Global navigation satellite system (GNSS) receivers use tracking loops to lock onto GNSS signals. Fixed loop settings limit the tracking performance against noise, receiver dynamics, and the current scenario. Adaptive tracking loops adjust these settings to achieve optimal performance for a given scenario. This paper evaluates the performance and complexity of state-of-the-art adaptive scalar tracking techniques used in modern digital GNSS receivers. Ideally, a tracking channel should be adjusted to both noisy and dynamic environments for optimal performance, defined by tracking precision and loop robustness. The difference between the average tracking jitter of the discriminator’s output and the square-root Cramer-Rao bound (CRB) indicates the loops’ tracking capability. The ability to maintain lock characterizes the robustness in highly dynamic scenarios. From a system perspective, the average lock indicator is chosen as a metric to measure the performance in terms of precision, whereas the average number of visible satellites being tracked indicates the system’s robustness against dynamics. The average of these metrics’ product at different noise levels leads to a reliable system performance metric. Adaptive tracking techniques, such as the fast adaptive bandwidth (FAB), the fuzzy logic (FL), and the loop-bandwidth control algorithm (LBCA), facilitate a trade-off for optimal performance. These adaptive tracking techniques are implemented in an open software interface GNSS hardware receiver. All three methods steer a third-order adaptive phase locked loop (PLL) and are tested in simulated scenarios emulating static and high-dynamic vehicular conditions. The measured tracking performance, system performance, and time complexity of each algorithm present a detailed analysis of the adaptive techniques. The results show that the LBCA with a piece-wise linear approximation is above the other adaptive loop-bandwidth tracking techniques while preserving the best performance and lowest time complexity. This technique achieves superior static and dynamic system performance being 1.5 times more complex than the traditional tracking loop.

Evaluation of Adaptive Loop-Bandwidth Tracking Techniques in GNSS Receivers.

The invention relates to the method for performing satellite positioning signal resolution. The method comprises steps: a, PLC equipment receives a satellite positioning message in a character format through a serial port of a communication module and converts the received satellite positioning message into a string format, and the PLC equipment obtains and stores effective message information strings; b, the PLC equipment extracts each segment of string according to separators in the effective message information strings, and extracts satellite positioning information from each segment of string. According to the invention, a gap of satellite positioning signal resolution through PLC software is filled, a satellite positioning system and the PLC equipment are effectively combined, the message length of each item of the satellite positioning message is user-defined, errors of verification messages are effectively prevented, and the reliability of satellite positioning signal resolution is improved.

Method for performing satellite positioning signal resolution

The invention discloses a method for improving navigation positioning precision and efficiency based on an improved message arrangement format, and belongs to the field of satellite navigation. The method comprises the following steps of: dividing all message parameters into five message parameter functions with different internal parameters according to types of the navigation message parametersin messages; writing the five message parameter functions into words by using a message parameter coding function to preliminarily generate 10 message words in a complete message; and performing combined arrangement on the functions, namely ensuring a clear structure in a navigation message editing process by improving the message arrangement format, so that the message parameters are high in accuracy in a filling process, the error probability of broadcasting message contents by a satellite is reduced, the error probability of receiving satellite information by a receiver is reduced, and thepositioning precision of the receiver is improved; and the message parameter correction difficulty is reduced, and the message parameters are easy to modify.

Method for improving navigation positioning precision and efficiency based on improved message arrangement format

The invention discloses a method and a device for decoding navigation messages. The decoding method comprises the steps of performing frame synchronization on the received navigation messages, and then decoding the frame-synchronized navigation messages to obtain the original information of the navigation messages and check information, wherein the frame synchronization step further comprises determining whether the encoding pattern of the navigation messages is continuous convolutional encoding, when the encoding pattern of the navigation messages is continuous convolutional encoding, determining the pseudo-frame header of the sub-frames of the navigation messages and performing frame synchronization according to the determined pseudo-frame header, and when the encoding pattern of the navigation messages is not continuous convolutional encoding, performing frame synchronization according to the original fixed frame header of the sub-frames of the navigation messages.

Method and device for decoding navigation messages

GNSS receivers are expected to offer positioning service any time and any place. However, receivers with the traditional PLL/DLL tracking loops have limited performance under high-dynamics conditions because of the contradiction on bandwidth and update interval. This paper analyzes the influence on signal’s tracking algorithm caused by high dynamics, and then intend to improve tracking performance based on Kalman filter. The Kalman filter-based tracking scheme outperforms the traditional one in high-dynamics scenarios. In this paper the KF-based tracking loop is analyzed in depth and a frequency-compensation algorithm is proposed to make up the increasing phase error brought by signal’s dynamics. This paper will present a mathematical analysis of the frequency-compensation method. Moreover, a straightforward description is given on how this method can help to form loop closure. With the proposed algorithm, it is possible to use a longer pre-detection time as well as get a better dynamic performance. Simulation results have confirmed that it’s capable of the new designed KF-based loop to converge under high-dynamics scenarios with a Doppler rate over 2000Hz/s. And also the loop can obtain more accurate observations compared to the traditional tracking method.

A Frequency-Compensation Algorithm in Kalman Filter-Based Tracking Loop for High-Dynamics GNSS Receivers

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Method and device for decoding navigation messages

A Frequency-Compensation Algorithm in Kalman Filter-Based Tracking Loop for High-Dynamics GNSS Receivers