CN115236704A - Multi-frequency signal joint auxiliary tracking method and device - Google Patents

Abstract

The present invention relates to a method and device for joint auxiliary tracking of multi-frequency point signals. Wherein, the method includes: S1. Obtaining N+1 frequency point signals and performing down-conversion processing, correspondingly generating a digital intermediate frequency signal of N+1 frequency points; S2. To the digital intermediate frequency signal of the N+1 frequency points Carry out carrier stripping, pseudo-code stripping, integral clearing, phase detection and filtering processing, correspondingly generate the phase detection filtering results of N+1 frequency points; S3. Integrate the phase detection filtering results of the first N frequency points to generate The respective frequency points are used for the local carrier signal of the carrier stripping; S4. Utilize the phase detection filtering results of the first N frequency points to generate a multi-frequency joint auxiliary tracking amount; S5. Utilize the multi-frequency joint auxiliary tracking amount and the first The phase detection filtering results of the N+1 frequency points generate a local carrier signal of the N+1 th frequency point used for the carrier stripping. The invention can effectively aggregate the signal power of multiple auxiliary frequency points, improve the signal-to-noise ratio of the carrier phase phase discrimination, and improve the robustness of signal tracking.

Description

Multi-frequency signal joint auxiliary tracking method and device

technical field

The present invention relates to the technical field of signal tracking and positioning, in particular to a method and device for joint auxiliary tracking of multi-frequency point signals.

Background technique

The satellite navigation system can provide all-weather, 24-hour continuous and high-precision three-dimensional position, speed and precise time information for various military and civilian carriers in the global land, sea, air and sky. Most of the existing satellite navigation systems broadcast navigation signals on multiple frequency points. For example, the Global Positioning System (GPS) broadcasts navigation signals on three frequencies of L1, L2, and L5. Navigation Satellite System (BDS) broadcasts navigation signals on three frequencies of B1, B2, and B3, and Galileo broadcasts navigation signals on three frequencies of E1, E5, and E6. However, the existing cross-frequency auxiliary tracking receiver usually uses a single frequency signal as the auxiliary signal, so the auxiliary tracking performance is largely limited by the frequency and signal power of the auxiliary signal, and it fails to make full use of the satellite navigation system in multiple The advantage of broadcasting the navigation signal on the frequency point.

In the military industry, the receiver is likely to fail to work normally due to interference at a certain frequency or the tracking performance deteriorates. For the receiver, the reduction of the carrier frequency tracking threshold also means the improvement of its anti-jamming performance, that is, the adaptability to the complex electromagnetic environment will be enhanced. For the jammer, in order to achieve the same interference effect, it is necessary to increase the transmit power or shorten the distance from the receiver, while increasing the transmit power means increasing the cost of interference and shortening the distance between the jammer and the receiver. It means that the probability of being discovered increases. In addition, it is not easy to take into account the simultaneous interference of multiple frequency signals. Therefore, if the tracking strategy can be adaptively adjusted according to the information obtained from multiple frequency points, and the carrier phase tracking threshold can be reduced, the adaptability of the receiver to the complex environment can also be improved.

以 GPSL1信号(中心频率fc＝1575.42MHz，波长为λ＝0.19m)为例，信号从地球传播到月球的空间传播损耗约为-208.1dB(地球到月球的距离为 38.44万千米)。因此，若跟踪门限降低3dB，则意味着允许空间衰减在此基础上增加3dB，此时传播距离可达54.30万千米，即增加了16.86万千米。因此，载波相位跟踪门限的降低，也就意味着卫星导航可以为更为遥远的航天器提供导航服务。In the field of high-orbit satellites and deep space exploration, due to the long distance of the satellite navigation receiver, the signal will be attenuated greatly. The free space propagation loss is calculated as

Taking the GPSL1 signal (center frequency fc=1575.42MHz, wavelength λ=0.19m) as an example, the space propagation loss of the signal from the earth to the moon is about -208.1dB (the distance from the earth to the moon is 384,400 kilometers). Therefore, if the tracking threshold is reduced by 3dB, it means that the allowable space attenuation is increased by 3dB on this basis, and the propagation distance can reach 543,000 kilometers, that is, an increase of 168,600 kilometers. Therefore, the lowering of the carrier phase tracking threshold means that satellite navigation can provide navigation services for more distant spacecraft.

和第二频点鉴相滤波结果

第一频点鉴相滤波结果

经NCO生成第一频点载波相位估计

进而生成第一频点本地载波信号

用于第一频点信号载波剥离。同时，第一频点鉴相滤波结果

经比例变换，生成辅助跟踪量

利用辅助跟踪量Δ_k和第二频点鉴相滤波结果

生成第二频点相位误差估计

第二频点相位误差估计

经NCO 生成第二频点本地载波相位估计

进而生成第二频点本地载波信号

用于第二频点信号载波剥离。As shown in Fig. 10, the existing single-frequency point signal-assisted tracking receiver. When the receiver is in use, the first frequency point signal and the second frequency point signal are received by the receiver antenna, and then the first frequency point digital intermediate frequency signal and the second frequency point digital intermediate frequency signal are generated by down-conversion processing. Then, the digital intermediate frequency signal of the first frequency point and the digital intermediate frequency signal of the second frequency point are processed by carrier stripping, pseudo code stripping, integral clearing, phase detection and filtering to generate a phase detection filtering result of the first frequency point

and the second frequency point phase discrimination filtering result

Phase discrimination filtering result of the first frequency point

Generate a carrier phase estimate at the first frequency point via NCO

and then generate a local carrier signal at the first frequency

It is used for carrier stripping of the first frequency signal. At the same time, the first frequency point phase detection filter results

After scale transformation, generate auxiliary tracking amount

Using the auxiliary tracking amount _Δk and the second frequency point phase detection filter result

Generate second frequency bin phase error estimates

Phase error estimation at the second frequency

Generate a local carrier phase estimate at the second frequency via NCO

and then generate a local carrier signal at the second frequency

Used for carrier stripping of the second frequency signal.

It can be seen that most GNSS systems broadcast navigation signals on multiple frequency points at the same time, and the existing cross-frequency point auxiliary tracking receiver does not give full play to the advantages of the navigation system broadcasting multiple frequency point signals at the same time, but uses a single frequency point signal. The point signal is used as an auxiliary signal, and the auxiliary tracking performance is largely limited by the frequency and signal power of the auxiliary signal. Better signal tracking performance.

SUMMARY OF THE INVENTION

In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a multi-frequency signal joint auxiliary tracking method and device, which can effectively aggregate the signal power of multiple auxiliary frequency points and improve the signal-to-noise signal-to-noise of carrier phase detection. ratio, improving the robustness of signal tracking.

In order to realize the above-mentioned purpose of the invention, the technical scheme of the present invention is:

The present invention provides a multi-frequency signal joint auxiliary tracking method, comprising:

S1. Acquire N+1 frequency point signals and perform down-conversion processing, correspondingly generate a digital intermediate frequency signal of N+1 frequency points;

S2. carry out carrier stripping, pseudocode stripping, integral clearing, phase discrimination and filtering processing to the digital intermediate frequency signal of the N+1 frequency points, correspondingly generate the phase discrimination filtering results of the N+1 frequency points;

S3. carry out integration processing to the phase detection filtering results of the first N frequency points, and generate local carrier signals whose respective frequency points are used for the carrier stripping;

S4. Utilize the phase detection filtering results of the first N frequency points to generate a multi-frequency joint auxiliary tracking amount;

S5. Using the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point, generate a local carrier signal of the N+1th frequency point used for the carrier stripping.

According to an aspect of the present invention, in the step S1, the N+1 frequency point signals are transmitted by different frequency points of the same satellite.

According to an aspect of the present invention, the step S2 includes:

混频，以剥离载波，对应生成各频点的基带信号

其中，i表示第i个频点，且i＝1,…,N+1；k取整数；S21. Combine the digital intermediate frequency signals of the N+1 frequency points with their respective local carrier signals

Mixing to strip the carrier and generate the baseband signal corresponding to each frequency point

Among them, i represents the ith frequency point, and i=1,...,N+1; k is an integer;

进行伪码剥离，对应生成各频点的伪码剥离后的信号；S22. Baseband signal for each frequency point

Perform pseudocode stripping to generate corresponding pseudocode stripped signals for each frequency point;

S23. Integrate and clear the signal after the pseudo-code stripping of each frequency point, and obtain the correlation integration result of each frequency point correspondingly

进行鉴相，对应生成各频点的鉴相误差

S24. Correlation integration results for each frequency point

Perform phase detection, corresponding to the phase detection error of each frequency point

进行滤波处理，对应生成N+1个频点的鉴相滤波结果

S25. Phase detection error for each frequency point

Perform filtering processing, corresponding to generate N+1 frequency points of phase detection filtering results

According to an aspect of the present invention, the step S24 includes:

对应生成各频点的相关积分结果的实部

和虚部

S241. Use the correlation integration result of N+1 frequency points

Corresponding to generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. Use the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point to calculate the phase detection errors of N+1 frequency points respectively

Alternatively, the step S24 includes:

对应生成各频点的相关积分结果的虚部

S241. Use the correlation integration result of N+1 frequency points

Correspondingly generate the imaginary part of the correlation integration result of each frequency point

S242. Use the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point to calculate the phase detection error of N+1 frequency points respectively

Alternatively, the step S24 includes:

对应生成各频点的相关积分结果的实部

和虚部

S241. Use the correlation integration result of N+1 frequency points

Corresponding to generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. Use the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point to calculate the phase detection errors of N+1 frequency points respectively

Alternatively, the step S24 includes:

对应生成各频点相关积分结果的实部

和虚部

S241. Use the correlation integration result of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. Use the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point to calculate the phase detection errors of N+1 frequency points respectively

Alternatively, the step S24 includes:

对应生成各频点相关积分结果的实部

和虚部

S241. Use the correlation integration result of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. Use the real part I _i,k , the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point to calculate the phase detection error of N+1 frequency points respectively

Alternatively, the step S24 includes:

对应生成各频点相关积分结果的实部

和虚部

S241. Use the correlation integration result of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. utilize the real part I _i,k of each frequency point correlation integration result to calculate the symbol sign{I _i,k } of the real part I _i ,k of each frequency point correlation integration result;

S243. Use the imaginary part Q _i,k of the correlation integration result of each frequency point, the symbol sign{I _i,k } of the real part I _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point, respectively Calculate the phase detection error of N+1 frequency points

According to an aspect of the present invention, the step S3 includes:

进行积分处理，对应生成各频点的本地载波相位估计

其中，i＝1,…,N；S31. Phase detection filtering results for the first N frequency points

Perform integration processing to generate local carrier phase estimates for each frequency correspondingly

Among them, i=1,...,N;

对应生成前N个频点的本地载波信号

该本地载波信号

用于前N个频点中各频点信号的载波剥离。S32. Use the local carrier phase estimation of each frequency point

Corresponding to generate the local carrier signal of the first N frequency points

the local carrier signal

It is used for carrier stripping of the signals of each frequency point in the first N frequency points.

According to an aspect of the present invention, the step S4 includes:

和对应频点的载波波长λ_i，对应生成前N个频点的距离变化估计

其中，i＝1,…,N；S41. Use the phase detection filtering results of the first N frequency points

and the carrier wavelength λ _i of the corresponding frequency point, corresponding to the distance change estimate of the first N frequency points generated

Among them, i=1,...,N;

进行线性组合，生成多频联合辅助跟踪量

其中，加权系数w_i满足

且w_i≥ 0的约束。S42. Estimate the distance change of the first N frequency points

Perform linear combination to generate multi-frequency joint auxiliary tracking quantity

Among them, the weighting coefficient _wi satisfies

and _wi ≥ 0 constraints.

According to an aspect of the present invention, the step S5 includes:

和第N+1个频点的鉴相滤波结果

生成第N+1个频点的相位误差估计

其中，λ_N+1为第N+1个频点的载波波长；S51. Utilize multi-frequency joint auxiliary tracking quantity

and the phase detection filtering result of the N+1th frequency point

Generate phase error estimates for the N+1th frequency bin

Among them, λ _N+1 is the carrier wavelength of the N+1th frequency point;

进行积分处理，生成第 N+1个频点的本地载波相位估计

S52. Estimate the phase error of the N+1th frequency point

Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point

生成第N+1个频点的本地载波信号

该本地载波信号

用于该频点信号的载波剥离。S53. Use the local carrier phase estimation of the N+1th frequency point

Generate the local carrier signal at the N+1th frequency

the local carrier signal

Carrier stripping for this frequency signal.

The present invention also provides a multi-frequency signal joint auxiliary tracking device using the multi-frequency signal joint auxiliary tracking method, including:

The receiver antenna is used to obtain N+1 frequency point signals;

A down-conversion module, configured to perform down-conversion processing on the N+1 frequency point signals, and correspondingly generate a digital intermediate frequency signal of N+1 frequency points;

The phase detection filter module is used to perform carrier stripping, pseudo code stripping, integral clearing, phase detection and filtering processing on the digital intermediate frequency signal of the N+1 frequency points, and output phase detection filtering of the N+1 frequency points correspondingly result;

a first local carrier signal generation module, configured to perform integration processing on the phase detection filtering results of the first N frequency points to generate local carrier signals whose respective frequency points are used for the carrier stripping;

a multi-frequency joint auxiliary tracking amount generating module, configured to generate a multi-frequency joint auxiliary tracking amount using the phase detection filtering results of the first N frequency points; and

The second local carrier signal generating module is configured to use the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point to generate the local carrier signal of the N+1th frequency point used for the carrier stripping .

According to another aspect of the present invention, the phase detection filter module includes:

混频，以剥离载波，对应生成各频点的基带信号

其中， i表示第i个频点，且i＝1,…,N+1；k取整数；The carrier stripping sub-module separates the digital intermediate frequency signals of the N+1 frequency points with the respective local carrier signals

Mixing to strip the carrier and generate the baseband signal corresponding to each frequency point

Among them, i represents the ith frequency point, and i=1,...,N+1; k is an integer;

进行伪码剥离，对应生成各频点伪码剥离后的信号；Pseudo-code stripping sub-module for baseband signal at each frequency point

Perform pseudo-code stripping, correspondingly generate a signal after pseudo-code stripping for each frequency point;

The integral clearing sub-module is used to clear the integral of the signal stripped from the pseudocode of each frequency point, and obtain the corresponding integral result of each frequency point.

进行鉴相，对应生成各频点鉴相误差

Phase detector sub-module, used for correlation integration results of each frequency point

Perform phase detection, correspondingly generate the phase detection error of each frequency point

进行滤波处理，对应生成 N+1个频点的鉴相滤波结果

Filter sub-module, used to detect the phase error of each frequency point

Perform filtering processing, corresponding to generate N+1 frequency points of phase detection filtering results

The first local carrier signal generation module includes:

进行积分处理，对应生成各频点本地载波相位估计

其中， i＝1,…,N；The first local carrier phase estimation generation sub-module is used for the phase detection and filtering results of the first N frequency points

Perform integration processing to generate a local carrier phase estimate at each frequency correspondingly

Among them, i=1,...,N;

对应生成用于各频点信号载波剥离的各频点本地载波信号

The first local carrier signal calculation sub-module is used to estimate the phase of the local carrier at each frequency point

Correspondingly generate the local carrier signal of each frequency point for carrier stripping of each frequency point signal

The multi-frequency joint auxiliary tracking amount generation module includes:

和对应频点的载波波长λ_i，生成前N个频点的距离变化估计

其中，i＝1,…,N；The distance change estimation generation sub-module is used to use the phase detection filtering results of the first N frequency points

and the carrier wavelength λ _i of the corresponding frequency point to generate the distance change estimate of the first N frequency points

Among them, i=1,...,N;

进行线性组合，生成多频联合辅助跟踪量

其中，加权系数w_i满足

且w_i≥0的约束；Multi-frequency joint auxiliary tracking quantity calculation sub-module, used to estimate the distance change of the first N frequency points

Perform linear combination to generate multi-frequency joint auxiliary tracking quantity

Among them, the weighting coefficient _wi satisfies

and w _i ≥ 0 constraints;

The second local carrier signal generation module includes:

和第N+1个频点的鉴相滤波结果

生成第N+1个频点的相位误差估计

其中，λ_Nt1为第N+1个频点的载波波长；The second phase error estimation generation sub-module is used to use the multi-frequency joint auxiliary tracking quantity

and the phase detection filtering result of the N+1th frequency point

Generate phase error estimates for the N+1th frequency bin

Among them, λ _Nt1 is the carrier wavelength of the N+1th frequency point;

进行积分处理，生成第N+1个频点的本地载波相位估计

The second local carrier phase estimation generation sub-module is used to estimate the phase error of the N+1th frequency point

Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point

生成第N+1个频点的且用于该频点信号载波剥离的本地载波信号

The second local carrier signal calculation sub-module is used to estimate the local carrier phase using the N+1th frequency point

Generate the local carrier signal of the N+1th frequency point and used for carrier stripping of the frequency point signal

According to another aspect of the present invention, the phase detector sub-module includes:

对应生成各频点相关积分结果的实部

和虚部

Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Alternatively, the phase detection sub-module includes:

对应生成各频点相关积分结果的虚部

Imaginary part acquisition sub-module, used for correlation integration results based on N+1 frequency points

Correspondingly generate the imaginary part of the correlation integration result of each frequency point

The phase detection error calculation sub-module is used to calculate the phase detection error of N+1 frequency points according to the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point.

Alternatively, the phase detection sub-module includes:

对应生成各频点相关积分结果的实部

和虚部

Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Alternatively, the phase detection sub-module includes:

对应生成各频点相关积分结果的实部

和虚部

Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Alternatively, the phase detection sub-module includes:

对应生成各频点相关积分结果的实部

和虚部

Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The phase discrimination error calculation sub-module is used to calculate the discrimination of N+1 frequency points according to the real part I _i,k , the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point. Phase error

Alternatively, the phase detection sub-module includes:

对应生成各频点相关积分结果的实部

和虚部

Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The sign acquisition submodule is used to calculate the symbol sign{I _i,k } of the real part I _i,k of the correlation integration result of each frequency point according to the real part I _i,k of the correlation integration result of each frequency point;

The phase detection error calculation sub-module is used for the sign {I i,k } of the imaginary part Q _i,k of the correlation integration result of each frequency point, the real part I _i,k of the correlation integration result of each frequency point sign{I _i,k } and each frequency point Signal amplitude A _i , calculate the phase detection error of N+1 frequency points respectively

Compared with the prior art, the present invention has the following advantages:

According to the solution of the present invention, the multi-frequency joint auxiliary tracking quantity is generated by using the phase detection filtering results of the first N frequency points to assist the signal tracking of the N+1th frequency point. In this way, by using the coherence of the carrier frequencies of the signals of different frequency points broadcast by the same satellite, the multiple frequency points are fused to realize the joint auxiliary tracking of the multi-frequency signals, and the signal power of the multiple auxiliary frequency points can be effectively aggregated to improve the efficiency of the tracking. The signal-to-noise ratio of signal reception and carrier phase detection improves the robustness of the assisted loop tracking and obtains better signal tracking performance, reduces the carrier phase tracking threshold of the assisted signal, and meets complex electromagnetic environments and deep space requirements. Probe application requirements.

Description of drawings

In order to more clearly describe the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 schematically shows a flow chart of a multi-frequency signal joint auxiliary tracking method disclosed in an embodiment of the present invention;

FIG. 2 schematically shows a structural diagram of a multi-frequency signal joint auxiliary tracking device disclosed in an embodiment of the present invention;

3 schematically shows a flowchart of generating N+1 frequency point phase discrimination errors disclosed in Embodiment 1 of the present invention;

FIG. 4 schematically shows a flow chart of generating N+1 frequency point phase discrimination errors disclosed in Embodiment 2 of the present invention;

FIG. 5 schematically shows a flowchart of generating N+1 frequency point phase discrimination errors disclosed in Embodiment 3 of the present invention;

FIG. 6 schematically shows a flowchart of generating N+1 frequency point phase discrimination errors disclosed in Embodiment 4 of the present invention;

FIG. 7 schematically shows a flowchart of generating N+1 frequency point phase discrimination errors disclosed in Embodiment 5 of the present invention;

8 schematically shows a flowchart of generating N+1 frequency point phase discrimination errors disclosed in Embodiment 6 of the present invention;

FIG. 9 schematically shows a flowchart of generating a multi-frequency joint auxiliary tracking amount disclosed in an embodiment of the present invention;

FIG. 10 schematically shows the structure of a conventional cross-frequency point assisted tracking receiver.

Detailed ways

The description of the embodiments of this specification should be taken in conjunction with the corresponding accompanying drawings, which should be made a part of the complete specification. In the drawings, the shapes or thicknesses of the embodiments may be enlarged and indicated for simplicity or convenience. Furthermore, the parts of each structure in the drawings will be described with separate descriptions. It is worth noting that the elements not shown in the drawings or described by text are in the form known to those of ordinary skill in the art.

The description of the embodiments herein, and any reference to the direction and orientation, are only for the convenience of description, and should not be construed as any limitation to the protection scope of the present invention. The following description of the preferred embodiments will involve combinations of features, and these features may exist independently or in combination, and the present invention is not particularly limited to the preferred embodiments. The scope of the invention is defined by the claims.

Referring to FIG. 1 and FIG. 2, a multi-frequency signal joint auxiliary tracking method disclosed in an embodiment of the present invention includes the following steps:

S1. Acquire N+1 frequency point signals and perform down-conversion processing, correspondingly generate a digital intermediate frequency signal of N+1 frequency points;

S2. Perform carrier stripping, pseudo-code stripping, integral clearing, phase detection and filtering processing on the digital intermediate frequency signal of N+1 frequency points, and correspondingly generate phase detection filtering results of N+1 frequency points;

S3. Integrate the phase detection filtering results of the first N frequency points to generate local carrier signals for carrier stripping at their respective frequency points;

S4. Utilize the phase detection filtering results of the first N frequency points to generate a multi-frequency joint auxiliary tracking quantity;

S5. Use the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point to generate a local carrier signal for the N+1th frequency point for carrier stripping.

According to the above solution, first, N+1 frequency point signals are acquired, and down-conversion processing is performed on each frequency point signal to generate a digital intermediate frequency signal of each frequency point. Secondly, carry out carrier stripping, pseudo-code stripping, integral clearing, phase detection and filtering processing on the digital intermediate frequency signal of each frequency point, and correspondingly generate the phase detection and filtering results of each frequency point (N+1 frequency points). Then, integral processing is performed on the phase detection filtering results of the first N frequency points to generate respective local carrier signals, which can be used to perform carrier stripping on the first N frequency points in the above step S2 correspondingly. At the same time, the multi-frequency joint auxiliary tracking quantity is generated by using the phase detection filtering results of the first N frequency points. Finally, the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point are used to generate the local carrier signal of the N+1th frequency point, and the local carrier signal of the N+1th frequency point can be used for the above In step S2, carrier stripping is performed on the N+1 th frequency signal.

具体的，首先，将N+1个频点的数字中频信号分别与各自频点的本地载波信号

混频，以剥离载波，生成各频点的基带信号

其中， i表示第i个频点，i＝1,…,N+1；k取整数。其次，对各频点的基带信号

进行伪码剥离，生成各频点的伪码剥离后的信号。再次，对各频点的伪码剥离后的信号进行积分清零，得到各频点的相关积分结果

然后对各频点的相关积分结果

进行鉴相，生成各频点的鉴相误差

并对各频点的鉴相误差

进行滤波，生成N+1个频点的鉴相滤波结果

In the embodiment of the present invention, the N+1 frequency point signals in the above step S1 are obtained by transmitting from different frequency points of the same satellite. In step S2, after obtaining the digital intermediate frequency signal of N+1 frequency points, respectively carry out carrier stripping, pseudo-code stripping, integral clearing, phase detection and filtering (F _i (s) is the signal of the i-th frequency point. Filter transfer function, where i=1,...,N+1) processing, output the phase detection filtering result of each frequency point

Specifically, first, the digital intermediate frequency signals of N+1 frequency points are respectively combined with the local carrier signals of the respective frequency points.

Mixing to strip the carrier to generate a baseband signal at each frequency

Among them, i represents the ith frequency point, i=1,...,N+1; k is an integer. Secondly, for the baseband signal of each frequency point

Perform pseudo-code stripping to generate pseudo-code stripped signals for each frequency point. Thirdly, integrate and clear the signal after the pseudo-code stripping of each frequency point, and obtain the correlation integration result of each frequency point

Then the correlation integration results of each frequency point

Perform phase detection to generate the phase detection error of each frequency point

And the phase detection error of each frequency point

Perform filtering to generate phase detection filtering results of N+1 frequency points

进行鉴相，生成各频点鉴相误差

的过程存在多种实施方式，详见如下所述的实施例一至六。In the embodiment of the present invention, the correlation integration result of each frequency point is

Perform phase detection to generate phase detection errors at each frequency point

There are various implementations of the process, as detailed in Examples 1 to 6 described below.

Example 1

对应生成各频点的相关积分结果的实部

和虚部

利用各频点的相关积分结果的实部I_i,k和虚部Q_i,k，分别计算该N+1个频点的鉴相误差

See Figure 3, using the correlation integration results of N+1 frequency points

Corresponding to generate the real part of the correlation integration result of each frequency point

and the imaginary part

Using the real part I _i,k and imaginary part Q _i,k of the correlation integration result of each frequency point, calculate the phase detection errors of the N+1 frequency points respectively

Embodiment 2

对应生成各频点相关积分结果的虚部

利用各频点相关积分结果的虚部Q_i,k和各频点信号幅值A_i，分别计算该N+1个频点的鉴相误差

Referring to Figure 4, using the correlation integration results of N+1 frequency points

Correspondingly generate the imaginary part of the correlation integration result of each frequency point

Using the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point, calculate the phase detection errors of the N+1 frequency points respectively

Embodiment 3

对应生成各频点相关积分结果的实部

和虚部

利用各频点相关积分结果的实部I_i,k和虚部Q_i,k，分别计算该N+1个频点的鉴相误差

See Figure 5, using the correlation integration results of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

Using the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point, calculate the phase detection errors of the N+1 frequency points respectively

Embodiment 4

对应生成各频点相关积分结果的实部

和虚部

利用各频点相关积分结果的实部I_i,k和虚部Q_i,k，分别计算该N+1个频点的鉴相误差

Referring to Figure 6, using the correlation integration results of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

Using the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point, calculate the phase detection errors of the N+1 frequency points respectively

Embodiment 5

对应生成各频点相关积分结果的实部

和虚部

利用各频点相关积分结果的实部I_i,k、虚部Q_i,k和各频点信号幅值A_i，分别计算该N+1个频点的鉴相误差

Referring to Figure 7, using the correlation integration results of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

Using the real part I _i,k , the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point, the phase detection errors of the N+1 frequency points are calculated respectively

Embodiment 6

对应生成各频点相关积分结果的实部

和虚部

利用各频点相关积分结果的实部I_i,k，计算各频点相关积分结果的实部I_i,k的符号sign{I_i,k}；利用各频点相关积分结果的虚部Q_i,k、各频点相关积分结果的实部I_i,k的符号 sign{I_i,k}和各频点信号幅值A_i，分别计算该N+1个频点的鉴相误差

Referring to Figure 8, using the correlation integration results of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

Using the real part I _i,k of the correlation integration result of each frequency point, calculate the symbol sign{I _i,k } of the real part I _i,k of the correlation integration result of each frequency point; use the imaginary part Q of the correlation integration result of each frequency point _i,k , the symbol sign{I _i,k } of the real part I _i,k of the correlation integration result of each frequency point, and the signal amplitude A _i of each frequency point, respectively calculate the phase detection error of the N+1 frequency points

之后，利用前N个频点的鉴相滤波结果

生成各自频点的本地载波信号

具体为，对前N个频点的鉴相滤波结果

进行积分处理(NCO)，生成各频点对应的本地载波相位估计

其中，i＝1,…,N；再利用各频点对应的本地载波相位估计

生成各频点各自的本地载波信号

分别用于对前N个频点信号进行载波剥离。Continue to refer to Figure 2, after obtaining the phase detection filtering results of the above N+1 frequency points

After that, use the phase detection filtering results of the first N frequency points

Generate local carrier signals at respective frequencies

Specifically, the phase detection filtering results of the first N frequency points

Perform integration processing (NCO) to generate local carrier phase estimates corresponding to each frequency point

Among them, i=1,...,N; then use the local carrier phase estimation corresponding to each frequency point

Generate local carrier signal for each frequency point

They are respectively used to perform carrier stripping on the first N frequency point signals.

和对应频点的载波波长λ_i，生成前N个频点中各频点的距离变化估计

其中，i＝1,…,N；再对前N个频点的距离变化估计

进行线性组合，生成多频联合辅助跟踪量

其中，加权系数w_i满足

且w_i≥0的约束。Referring to FIG. 9 , at the same time, the multi-frequency joint auxiliary tracking quantity is generated by using the phase detection filtering results of the first N frequency points. Specifically, using the phase detection filtering results of the first N frequency points

and the carrier wavelength λ _i of the corresponding frequency point to generate an estimate of the distance change of each frequency point in the first N frequency points

Among them, i=1,...,N; then estimate the distance change of the first N frequency points

Perform linear combination to generate multi-frequency joint auxiliary tracking quantity

Among them, the weighting coefficient _wi satisfies

and _wi ≥ 0 constraints.

和第N+1个频点的鉴相滤波结果

之后，利用多频联合辅助跟踪量

和第N+1个频点的鉴相滤波结果

生成第N+1个频点的本地载波信号

具体为，利用多频联合辅助跟踪量

和第N+1个频点的鉴相滤波结果

生成第N+1个频点的相位误差估计

其中，λ_Nt1为第N+1个频点的载波波长；再对第N+1个频点的相位误差估计

进行积分处理，生成第N+1个频点的本地载波相位估计

最后，利用第N+1个频点的本地载波相位估计

生成第N+1个频点的本地载波信号

用于该频点信号的载波剥离。Continue to refer to Figure 2, after obtaining the multi-frequency joint auxiliary tracking amount

and the phase detection filtering result of the N+1th frequency point

After that, the multi-frequency joint auxiliary tracking amount is used

and the phase detection filtering result of the N+1th frequency point

Generate the local carrier signal at the N+1th frequency

Specifically, using the multi-frequency joint auxiliary tracking amount

and the phase detection filtering result of the N+1th frequency point

Generate phase error estimates for the N+1th frequency bin

Among them, λ _Nt1 is the carrier wavelength of the N+1th frequency point; then estimate the phase error of the N+1th frequency point

Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point

Finally, use the local carrier phase estimation of the N+1th frequency point

Generate the local carrier signal at the N+1th frequency

Carrier stripping for this frequency signal.

The multi-frequency signal joint auxiliary tracking device disclosed in the embodiment of the present invention uses the above-mentioned multi-frequency signal joint auxiliary tracking method, and can be applied to the design of signal receivers in the fields of satellite communication and satellite navigation. Referring to FIG. 2, the device includes: a receiver antenna for acquiring N+1 frequency point signals, wherein the N+1 frequency point signals are transmitted by different frequency points of the same satellite; a down-conversion module for N+1 frequency point signals Down-conversion processing is performed on the signals of each frequency point of each frequency point, corresponding to the digital intermediate frequency signal of N+1 frequency points; the phase detection filter module is used to carry out carrier stripping, pseudo code stripping and integration of the digital intermediate frequency signal of each frequency point above. Clearing, phase detection and filtering processing, corresponding to outputting the phase detection filtering results of N+1 frequency points; the first local carrier signal generation module is used to integrate the phase detection filtering results of the first N frequency points to generate the respective The local carrier signal of the frequency points is used for carrier stripping corresponding to the first N frequency point signals; the multi-frequency joint auxiliary tracking quantity generation module is used to generate the multi-frequency joint auxiliary tracking using the phase detection filtering results of the first N frequency points. and a second local carrier signal generation module for generating the local carrier signal of the N+1th frequency point using the multi-frequency joint auxiliary tracking quantity and the phase detection filtering result of the N+1th frequency point, and for the Nth frequency point Carrier stripping for +1 frequency signal.

混频，以剥离载波，对应生成各频点的基带信号

其中，i表示第i个频点，且i＝1,…,N+1；k取整数；伪码剥离子模块，用于对各频点基带信号

进行伪码剥离，对应生成各频点伪码剥离后的信号；积分清零子模块，用于对各频点伪码剥离后的信号进行积分清零，对应得到各频点相关积分结果

鉴相子模块，用于对各频点相关积分结果

进行鉴相，对应生成各频点鉴相误差

滤波子模块，用于对各频点鉴相误差

进行滤波，对应生成各频点鉴相滤波结果

同样地，鉴相子模块的设计有多种实施方式，具体详见如下所述的实施例一至六。Wherein, the phase detection filter module includes: a carrier stripping sub-module, which is used to separate the digital intermediate frequency signals of N+1 frequency points with the respective local carrier signals

Mixing to strip the carrier and generate the baseband signal corresponding to each frequency point

Among them, i represents the ith frequency point, and i=1,...,N+1; k is an integer; pseudo-code stripping sub-module is used for the baseband signal of each frequency point

Perform pseudo-code stripping, correspondingly generate the signal after the pseudo-code stripping of each frequency point; the integral clearing sub-module is used to integrate and clear the signal after the pseudo-code stripping of each frequency point, and obtain the corresponding integration result of each frequency point

Phase detector sub-module, used for correlation integration results of each frequency point

Perform phase detection, correspondingly generate the phase detection error of each frequency point

Filter sub-module, used to detect the phase error of each frequency point

Perform filtering to generate phase discrimination filtering results for each frequency point correspondingly

Similarly, the design of the phase detector sub-module has various implementations, and details are detailed in the following embodiments 1 to 6.

Example 1

生成各频点相关积分结果的实部

和虚部

鉴相误差计算子模块，用于根据各频点相关积分结果的实部I_i,k和虚部Q_i,k，分别计算N+1个频点的鉴相误差

The phase detection sub-module includes: a real part and imaginary part acquisition sub-module, which is used for the correlation integration results of N+1 frequency points

Generate the real part of the correlation integration result for each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Embodiment 2

生成各频点相关积分结果的虚部

鉴相误差计算子模块，用于根据各频点相关积分结果的虚部Q_i,k和各频点信号幅值A_i，分别计算N+1个频点的鉴相误差

The phase detection sub-module includes: an imaginary part acquisition sub-module, which is used for the correlation integration results of N+1 frequency points

Generate the imaginary part of the correlation integration result for each frequency point

The phase detection error calculation sub-module is used to calculate the phase detection error of N+1 frequency points according to the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point.

Embodiment 3

生成各频点相关积分结果的实部

和虚部

鉴相误差计算子模块，用于根据各频点相关积分结果的实部I_i,k和虚部Q_i,k，分别计算N+1个频点的鉴相误差

The phase detection module includes: a real part and imaginary part acquisition sub-module, which is used for the correlation integration results of N+1 frequency points

Generate the real part of the correlation integration result for each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Embodiment 4

生成各频点相关积分结果的实部

和虚部

鉴相误差计算子模块，用于根据各频点相关积分结果的实部I_i,k和虚部Q_i,k，分别计算N+1个频点的鉴相误差

The phase detection sub-module includes: a real part and imaginary part acquisition sub-module, which is used for the correlation integration results of N+1 frequency points

Generate the real part of the correlation integration result for each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Embodiment 5

生成各频点相关积分结果的实部

和虚部

鉴相误差计算子模块，用于根据各频点相关积分结果的实部I_i,k、虚部Q_i,k和各频点信号幅值A_i，分别计算N+1个频点的鉴相误差

The phase detection sub-module includes: a real part and imaginary part acquisition sub-module, which is used for the correlation integration results of N+1 frequency points

Generate the real part of the correlation integration result for each frequency point

and the imaginary part

The phase discrimination error calculation sub-module is used to calculate the discrimination of N+1 frequency points according to the real part I _i,k , the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point. Phase error

Embodiment 6

生成各频点相关积分结果的实部

和虚部

符号获取子模块，用于根据各频点相关积分结果的实部I_i,k，计算各频点相关积分结果的实部I_i,k的符号sign{I_i,k}；鉴相误差计算子模块，用于根据各频点相关积分结果的虚部Q_i,k、各频点相关积分结果的实部I_i,k的符号sign{I_i,k}和各频点信号幅值A_i，分别计算N+1个频点的鉴相误差

The phase detection sub-module includes: a real part and imaginary part acquisition sub-module, which is used for the correlation integration results of N+1 frequency points

Generate the real part of the correlation integration result for each frequency point

and the imaginary part

The sign acquisition sub-module is used to calculate the symbol sign{I _i,k } of the real part I _i,k of the correlation integration result of each frequency point according to the real part I _i,k of the correlation integration result of each frequency point; phase detection error calculation The sub-module is used for according to the imaginary part Q _i,k of the correlation integration result of each frequency point, the symbol sign{I _i,k } of the real part I _i,k of the correlation integration result of each frequency point and the signal amplitude A of each frequency point _i , calculate the phase detection error of N+1 frequency points respectively

进行积分处理，生成各频点本地载波相位估计

其中，i＝1,…,N；第一本地载波信号计算子模块，用于利用各频点本地载波相位估计

生成各频点本地载波信号

并分别用于对应前N个频点信号的载波剥离。The first local carrier signal generation module includes: a first local carrier phase estimation and generation sub-module, used for phase detection and filtering results of the first N frequency points

Perform integration processing to generate a local carrier phase estimate at each frequency point

Among them, i=1,...,N; the first local carrier signal calculation sub-module is used to estimate the phase of the local carrier at each frequency point

Generate local carrier signal at each frequency point

and are respectively used for carrier stripping corresponding to the first N frequency point signals.

和对应频点的载波波长λ_i，生成前 N个频点的距离变化估计

其中，i＝1,…,N；多频联合辅助跟踪量计算子模块，用于对前N个频点的距离变化估计

进行线性组合，生成多频联合辅助跟踪量

其中，加权系数w_i满足

且w_i≥0的约束。The multi-frequency joint auxiliary tracking quantity generation module includes: a distance change estimation generation sub-module, which is used to use the phase detection filtering results of the first N frequency points

and the carrier wavelength λ _i of the corresponding frequency point to generate the distance change estimate of the first N frequency points

Among them, i=1,...,N; the multi-frequency joint auxiliary tracking quantity calculation sub-module is used to estimate the distance change of the first N frequency points

Perform linear combination to generate multi-frequency joint auxiliary tracking quantity

Among them, the weighting coefficient _wi satisfies

and _wi ≥ 0 constraints.

和第N+1个频点的鉴相滤波结果

生成第N+1个频点的相位误差估计

其中，λ_N+1为第N+1个频点的载波波长；第二本地载波相位估计生成子模块，用于对第N+1个频点的相位误差估计

进行积分处理，生成第N+1 个频点的本地载波相位估计

第二本地载波信号计算子模块，用于根据第N+1个频点的本地载波相位估计

生成第N+1个频点的本地载波信号

并用于第N+1个频点信号的载波剥离。The second local carrier signal generation module includes: a second phase error estimation generation sub-module for using the multi-frequency joint auxiliary tracking quantity

and the phase detection filtering result of the N+1th frequency point

Generate phase error estimates for the N+1th frequency bin

Among them, λ _N+1 is the carrier wavelength of the N+1th frequency point; the second local carrier phase estimation generation sub-module is used to estimate the phase error of the N+1th frequency point

Integrate to generate a local carrier phase estimate for the N+1th frequency

The second local carrier signal calculation sub-module is used to estimate the local carrier phase according to the N+1th frequency point

Generate the local carrier signal at the N+1th frequency

And used for carrier stripping of the N+1th frequency signal.

The present invention realizes the joint auxiliary tracking of multi-frequency signals by utilizing the coherence of the carrier frequencies of the signals of different frequency points of the same satellite, which can effectively aggregate the signal power of multiple frequency points, improve the signal-to-noise ratio of the carrier phase phase discrimination, and improve the assisted signal. Robustness of tracking.

The sequence numbers of the above-mentioned steps involved in the method of the present invention do not mean the sequence of execution of the method, and the execution sequence of each step should be determined by its functions and internal logic, and should not constitute any implementation process of the embodiments of the present invention. limited.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (10)

1. A multi-frequency signal joint auxiliary tracking method, comprising: S1. Acquire N+1 frequency point signals and perform down-conversion processing, correspondingly generate a digital intermediate frequency signal of N+1 frequency points; S2. carry out carrier stripping, pseudocode stripping, integral clearing, phase discrimination and filtering processing to the digital intermediate frequency signal of the N+1 frequency points, correspondingly generate the phase discrimination filtering results of the N+1 frequency points; S3. carry out integration processing to the phase detection filtering results of the first N frequency points, and generate local carrier signals whose respective frequency points are used for the carrier stripping; S4. Utilize the phase detection filtering results of the first N frequency points to generate a multi-frequency joint auxiliary tracking amount; S5. Using the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point, generate a local carrier signal of the N+1th frequency point used for the carrier stripping. 2 . The method according to claim 1 , wherein in the step S1 , the N+1 frequency point signals are transmitted by different frequency points of the same satellite. 3 . 3. The method according to claim 1, wherein the step S2 comprises: S21. Combine the digital intermediate frequency signals of the N+1 frequency points with their respective local carrier signals

Mixing to strip the carrier and generate the baseband signal corresponding to each frequency point

Among them, i represents the ith frequency point, and i=1,...,N+1; k is an integer; S22. Baseband signal for each frequency point

Perform pseudocode stripping to generate corresponding pseudocode stripped signals for each frequency point; S23. Integrate and clear the signal after the pseudo-code stripping of each frequency point, and obtain the correlation integration result of each frequency point correspondingly

S24. Correlation integration results for each frequency point

Perform phase detection, corresponding to the phase detection error of each frequency point

S25. Phase detection error for each frequency point

Perform filtering processing, corresponding to generate N+1 frequency points of phase detection filtering results

4. The method according to claim 3, wherein the step S24 comprises: S241. Use the correlation integration result of N+1 frequency points

Corresponding to generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. Use the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point to calculate the phase detection errors of N+1 frequency points respectively

Alternatively, the step S24 includes: S241. Use the correlation integration result of N+1 frequency points

Correspondingly generate the imaginary part of the correlation integration result of each frequency point

S242. Use the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point to calculate the phase detection error of N+1 frequency points respectively

Alternatively, the step S24 includes: S241. Use the correlation integration result of N+1 frequency points

Corresponding to generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. Use the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point to calculate the phase detection errors of N+1 frequency points respectively

Alternatively, the step S24 includes: S241. Use the correlation integration result of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. Use the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point to calculate the phase detection errors of N+1 frequency points respectively

Alternatively, the step S24 includes: S241. Use the correlation integration result of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. Use the real part I _i,k , the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point to calculate the phase detection error of N+1 frequency points respectively

Alternatively, the step S24 includes: S241. Use the correlation integration result of N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

S242. utilize the real part I _i,k of each frequency point correlation integration result to calculate the symbol sign{I _i,k } of the real part I _i ,k of each frequency point correlation integration result; S243. Use the imaginary part Q _i,k of the correlation integration result of each frequency point, the symbol sign{I _i,k } of the real part I _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point, respectively Calculate the phase detection error of N+1 frequency points

5. The method according to claim 4, wherein the step S3 comprises: S31. Phase detection filtering results for the first N frequency points

Perform integration processing to generate local carrier phase estimates for each frequency correspondingly

Among them, i=1,...,N; S32. Use the local carrier phase estimation of each frequency point

Corresponding to generate the local carrier signal of the first N frequency points

6. The method according to claim 5, wherein the step S4 comprises: S41. Use the phase detection filtering results of the first N frequency points

and the carrier wavelength λ _i of the corresponding frequency point, corresponding to the distance change estimate of the first N frequency points generated

Among them, i=1,...,N; S42. Estimate the distance change of the first N frequency points

Perform linear combination to generate multi-frequency joint auxiliary tracking quantity

Among them, the weighting coefficient _wi satisfies

and _wi ≥ 0 constraints. 7. The method according to claim 6, wherein the step S5 comprises: S51. Utilize multi-frequency joint auxiliary tracking quantity

and the phase detection filtering result of the N+1th frequency point

Generate phase error estimates for the N+1th frequency bin

Among them, λ _Nt1 is the carrier wavelength of the N+1th frequency point; S52. Estimate the phase error of the N+1th frequency point

Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point

S53. Use the local carrier phase estimation of the N+1th frequency point

Generate the local carrier signal at the N+1th frequency

8. A multi-frequency signal joint auxiliary tracking device using the multi-frequency signal joint auxiliary tracking method according to any one of claims 1-7, characterized in that, comprising: The receiver antenna is used to obtain N+1 frequency point signals; A down-conversion module, configured to perform down-conversion processing on the N+1 frequency point signals, and correspondingly generate a digital intermediate frequency signal of N+1 frequency points; The phase detection filter module is used to perform carrier stripping, pseudocode stripping, integral clearing, phase detection and filtering processing on the digital intermediate frequency signal of the N+1 frequency points, and output phase detection filtering corresponding to the N+1 frequency points result; a first local carrier signal generation module, configured to perform integration processing on the phase detection filtering results of the first N frequency points to generate local carrier signals whose respective frequency points are used for the carrier stripping; a multi-frequency joint auxiliary tracking amount generating module, configured to generate a multi-frequency joint auxiliary tracking amount using the phase detection filtering results of the first N frequency points; and The second local carrier signal generating module is configured to use the multi-frequency joint auxiliary tracking amount and the phase detection filtering result of the N+1th frequency point to generate the local carrier signal of the N+1th frequency point for the carrier stripping . 9. The device according to claim 8, wherein the phase detection filter module comprises: The carrier stripping sub-module is used to separate the digital intermediate frequency signals of the N+1 frequency points with the respective local carrier signals

Mixing to strip the carrier and generate the baseband signal corresponding to each frequency point

Among them, i represents the ith frequency point, and i=1,...,N+1; k is an integer; Pseudo-code stripping sub-module for baseband signal at each frequency point

Perform pseudo-code stripping, correspondingly generate a signal after pseudo-code stripping for each frequency point; The integral clearing sub-module is used to clear the integral of the signal stripped from the pseudocode of each frequency point, and obtain the corresponding integral result of each frequency point.

Phase detector sub-module, used for correlation integration results of each frequency point

Perform phase detection, correspondingly generate the phase detection error of each frequency point

Filter sub-module, used to detect the phase error of each frequency point

Perform filtering processing, corresponding to generate N+1 frequency points of phase detection filtering results

The first local carrier signal generation module includes: The first local carrier phase estimation generation sub-module is used for the phase detection and filtering results of the first N frequency points

Perform integration processing to generate a local carrier phase estimate at each frequency correspondingly

Among them, i=1,...,N; The first local carrier signal calculation sub-module is used to estimate the phase of the local carrier at each frequency point

Correspondingly generate the local carrier signal of each frequency point

The multi-frequency joint auxiliary tracking amount generation module includes: The distance change estimation generation sub-module is used to use the phase detection filtering results of the first N frequency points

and the carrier wavelength λ _i of the corresponding frequency point to generate the distance change estimate of the first N frequency points

Among them, i=1,...,N; Multi-frequency joint auxiliary tracking quantity calculation sub-module, used to estimate the distance change of the first N frequency points

Perform linear combination to generate multi-frequency joint auxiliary tracking quantity

Among them, the weighting coefficient _wi satisfies

and w _i ≥ 0 constraints; The second local carrier signal generation module includes: The second phase error estimation generation sub-module is used to use the multi-frequency joint auxiliary tracking quantity

and the phase detection filtering result of the N+1th frequency point

Generate phase error estimates for the N+1th frequency bin

Among them, λ _Nt1 is the carrier wavelength of the N+1th frequency point; The second local carrier phase estimation generation sub-module is used to estimate the phase error of the N+1th frequency point

Perform integration processing to generate the local carrier phase estimate of the N+1th frequency point

The second local carrier signal calculation sub-module is used to estimate the local carrier phase using the N+1th frequency point

Generate the local carrier signal at the N+1th frequency

10. The device according to claim 9, wherein the phase detection sub-module comprises: Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Alternatively, the phase detection sub-module includes: Imaginary part acquisition sub-module, used for correlation integration results based on N+1 frequency points

Correspondingly generate the imaginary part of the correlation integration result of each frequency point

The phase detection error calculation sub-module is used to calculate the phase detection error of N+1 frequency points according to the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point.

Alternatively, the phase detection sub-module includes: Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Alternatively, the phase detection sub-module includes: Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The phase detection error calculation sub-module is used to calculate the phase detection errors of N+1 frequency points according to the real part I _i,k and the imaginary part Q _i,k of the correlation integration result of each frequency point.

Alternatively, the phase detection sub-module includes: Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The phase discrimination error calculation sub-module is used to calculate the discrimination of N+1 frequency points according to the real part I _i,k , the imaginary part Q _i,k of the correlation integration result of each frequency point and the signal amplitude A _i of each frequency point. Phase error

Alternatively, the phase detection sub-module includes: Real part and imaginary part acquisition sub-module, used for correlation integration results according to N+1 frequency points

Correspondingly generate the real part of the correlation integration result of each frequency point

and the imaginary part

The sign acquisition submodule is used to calculate the symbol sign{I _i,k } of the real part I _i,k of the correlation integration result of each frequency point according to the real part I _i,k of the correlation integration result of each frequency point; The phase detection error calculation sub-module is used for the sign {I i,k } of the imaginary part Q _i,k of the correlation integration result of each frequency point, the real part I _i,k of the correlation integration result of each frequency point sign{I _i,k } and each frequency point Signal amplitude A _i , calculate the phase detection error of N+1 frequency points respectively

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