signal A3012

Execute and catch baseband processing unit 313 after the A3011 module of working under the strong aspect, then get into and judge whether to capture signal A3012 module,, then get into and judge whether signal intensity satisfies real-time follow-up A3013 module if capture signal; If do not capture signal, then feedback gets into and to catch the baseband processing unit 313 A3011 module of under strong aspect, working;

Step 4. judges whether signal intensity satisfies real-time follow-up A 3013

If signal intensity is to satisfy real-time follow-up; Then get into time synchronized computing module 321 work 3014 of catching/following the tracks of synchronization module 32; This time synchronized computing module 321 calculates and switches required temporal information according to the value and the code phase 3131 and Doppler frequency information of catching baseband processing unit 313 outputs of clock counter 312;

Follow the tracks of when full if signal intensity is discontented, then feedback gets into and catches the baseband processing unit 313 A3011 module of under strong aspect, working;

The 33 startup work 3015 of step 5. time synchronized computing module 321 control real-time follow-up modules

After executing time synchronized computing module 321 work 3014 modules of catching/following the tracks of synchronization module 32; The then synchronous computing module 321 control real-time follow-up modules of entry time 33 startup work 3015; Result of calculation according to time synchronized computing module 321; The 33 startup work of control real-time follow-up module are followed the tracks of the sign indicating number generator of correlator passage 331 and are started working from initial phase;

Step 6. is accomplished the switching 3016 that captures tracking

After executing time synchronized computing module 321 control real-time follow-up modules 33 startup work 3015 modules, then get into and accomplish switching 3016 modules that capture tracking;

B. the tracking of strong signal switches to catching of weak signal: through catching/follow the tracks of the synchronous control technique of synchronization module 32; Catch baseband processing unit 313 when real-time follow-up module 33 is extracted pseudo range observed quantity and start snap storage unit 311, gather the data of catching passage under the weak signal acquisition mode; Navigation data is handled this observed quantity wait constantly of 4 buffer memorys and is caught the output result of passage simultaneously; Snap trapping module 31 is exported the result that catches under the weak signal modes; Under the help of the supplementary that location-server 5 provides, navigation data is handled 4 and will be caught the result and constitute the navigation calculation equation with the observed quantity of the real-time follow-up module 33 of buffer memory, accomplishes positioning calculation;

The concrete job step that the tracking of this strong signal switches to the catching method of weak signal is:

Step 1. snap storage unit 311 image data, clock counter 312 begins to count B 3020

Step 2. is caught baseband processing unit 313 B 3021 that under strong aspect, works

Execute snap storage unit 311 image data, after clock counter 312 begins to count the B3020 module, then get into and catch the baseband processing unit 313 B3021 module of under strong aspect, working;

Step 3. judges whether to capture signal B 3022

Execute and catch baseband processing unit 313 after the B3021 module of working under the strong aspect, then get into and judge whether to capture signal B3022 module,, then get into and judge whether signal intensity satisfies real-time follow-up B3023 module if capture signal; If do not capture signal, then feedback gets into and to catch the baseband processing unit 313 B3021 module of under strong aspect, working;

Step 4. judges whether signal intensity satisfies real-time follow-up B 3023

If signal intensity is to satisfy real-time follow-up, then get into and catch/follow the tracks of synchronization module 32 control real-time follow-up modules 33, switch to strong satellite-signal and follow the tracks of 3024;

Follow the tracks of when full if signal intensity is discontented, then feedback gets into and catches baseband processing unit 313 B 3021 modules of under strong aspect, working;

Step 5. judges whether the number of satellite of real-time follow-up signal satisfies condition 3025

Execute and catch/follow the tracks of synchronization module 32 control real-time follow-up modules 33; After switching to strong satellite-signal and following the tracks of 3024 modules; Then get into the number of satellite judge the real-time follow-up signal 3025 modules that whether satisfy condition; If the number of satellite of real-time follow-up signal is to satisfy condition, then gets into navigation data and handle 4 and position and resolve 3026 modules;

If the number of satellite of real-time follow-up signal does not satisfy condition, then get into and catch/follow the tracks of synchronization module 32 startup snap storage unit 311, and synchronization acquistion and tracing channel 3027 modules;

Step 6. navigation data processing 4 positions resolves 3026

Navigation data processing 4 and 33 continuous workings of real-time follow-up module are up to end;

Step 7. is caught/is followed the tracks of synchronization module 32 and starts snap storage unit 311, and synchronization acquistion and tracing channel 3027

Catching/follow the tracks of synchronization module 32 controls as follows: catch baseband processing unit 313 when real-time follow-up module 33 is extracted pseudo range observed quantity and start snap storage unit 311, gather the data of catching passage under the weak signal acquisition mode; Navigation data is handled this observed quantity wait constantly of 4 buffer memorys and is caught the output result of passage simultaneously;

Step 8. judges whether to capture weak signal 3028

Execute and catch/follow the tracks of synchronization module 32 startup snap storage unit 311; And after synchronization acquistion and tracing channel 3027 modules; Then get into judgement and do not capture weak signal 3028 modules; If capture weak signal, then get into and catch result's 3029 modules under the snap trapping module 31 output weak signal modes;

If do not capture weak signal, then get into and finish 3031 modules;

Step 9. navigation data processing 4 bases are caught the tracking observation amount of result and buffer memory and are carried out navigation calculation 3030

Execute under the snap trapping module 31 output weak signal modes catch result's 3029 modules after, then get into navigation data and handle 4 and carry out navigation calculation 3030 modules according to the tracking observation amount of catching result and buffer memory;

Snap trapping module 31 is exported the result that catches under the weak signal modes; Under the help of the supplementary that location-server 5 provides; Navigation data is handled 4 and will be caught the result and constitute the navigation calculation equation with the observed quantity of the real-time follow-up module 33 of buffer memory, accomplishes positioning calculation;

Step 10. finishes 3031

Execute navigation data handle 4 carry out navigation calculation 3030 modules according to the tracking observation amount of catching result and buffer memory after, then get into end 3031 modules.

C. the catching again and following the tracks of of real-time follow-up signal: be with above two kinds of duties that situation combines; It mainly is the signal of losing to following the tracks of; Realize again after catching rapidly following the tracks of; Again acquisition procedure makes full use of the parameter in real-time follow-up stage, and real-time follow-up module 33 is through catching/follow the tracks of synchronization module 32, the code phase 3131 and the Doppler frequency information of tracking mode is passed to catch baseband processing unit 313; Catch baseband processing unit 313 and realize catching rapidly, and give real-time follow-up module 33 it switching; If catch actual effect again, the tracking that then can get into strong signal switches to the situation of catching of weak signal, realizes catching of weak signal, and combines tracking signal to position to resolve;

The concrete job step of catching again with tracking of this real-time follow-up signal is:

Step 1. real-time follow-up module 33 1 passage satellite-signals lose follows the tracks of 3040

Step 2. navigation data is handled 4 and is judged whether and need catch 3041 again

Execute real-time follow-up module 33 1 passage satellite-signals lose follow the tracks of 3040 modules after; Then getting into navigation data processing 4 judges whether to catch 3041 modules again; If it is to catch again that navigation data handles 4, then gets into real-time follow-up module 33 and transmit parameter to catching baseband processing unit 313 modules 3043;

Do not need to catch again if navigation data handles 4, then get into real-time follow-up module 33 and abandon this channel signal 3042 modules;

Step 3. real-time follow-up module 33 is transmitted parameter to catching baseband processing unit 313 modules 3043

Real-time follow-up module 33 is through catching/follow the tracks of synchronization module 32, the code phase 3131 and the Doppler frequency information of tracking mode passed to catch baseband processing unit 313;

Step 4. snap storage unit 311 image data, clock counter 312 begins to count C 3044

Step 5. is caught baseband processing unit 313 C3045 that under strong aspect, works

Execute snap storage unit 311 image data, after clock counter 312 begins to count the C3044 module, then get into and catch the baseband processing unit 313 C3045 module of under strong aspect, working;

Step 6. judges whether to capture signal C 3046

Execute and catch baseband processing unit 313 after the C3045 module of working under the strong aspect, then get into and judge whether to capture signal C3046 module,, then get into and judge whether signal intensity satisfies real-time follow-up C3047 module if capture signal;

If do not capture signal, then getting into and catching passage work is weak signal acquisition mode 3048 modules;

Step 7. judges whether signal intensity satisfies real-time follow-up C 3047

If signal intensity is to satisfy real-time follow-up, then gets into real-time follow-up module 33 and switch to strong satellite-signal tracking 3049;

Follow the tracks of when full if signal intensity is discontented, then getting into and catching passage work is weak signal acquisition mode 3048 modules;

It is weak signal acquisition mode 3048 that step 8. is caught passage work

Execute and catch after passage work is weak signal acquisition mode 3048 modules, then get into and finish 3051 modules;

Step 9. real-time follow-up module 33 switches to strong satellite-signal and follows the tracks of 3049

Execute after real-time follow-up module 33 switches to strong satellite-signal and follow the tracks of 3049 modules, then get into to accomplish and catch again and real-time follow-up 3050 modules;

Step 10. real-time follow-up module 33 is abandoned this channel signal 3042

Catch/follow the tracks of the time synchronized computing module 321 of synchronization module 32, calculate with code phase 3131 of catching baseband processing unit 313 outputs and Doppler frequency information according to the value of clock counter 312 and switch required temporal information; And according to the result of calculation of time synchronized computing module 321, the 33 startup work of control real-time follow-up module are followed the tracks of the sign indicating number generator of correlator passage 331 and are started working from initial phase;

Execute after real-time follow-up module 33 abandons these channel signal 3042 modules, then get into and finish 3051 modules;

Step 11. is accomplished and is caught again and real-time follow-up 3050

Execute that completion is caught again and real-time follow-up 3050 modules after, then get into to finish 3051 modules;

Step 12. finishes 3051

Whole process finishes.

The computing method of the time synchronized computing module 321 of catching/following the tracks of synchronization module 32 of the indoor and outdoor seamless handover method of described high sensitive receiver for global positioning system, these time synchronized computing module 321 computing method of catching/following the tracks of synchronization module 32 as shown in the formula:

$\mathrm{Time}\_\mathrm{Phase}\_\mathrm{Shift}=\mathrm{Count}+\mathrm{CodeShift}+\mathrm{SystemShift}+\frac{\mathrm{Freq}\_\mathrm{doppler}}{\mathrm{Carrier}\_\mathrm{Freq}}\×\mathrm{SamplingFreq}\×\mathrm{Interval}\_\mathrm{Time}$

In the formula: the time/phase pushing figure of Time_Phase_Shift for finding the solution;

Count is the output valve of clock counter 312;

CodeShift is the code phase 3131 of catching;

SystemShift is the system handles mistiming;

Freq_doppler is the doppler frequency values;

Carrier_Freq is a carrier frequency;

SamplingFreq is a signal sampling rate;

Interval_Time catches the interval time that switches to tracking.

See also shown in the accompanying drawing 5; The indoor and outdoor seamless handover method of described high sensitive receiver for global positioning system; It is characterized in that: described code phase 3131 for the spike of catching output to the distance between the starting point; In conjunction with the value of clock counter 312 signal of code phase 3131 time information corresponding therewith, calculate the phase deviation between input signal and the local reconstruction signal.

System of the present invention forms and principle of work:

High sensitivity navigation neceiver of the present invention is the part of auxiliary satellite navigation positioning system (AGNSS).The global design scheme of AGNSS comprises satellite constellation 8, terminal receiving antenna 1, radio circuit 2, baseband correlators circuit 3 shown in accompanying drawing 1, navigation data processing 4, location-server 5, reference receiver 6 and reference receiver antenna 7.Satellite navigation signals is through the radio circuit 2 of terminal receiver antenna 1 entering receiver, and input signal is by after suitable amplification, the filtering, and with desired frequency output, A/D converter is sent into above-mentioned analog signal digital baseband correlators circuit 3 and handled.Assisting down of location-server 5, navigation data is handled 4 and is accomplished navigation calculations, and under the autonomous positioning situation, navigation data processing 4 also can break away from location-server 5 and work independently.Snap trapping module 31 in the baseband correlators circuit 3 of navigation neceiver is accomplished catching of signals, and real-time follow-up module 33 is accomplished the Continuous Tracking of signals, catches/follows the tracks of synchronization module 32 and accomplish synchronous between catching and following the tracks of.Navigation data is handled 4 and is extracted the required pseudorange in location, the information such as data of modulation according to the observed reading of baseband correlators circuit 3, possesses the ability of obtaining and resolve the supplementary that location-server 5 provides simultaneously.Under auxiliary mode, the high sensitivity navigation neceiver can be realized more fast under indoor environment, locate more accurately.Under autonomous mode, terminal receiving antenna 1, radio circuit 2, baseband correlators circuit 3 can combine with navigation data processing 4 and work alone, and the method that the present invention proposes is suitable equally.

Baseband correlators circuit 3 parts are cores of high sensitivity satellite navigation receiver; The present invention adopts the Snapshot positioning principle to carry out catching of feeble signal; Described like U.S. Pat 6707422; The navigation signal sampled data of A/D converter output is stored in the memory, is convenient to the complex calculation of rear end correlator.Because catching of weak satellite signal is very consuming time; And be the relevant accumulation work of repetition basically; Therefore the acquisition algorithm of this Snapshot mode can highly effectively reduce to save positioning time power consumption, also is convenient to FFT parallel capture The Application of Technology simultaneously.

Shown in accompanying drawing 2, snap trapping module 31 has snap storage unit 311, catches baseband processing unit 313, and trapping module interface 314 and clock counter 312 are formed.Snap storage unit 311 is gathered the sampled data of radio circuit 2 outputs, and when beginning to gather, clock counter 312 begins counting, recording time information.Catching result that baseband processing unit 313 will catch exports to navigation data through trapping module interface 314 and handles 4.

In order to weigh the contradiction between Snapshot single-point location memory space and sensitivity index and the computing scale; Must reduce the signals sampling rate; This certainly will bring the loss of bearing accuracy, and therefore, receiver is under the situation of outdoor location; In order to satisfy accuracy requirement, need the tracking satellite signal of continuous-flow type.Shown in accompanying drawing 3, real-time follow-up module 33 is made up of tracking correlator passage 331, tracing channel interface 332.Catching/following the tracks of under the control of synchronization module 32, tracing channel startup work is carried out real-time processing to the sampled data of radio circuit 2 outputs, and the result is exported to navigation data handle 4 parts.

This scheme exists memory-type to catch the switching problem of following the tracks of with continuous-flow type, and the principal character of the receiver that the present invention proposes satisfies this demand exactly, and between has added special catching/follow the tracks of synchronization module (32).Shown in accompanying drawing 4, catch/follow the tracks of synchronization module 32 and form by time synchronized computing module 321, interface module 322.The time counter value Count of 321 pairs of snap trapping modules of time synchronized computing module wherein, 31 outputs handles with the code phase, the Doppler frequency that capture, under the control of navigation data processing 4, starts the work of real-time follow-up module 33.

The code phase 3131 of catching baseband processing unit 313 outputs in the snap trapping module 31 is major parts of handover information.Because the navigation signal of GPS is formed with the spreading code form; One of them cycle is shown in accompanying drawing 5; The spike of catching output is the phase deviation between input signal and the local reconstruction signal to the distance map between the starting point; In conjunction with the value of clock counter 312 code phase 3131 time information corresponding therewith, can find the spreading code prima facies site of acquired signal in the snap storage unit 311.

Described receiver three kinds of switch instances are arranged:

1. catching of outdoor strong signal switches to real-time follow-up

For the high sensitive receiver that adopts the snapshot acquisition mode, the outdoor strong satellite-signal of initial acquisition is also sent into tracking loop, must handle the time relativity of snapshot acquisition mode and tracking loop well.For guarantee tracking signal and storage signal extract measured value constantly synchronously, count in the moment that starts the Snapshot storage, both observed quantities are united through synchronous counter, catch and compensate this deviation after accomplishing and get final product.Accompanying drawing 6 has been represented this principle of work.

The time synchronized computing module 321 of catching/following the tracks of synchronization module 32 calculates with code phase 3131 of catching baseband processing unit 313 outputs and Doppler frequency information according to the value of clock counter 312 and switches required temporal information.The time synchronized computing module 321 of catching/following the tracks of synchronization module 32 calculate principles as shown in the formula:

$\mathrm{Count}+\mathrm{CodeShift}+\mathrm{SystemShift}+\frac{\mathrm{Freq}\_\mathrm{oppler}}{\mathrm{Carrier}\_\mathrm{Freq}}\×\mathrm{SamplingFreq}\×\mathrm{Interval}\_\mathrm{Time}$

Count in the formula is the output valve of clock counter 312, and CodeShift is the code phase 3131 of catching, and SystemShift is that the system handles mistiming, (the system handles mistiming represented to catch and follow the tracks of the delay inequality of hardware circuit; Can calibration obtain); Freq_doppler is the doppler frequency values, and Carrier_Freq is a carrier frequency, and SamplingFreq is a signal sampling rate; Interval_Time catches the interval time that switches to tracking; Because the existence of doppler phenomenon, the sign indicating number side-play amount that captures is deviation to some extent, and departure is relevant with interval time.

According to the result of calculation of time synchronized computing module 321, the 33 startup work of control real-time follow-up module are followed the tracks of the sign indicating number generator of correlator passage 331 and are started working from initial phase.

2. the tracking of strong signal switches to catching of weak signal

Strong signal capture mode is adopted in the work of high sensitivity navigation neceiver initial acquisition; Not only can save the waiting time (20ms～200ms) of Snapshot; And capture after the strong satellite-signal; Send into track loop through first kind of switch instances, carry out precise parameters and estimate, can accelerate catching of weak signal.The commonplace situation of indoor positioning is to have several satellite-signals stronger, but can't satisfy location condition; Also have certain situation to be; Strong signal trace provides the location; But because the unexpected variation of external environment condition causes the strong signal of part can not follow the tracks of the necessary condition that can not get locating this moment; Must catch weak signal again location condition is provided through catching passage, more than two kinds of situation all need switch to weak signal and catch passage by strong signal trace passage.At this moment, the skew of local oscillator is known, and bit circle also is known basically, mainly is catching code phase.Principle is shown in accompanying drawing 7.

The gordian technique that realizes this function is the synchronous control technique of catching/following the tracks of synchronization module 32, catches baseband processing unit 313 when real-time follow-up module 33 is extracted pseudo range observed quantity and starts the data of catching passage under the snap storage unit 311 collection weak signal acquisition modes; Navigation data is handled this observed quantity wait constantly of 4 buffer memorys and is caught the output result of passage simultaneously.Snap trapping module 31 is exported the result that catches under the weak signal modes.Under the help of the supplementary that location-server 5 provides, navigation data is handled 4 and will be caught the result and constitute the navigation calculation equation with the observed quantity of the real-time follow-up module 33 of buffer memory, accomplishes positioning calculation.

3. the real-time follow-up signal catching again and following the tracks of

The real-time follow-up signal to catch with following the tracks of again be with above two kinds of duties that situation combines, mainly be the signal of losing to following the tracks of, realize again after catching rapidly following the tracks of.Again it is littler than initial acquisition resource requirement to catch satellite-signal; Navigation data is handled (4) can judge whether that needs catch again according to ephemeris information and receiver state; But do not get rid of owing to blocked; Can not capture this signal again, perhaps need switch to the high sensitivity mode and just can capture this satellite-signal.Realize principle such as accompanying drawing 8.

Again acquisition procedure can make full use of the parameter in real-time follow-up stage; Real-time follow-up module 33 passes to code phase of tracking mode 3131 and Doppler frequency information and catches baseband processing unit 313 through catching/follow the tracks of synchronization module 32; Make that catching baseband processing unit 313 realizes catching rapidly, and give real-time follow-up module 33 it switching.If catch actual effect again, then can get into second kind of situation, realize catching of weak signal, and combine tracking signal to position to resolve.

Claims (7)

1. GPS high sensitivity navigation neceiver; This positioning system has server, interface, antenna, receiver, radio circuit, constellation, communication network and computing machine; The transmitting terminal of said positioning system is through the receiving end of transmission of wireless signals to receiver; It is characterized in that: said receiver is a part of structure of auxiliary satellite navigation positioning system AGNSS, and this auxiliary satellite navigation positioning system AGNSS comprises at least:

Satellite navigation and location system GNSS constellation (8), terminal receiving antenna (1), radio circuit (2), baseband correlators circuit (3), navigation data are handled (4), location-server (5), reference receiver (6) and reference receiver antenna (7), and each device is combined as holistic positioning system; Radio circuit (2) receives the satellite navigation signals from satellite navigation and location system GNSS constellation (1) through terminal receiving antenna (1), and reference receiver (6) receives the satellite navigation signals from satellite navigation and location system GNSS constellation (1) through reference receiver antenna (7);

The output terminal of one radio circuit (2) respectively simultaneously with baseband correlators circuit (3) in snap trapping module (31) and the input end of real-time follow-up module (33) be connected;

One baseband correlators circuit (3) mainly by snap trapping module (31), catch/follow the tracks of synchronization module (32) and real-time follow-up module (33) is formed; Follow the tracks of at snap trapping module (31) that memory-type is caught and continuous-flow type and to have added one between the real-time follow-up module (33) and catch/follow the tracks of synchronization module (32); Realize the indoor and outdoor seamless switching, the input/output terminal that is used for the snap trapping module (31) of signal capture is connected with the I/O of catching/following the tracks of synchronization module (32); Be used to catch with follow the tracks of between the input/output terminal of synchronous catching/follow the tracks of synchronization module (32) be connected with the I/O of the real-time follow-up module (33) that is used for the signal Continuous Tracking;

The input/output terminal that one navigation data is handled (4) module is divided into four the tunnel: the I/O of the snap trapping module (31) in the first via and the baseband correlators circuit (3) is connected; The second the tunnel with baseband correlators circuit (3) in the I/O of catching/following the tracks of synchronization module (32) be connected; The I/O of the real-time follow-up module (33) in Third Road and the baseband correlators circuit (3) is connected; The four the tunnel is connected with the I/O of location-server (5);

The output terminal of one reference receiver (6) is connected with the input end of location-server (5), and the input/output terminal of location-server (5) is connected with the I/O that navigation data is handled (4) module.

2. GPS high sensitivity navigation neceiver according to claim 1; It is characterized in that: described snap trapping module (31) comprising: snap storage unit (311), clock counter (312), catch baseband processing unit (313) and trapping module interface (314), wherein:

One road input end of snap storage unit (311) is connected with the output terminal of radio circuit (2); The output terminal on another road is connected with the input end of clock counter (312), and one tunnel input/output terminal is connected with the I/O of catching baseband processing unit (313) module again;

The output terminal of clock counter (312) is connected with the input end of catching/following the tracks of synchronization module (32) through count signal;

The input/output terminal of catching baseband processing unit (313) module is divided into three the tunnel: the first via is connected with the I/O of snap storage unit (311); The second tunnel transmission through code phase (3131) parameter is connected with the I/O of catching/following the tracks of synchronization module (32); Third Road is connected with the I/O of trapping module interface (314);

The output terminal of trapping module interface (314) is connected with the input end that navigation data is handled (4) module;

Snap storage unit (311) is gathered the sampled data signal of radio circuit (2) output, and when beginning to gather, clock counter (312) begins counting, recording time information; Catching result that baseband processing unit (313) will catch exports to navigation data through trapping module interface (314) and handles (4).

3. GPS high sensitivity navigation neceiver according to claim 1 is characterized in that: described real-time follow-up module (33) comprising: follow the tracks of correlator passage (331) and tracing channel interface (332), wherein:

The road input end of following the tracks of correlator passage (331) is connected with the output terminal of radio circuit (2); The input/output terminal on another road is connected with the I/O of catching/following the tracks of synchronization module (32), and one tunnel input/output terminal is connected with the I/O of tracing channel interface (332) again;

One road input/output terminal of tracing channel interface (332) is connected with the I/O of following the tracks of correlator passage (331), and the output terminal on another road is connected with the input end that navigation data is handled (4) module;

Catching/following the tracks of under the signal controlling of synchronization module (32), tracing channel startup work is handled the sampled data signal of radio circuit (2) output in real time, and the result is exported to navigation data handle (4) part.

4. GPS high sensitivity navigation neceiver according to claim 1 is characterized in that: described catching/follow the tracks of synchronization module (32) to comprise: time synchronized computing module (321) and interface module (322), wherein:

One road input end of time synchronized computing module (321) receives the counting Count signal from the time counter value of snap trapping module (31) output; In addition, the input/output terminal of time synchronized computing module (321) is divided into three the tunnel: the first via is connected with the I/O of Doppler frequency signal with snap trapping module (31) through the code phase that captures; The second the tunnel is connected with the I/O of interface module (322); Third Road is connected with the I/O of real-time follow-up module (33); Time synchronized computing module (321) transmits processing to the time counter value counting Count of snap trapping module (31) output with the code phase, the Doppler frequency signal that capture; Handle at navigation data under the control of (4) module, start the signal of real-time follow-up module (33);

One road input/output terminal of interface module (322) is connected with the I/O of time synchronized computing module (321), and the output terminal on another road is connected with the input end that navigation data is handled (4) module.

5. the indoor and outdoor seamless handover method of a high sensitive receiver for global positioning system; It is characterized in that: this method through snap trapping module (31) in the baseband correlators circuit (3), catch/follow the tracks of the combination of synchronization module (32) and real-time follow-up module (33); Follow the tracks of at snap trapping module (31) that memory-type is caught and continuous-flow type and to have added one between the real-time follow-up module (33) and catch/follows the tracks of synchronization module (32), the technology of realization indoor and outdoor seamless switching; Through the result of calculation of time synchronized computing module (321), control real-time follow-up module (33) startup work, a sign indicating number generator that makes it to follow the tracks of correlator passage (331) is started working from initial phase; Through main handover information code phase (3131) signal of catching baseband processing unit (313) output in the snap trapping module (31); Accomplish three kinds of switch instances of main A, B, C of receiver: catching under the strong signal conditioning switches to real-time follow-up; The tracking of strong signal switches to catching of weak signal and recaptures with losing of real-time follow-up signal and follow the tracks of, wherein:

A. catching of outdoor strong signal switches to real-time follow-up: adopt the high sensitive receiver of snap acquisition mode, the outdoor strong satellite-signal of initial acquisition is also sent into tracking loop, accomplishes the time relativity of snap acquisition mode and tracking loop; Through catching/follow the tracks of the time synchronized computing module (321) of synchronization module (32), value and the code phase (3131) and Doppler frequency information of catching baseband processing unit (313) output according to clock counter (312) calculate and switch required temporal information;

The concrete job step that switches to method for real time tracking of catching of this strong signal is:

Step 1. snap storage unit (311) image data, clock counter (312) begin counting

Step 2. is caught baseband processing unit (313) under strong aspect, work (3011)

Execute snap storage unit (311) image data, after clock counter (312) begins counting (3010), then get into and catch baseband processing unit (313) and under strong aspect, working;

Step 3. judges whether to capture signal (3012)

Execute and catch baseband processing unit (313) after work under the strong aspect (3011), then get into and judge whether to capture signal (3012) module,, then get into and judge whether signal intensity satisfies real-time follow-up (3013) if capture signal; If do not capture signal, then feedback gets into and to catch baseband processing unit (313) and under strong aspect, working;

Step 4. judges whether signal intensity satisfies real-time follow-up (3013)

If signal intensity is to satisfy real-time follow-up; Then get into time synchronized computing module (321) work (3014) of catching/following the tracks of synchronization module (32); This time synchronized computing module (321) calculates and switches required temporal information according to the value and the code phase (3131) and Doppler frequency information of catching baseband processing unit (313) output of clock counter (312);

Follow the tracks of when full if signal intensity is discontented, then feedback gets into and catches baseband processing unit (313) and under strong aspect, working;

After step 5. time synchronized computing module (321) control real-time follow-up module (33) startup work (3015) executes time synchronized computing module (321) work (3014) module of catching/following the tracks of synchronization module (32); The then synchronous computing module of entry time (321) control real-time follow-up module (33) startup work (3015); Result of calculation according to time synchronized computing module (321); The startup work of control real-time follow-up module (33) is followed the tracks of the sign indicating number generator of correlator passage (331) and is started working from initial phase;

Step 6. is accomplished the switching (3016) that captures tracking

After executing time synchronized computing module (321) control real-time follow-up module (33) startup work (3015) module, then get into and accomplish switching (3016) module that captures tracking;

B. the tracking of strong signal switches to catching of weak signal: through catching/follow the tracks of the synchronous control technique of synchronization module (32); Catch baseband processing unit (313) when real-time follow-up module (33) is extracted pseudo range observed quantity and start snap storage unit (311), gather the data of catching passage under the weak signal acquisition mode; Navigation data is handled this observed quantity wait constantly of (4) buffer memory and is caught the output result of passage simultaneously; Snap trapping module (31) is exported the result that catches under the weak signal mode; Under the help of the supplementary that location-server (5) provides, navigation data is handled (4) and will be caught the result and constitute the navigation calculation equation, the completion positioning calculation with the observed quantity of the real-time follow-up module (33) of buffer memory;

The concrete job step that the tracking of this strong signal switches to the catching method of weak signal is:

Step 1. snap storage unit (311) image data, clock counter (312) begin counting

Step 2. is caught baseband processing unit (313) under strong aspect, work (3021)

Execute snap storage unit (311) image data, after clock counter (312) begins counting (3020), then get into and catch baseband processing unit (313) and under strong aspect, working;

Step 3. judges whether to capture signal (3022)

Execute and catch baseband processing unit (313) after work under the strong aspect (3021), then get into and judge whether to capture signal (3022) module,, then get into and judge whether signal intensity satisfies real-time follow-up (3023) module if capture signal; If do not capture signal, then feedback gets into and to catch baseband processing unit (313) and under strong aspect, working;

Step 4. judges whether signal intensity satisfies real-time follow-up (3023)

If signal intensity is to satisfy real-time follow-up, then get into and catch/follow the tracks of synchronization module (32) control real-time follow-up module (33), switch to strong satellite-signal and follow the tracks of (3024);

Follow the tracks of when full if signal intensity is discontented, then feedback gets into and catches baseband processing unit (313) and under strong aspect, working;

Step 5. is judged the number of satellite of real-time follow-up signal whether satisfy condition (3025)

Execute and catch/follow the tracks of synchronization module (32) control real-time follow-up module (33); After switching to strong satellite-signal tracking (3024) module; Then get into the number of satellite judge the real-time follow-up signal (3025) module that whether satisfies condition; If the number of satellite of real-time follow-up signal is to satisfy condition, then gets into navigation data and handle (4) and position and resolve (3026) module;

If the number of satellite of real-time follow-up signal does not satisfy condition, then get into and catch/follow the tracks of synchronization module (32) startup snap storage unit (311), and synchronization acquistion and tracing channel (3027) module;

Step 6. navigation data processing (4) positions resolves (3026)

Navigation data is handled (4) and real-time follow-up module (33) continuous working, up to end;

Step 7. is caught/is followed the tracks of synchronization module (32) and starts snap storage unit (311); And synchronization acquistion and tracing channel (3027) are caught/are followed the tracks of synchronization module (32) and control as follows: catch baseband processing unit (313) when real-time follow-up module (33) is extracted pseudo range observed quantity and start snap storage unit (311), gather the data of catching passage under the weak signal acquisition mode; Navigation data is handled this observed quantity wait constantly of (4) buffer memory and is caught the output result of passage simultaneously;

Step 8. judges whether to capture weak signal (3028)

Execute and catch/follow the tracks of synchronization module (32) startup snap storage unit (311); And after synchronization acquistion and tracing channel (3027) module; Then get into judgement and do not capture weak signal (3028) module; If capture weak signal, then get into and catch result (3029) module under snap trapping module (31) the output weak signal mode;

If do not capture weak signal, then get into and finish (3031) module;

Step 9. navigation data handle (4) according to the tracking observation amount of catching result and buffer memory carry out navigation calculation (3030) execute under snap trapping module (31) the output weak signal mode catch result (3029) module after, then get into navigation data and handle (4) basis and catch the tracking observation amount of result and buffer memory and carry out navigation calculation (3030) module;

Snap trapping module (31) is exported the result that catches under the weak signal mode; Under the help of the supplementary that location-server (5) provides; Navigation data is handled (4) and will be caught the result and constitute the navigation calculation equation, the completion positioning calculation with the observed quantity of the real-time follow-up module (33) of buffer memory;

Step 10. finishes (3031)

Execute navigation data and handle after (4) carry out navigation calculation (3030) module according to the tracking observation amount of catching result and buffer memory, then get into end (3031) module;

C. the catching again and following the tracks of of real-time follow-up signal: be with above two kinds of duties that situation combines; It mainly is the signal of losing to following the tracks of; Realize again after catching rapidly following the tracks of; Again acquisition procedure makes full use of the parameter in real-time follow-up stage, and real-time follow-up module (33) is through catching/follow the tracks of synchronization module (32), the code phase (3131) and the Doppler frequency information of tracking mode is passed to catch baseband processing unit (313); Catch baseband processing unit (313) and realize catching rapidly, and give real-time follow-up module (33) it switching; If catch actual effect again, the tracking that then can get into strong signal switches to the situation of catching of weak signal, realizes catching of weak signal, and combines tracking signal to position to resolve;

The concrete job step of catching again with tracking of this real-time follow-up signal is:

Step 1. real-time follow-up module (33) one passage satellite-signals lose tracking (3040)

Step 2. navigation data is handled (4) and is judged whether to catch (3041) again

Execute after real-time follow-up module (33) one passage satellite-signals lose tracking (3040) module; Then get into navigation data processing (4) and judge whether to catch again (3041) module; If it is to catch again that navigation data is handled (4), then gets into real-time follow-up module (33) and transmit parameter to catching baseband processing unit (313) module (3043);

Do not need to catch again if navigation data is handled (4), then get into real-time follow-up module (33) and abandon this channel signal (3042) module;

Step 3. real-time follow-up module (33) is transmitted parameter to catching baseband processing unit (313) module (3043)

Real-time follow-up module (33) is through catching/follow the tracks of synchronization module (32), the code phase (3131) and the Doppler frequency information of tracking mode passed to catch baseband processing unit (313);

Step 4. snap storage unit (311) image data, clock counter (312) begin counting

Step 5. is caught baseband processing unit (313) under strong aspect, work (3045)

Execute snap storage unit (311) image data, after clock counter (312) begins counting (3044) module, then get into and catch baseband processing unit (313) and under strong aspect, working;

Step 6. judges whether to capture signal (3046) and executes and catch baseband processing unit (313) after working under the strong aspect, then gets into and judges whether to capture signal, if capture signal, then gets into and judges whether signal intensity satisfies real-time follow-up;

If do not capture signal, then getting into and catching passage work is weak signal acquisition mode (3048) module;

Step 7. judges whether signal intensity satisfies real-time follow-up (3047)

If signal intensity is to satisfy real-time follow-up, then gets into real-time follow-up module (33) and switch to strong satellite-signal tracking (3049);

Follow the tracks of when full if signal intensity is discontented, then getting into and catching passage work is weak signal acquisition mode (3048) module;

It is weak signal acquisition mode (3048) that step 8. is caught passage work

Execute and catch after passage work is weak signal acquisition mode (3048) module, then get into and finish (3051) module;

Step 9. real-time follow-up module (33) switches to strong satellite-signal and follows the tracks of (3049)

Execute after real-time follow-up module (33) switches to strong satellite-signal and follow the tracks of (3049) module, then get into to accomplish and catch again and real-time follow-up (3050) module;

Step 10. real-time follow-up module (33) is abandoned this channel signal (3042)

Catch/follow the tracks of the time synchronized computing module (321) of synchronization module (32), calculate with code phase (3131) of catching baseband processing unit (313) output and Doppler frequency information according to the value of clock counter (312) and switch required temporal information; And according to the result of calculation of time synchronized computing module (321), the startup work of control real-time follow-up module (33) is followed the tracks of the sign indicating number generator of correlator passage (331) and is started working from initial phase;

Execute after real-time follow-up module (33) abandons this channel signal (3042) module, then get into and finish (3051) module;

Step 11. is accomplished and is caught again and real-time follow-up (3050)

Execute that completion is caught again and real-time follow-up (3050) module after, then get into to finish (3051) module;

Step 12. finishes (3051)

Whole process finishes.

6. the indoor and outdoor seamless handover method of high sensitive receiver for global positioning system according to claim 5 is characterized in that: the computing method of the time synchronized computing module (321) of described catching/follow the tracks of synchronization module (32) as shown in the formula:

$\mathrm{Time}\_\mathrm{Phase}\_\mathrm{Shift}=\mathrm{Count}+\mathrm{CodeShift}+\mathrm{SystemShift}+\frac{\mathrm{Freq}\_\mathrm{doppler}}{\mathrm{Carrier}\_\mathrm{Freq}}\×\mathrm{SomplingFreq}\×\mathrm{Interval}\_\mathrm{Time}$

In the formula: the time/phase pushing figure of Time_Phase_Shift for finding the solution;

Count is the output valve of clock counter (312);

CodeShift is the code phase (3131) of catching;

SystemShift is the system handles mistiming;

Freq_doppler is the doppler frequency values;

Carrier_Freq is a carrier frequency;

SamplingFreq is a signal sampling rate;

Interval_Time catches the interval time that switches to tracking.

7. the indoor and outdoor seamless handover method of high sensitive receiver for global positioning system according to claim 5; It is characterized in that: described code phase (3131) for the spike of catching output to the distance between the starting point; In conjunction with the value of clock counter (312) signal of code phase (3131) time information corresponding therewith, calculate the phase deviation between input signal and the local reconstruction signal.

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