A test-bed implementation of an acquisition system for indoor positioning

Indoor GNSS signals are typically received with poor signal-to-noise ratio, which impairs the acquisition stage of common global positioning system (GPS) receivers. Extending the coherent integration time increases the acquisition sensitivity, but the data-bit-rate limits the maximum achievable performance. Non-coherent processing also improves the detection performance, but indoor signals require a large amount of accumulations resulting in significant squaring loss. Moreover, both strategies have high computational complexity which fixes demanding requirements for stand alone mass-market terminals operating in real time. A sensitivity–complexity trade-off is therefore mandatory. Assisted-GPS, which is included in 3GPP specifications, reduces the overall acquisition complexity and enhances sensitivity. In this paper we describe a low-complexity-assisted data-wipe-off technique that enables the high-sensitivity acquisition of GPS signals. The method is based on the acquisition of the strongest signal in order to obtain information that eases the acquisition of the weaker ones. The analysis also addresses sources of sensitivity loss, such as Doppler effects and local oscillator inaccuracies. A test campaign with real signals and integration times up to 2 s validates the method, demonstrating the effectiveness of the proposed technique in indoor environments.     

Choosing the coherent integration time for Kalman filter-based carrier-phase tracking of GNSS signals

Carrier phase–based positioning using Global Navigation Satellite System (GNSS) signals can provide centimeter-level accuracy; however, to do so requires robust, continuous tracking of the phase of the received signal. The phase-locked loop is typically the weakest link in GNSS signal processing, with frequent cycle slips and loss of lock occurring at lower signal-to-noise ratios. One way to improve the signal-to-noise ratio is to increase the coherent integration time; however doing so reduces the loop update rate, thereby degrading performance. This paper investigates this trade-off between sensitivity and loop update rate by investigation of the Kalman filter-based tracking loop. It is shown that it is possible to choose an optimal integration time for a given application. A relatively straightforward procedure is given to determine this optimal value. The results are confirmed through real-time kinematic processing of live satellite signals.     

GPS弱信号捕获算法研究

随着GNSS的广泛应用,许多新技术和新领域对GNSS弱信号捕获提出了新要求,其关键技术之一就是弱信号捕获跟踪算法的实现。在相干积分和非相干积分的基础上,通过相位补偿和时延修正、奇偶分路等方法,可以在盲搜索中捕获到比正常信号低25dB的弱信号,实现了对粗捕到的弱信号进行载波频率精化,并分别利用仿真数据和实测数据验证了算法的正确性。此外,分析了信号相位翻转对信号捕获的影响,对GNSS弱信号应用领域具有重要的参考价值。     

Segmented Principal Component Analysis for Parallel Compression of Hyperspectral Imagery

Principal component analysis (PCA) is widely used for spectral decorrelation in the JPEG2000 compression of hyperspectral imagery. However, due to the data-dependent nature of principal components, the principal component transform matrix is stored in the JPEG2000 bitstream, constituting an overhead that is often negligible if the spatial size of the image is large. However, in parallel compression in which the data set is partitioned to multiple independent processing nodes, the overhead may no longer remain negligible. It is shown that a segmented approach to PCA can greatly mitigate the detrimental effects of transform-matrix overhead and can outperform wavelet-based decorrelation which entails no such overhead.     

空中目标探测系统信号处理增益分析

针对利用全球导航卫星反射信号(GNSS-R)进行空中目标探测时,信号微弱无法可靠接收的问题,该文提出了一种计算信号处理增益的方法。通过合理设置信号处理算法参数,保证了对微弱信号的后续处理。首先对GNSS-R信号接收链路进行了分析,计算得到了当目标的雷达散射截面(RCS)变化时对应的目标回波功率范围;然后对空中目标上升、平飞和下降三种飞行状态双基地雷达系统几何模型进行了研究,给出了3种飞行状态下对应的有效探测时间,为接收机后续相干/非相干累加算法的处理时间提供阈值限制;最后在阈值范围内,选定合适相关时间,分析了经过相干/非相干累加处理后的反射信号输出信噪比范围。结果表明:在有效探测时间的限制下,相关处理时间取0.6s时,处理后的信噪比在10dB左右,满足一般码跟踪环所需的门限要求,可以保证接收机后续数据处理的顺利进行。     

Suppression of multipath and jamming signals by digital beamforming for GPS/Galileo applications

Digital beamforming (DBF) has been studied to obtain automatic beam steering towards desired signals and simultaneous elimination of multipath and jamming signals at GNSS receivers, which is made possible by spatial and temporal digital signal processing. In this paper, the limitations of conventional multipath and jamming suppression techniques, which have been proven and widely used in GPS, are investigated. Different DBF algorithms suitable for GNSS applications are investigated theoretically. New ideas for future development of DBF are presented. The implementation of digital beamforming in FPGA/DSP for practical application environments is also discussed. Electronic Publication     

地表形变D-InSAR监测方法及关键问题分析

总结和分析了地表形变D-InSAR监测的主要方法和当前所面临的主要问题。针对常规D-InSAR技术中大气相位和低相干区域相 位解缠，分别介绍了基于Delaunay三角网的不规则格网解缠方法、累积干涉纹图处理方法（Stacking Interferograms）、永久性 散射体（PS）技术以及角反射器干涉测量（CR-InSAR）方法，分析了各自的适用条件和优缺点。此外，对有限数据量条件下低相干 区域大气相位校正、相干目标识别等问题进行了重点讨论。立足于工程应用需要，分别对D-InSAR测量地表形变的参数选择、测量 结果的精度验证、D-InSAR测量值与形变的关系、大区域处理以及形变场时空演变等问题进行了分析和讨论。     

基于粗时段导航与RAIM算法的A-GNSS室内定位

针对GNSS接收机在室内环境中面临的强烈的信号衰减、非视距传播和互相关效应的问题,提出了一种基于粗时段导航和RAIM算法解决A-GNSS室内定位问题的方法,并利用BDS数据验证了该方法的可靠性。结果表明,粗时段导航算法能够提供连续可靠的定位结果,应用于微弱信号环境;基于组合FDE的RAIM算法能够增加定位结果可用率,解决室内卫星信号存在的非视距传播和互相关效应的问题。基于粗时段导航与RAIM算法的A-GNSS定位技术能够应用于室内定位,仿真定位结果水平方向RMS在10 m以内。     

Study on the cross-correlation of GNSS signals and typical approximations

In global navigation satellite system (GNSS) receivers, the first signal processing stage is the acquisition, which consists of detecting the received GNSS signals and determining the associated code delay and Doppler frequency by means of correlations with a code and carrier replicas. These codes, as part of the GNSS signal, were chosen to have very good correlation properties without considering the effect of a potential received Doppler frequency. In the literature, it is often admitted that the maximum GPS L1 C/A code cross-correlation is about ?24 dB. We show that this maximum can be as high as ?19.2 dB when considering a Doppler frequency in a typical range of [?5, 5] kHz. We also show the positive impact of the coherent integration time on the cross-correlation and that even a satellite with Doppler outside the frequency search space of a receiver impacts the cross-correlation. In addition, the expression of the correlation is often provided in the continuous time domain, while its implementation is typically made in the discrete domain. It is then legitimate to ask the validity of this approximation. Therefore, the purpose of this research is twofold: First, we discuss typical approximations and evaluate their regions of validity, and second, we provide characteristic values such as maximums and quantiles of the auto- and cross-correlation of the GPS L1 C/A and Galileo E1 OS codes in the presence of Doppler, for frequency ranges up to 50 kHz and for different integration times.     

Investigation on the effect of strong out-of-band signals on global navigation satellite systems receivers

The mitigation of radio frequency interference (RFI) has a fundamental role in global navigation satellite system (GNSS) applications, especially when a high level of availability is required. Several electromagnetic sources, in fact, might degrade the performance of the global positioning system (GPS) and Galileo receivers, and their effects can be either in-band (i.e., secondary harmonics generated by transmitters of other communication systems due to non-linearity distortions) or out-of-band (i.e., strong signals that occupy frequency bandwidths very close to GNSS bands). We investigated the effects of real out-of-band signals on GNSS receivers and analyzed the impact on the overall receiver chain in order to evaluate the impact of the interference source. In particular, the analysis focuses on the spectrum at the front-end output, on the automatic gain control (AGC) behavior, as well as on the digital processing stages (signal acquisition and tracking) at the analog digital converter (ADC) output. This study refers to several experiments and data collections performed in interfered areas of downtown Torino (Italy). The obtained results underline how digital/analog TV transmissions represent a potential interference source for GNSS applications and might be critical for the safety of life services.     

基于矢量跟踪的GNSS／SINS相干深组合系统研究

为满足组合导航系统在高动态环境下的性能要求,设计基于矢量跟踪的GNSS／SINS相干深组合导航方法。利用矢量跟踪环路将所有可视卫星的跟踪和导航解算融为一体,增强通道间的辅助;高动态对载波跟踪影响更大,在通道预滤波中将码环载波环分别用独立的滤波器处理,组合滤波中采用通道间差分降低滤波状态维数,提高计算效率。引入惯导的加速度辅助本地信号参数预测,较精确地测量卫星视线方向的加速度,减小接收机在高动态时段的剩余动态,提高本地信号参数的预测精度。基于矢量跟踪软件接收机搭建相干深组合仿真系统,实验表明该方法在高动态等环境下能提高信号跟踪性能,改善系统的精度、可靠性。      

GNSS Software Receivers

Software Global Navigation Satellite Systems (GNSS) receivers are those that implement signal correlation processing not in hardware, but in their software. The main problem for the development of real-time software (SW) multichannel GNSS receivers is the tremendous amount of calculations to perform signal correlation. The article reviews recent developments of SW GNSS receivers. The emphasis is made on the computationally effective correlation processing algorithms and the optimization of processing allocation to the receiver's hardware (HW) and SW. An architecture is suggested that implements the PRN signals despreading in a special HW preprocessor while all the other correlation processing functions are still kept in SW. The combination of the most time-consuming processing in HW, and all signal structure-dependent processing in SW, enables unique flexibility of sophisticated GNSS receiver design based on inexpensive digital signal processors. ? 2000 John Wiley & Sons, Inc.     

弱GPS信号捕获算法的仿真实验研究

针对低信噪比环境下导航的需要,文章对低信噪比环境下弱GPS信号捕获算法进行了分析,重点对相关累加、非相关累加以及多重数据位循环相关累加捕获算法的信号处理流程和算法捕获性能进行讨论。通过特定的硬件装置获得真实的GPS信号,利用Matlab对上述3种常用的弱GPS信号捕获算法进行计算机仿真研究。根据理论分析和仿真结果可以看出,多重数据位循环相关捕获算法更适合检测低信噪比环境下的GPS信号。     

基于格论的GNSS模糊度解算

快速、准确地解算整周模糊度是实现GNSS载波相位实时高精度定位的关键,由于模糊度之间的强相关,基于整数最小二乘估计准则时,需要较长的时间才能搜索出最优的整周模糊度向量。为了提高模糊度的搜索效率,本文在扼要介绍格论的理论框架基础上,引入基于格论的模糊度解算方法,通过格基规约来降低模糊度之间的相关性,从而快速搜索出最优的整数模糊度向量。与此同时,将GNSS领域的主要降相关方法统一到格论框架下,探讨了并建议采用Bootstrapping成功率作为格基规约的性能指标之一。最后实验分析了三频多系统长基线相对定位情况下,不同格基规约可获得的性能。     

应用延迟累加的微弱GPS信号捕获算法

针对在弱信号环境下传统算法无法进行捕获的问题,提出了一种改进算法。该算法在双块零拓展(double block zero padding,DBZP)算法的基础上,采用延迟累加的方法,首先将DBZP算法相关运算结果中被舍弃的部分暂存,然后对延迟1ms的接收信号进行相关运算,得到相应的相关运算结果,将其与存储的运算结果进行相干累加,并将相干累加结果作为捕获模块输出与门限值进行比较。改进算法在增加极少运算量的前提下,通过提高相关运算结果的利用率,增加了数据观测量。仿真结果表明,改进算法能够提高捕获算法处理增益,在捕获载噪比为17dB-Hz的信号时,检测概率能够达到91%。     

Passive interference localization within the GNSS environmental monitoring system (GEMS): TDOA aspects

Due to their low power levels, global positioning system (GPS) signals are very susceptible to interference from intentional and unintentional sources. With ever increasing reliance on global navigation satellite systems (GNSS) for everyday operation of safety–critical infrastructure, the detection, localization and elimination of interference to GNSS is of paramount importance. The GNSS environmental monitoring system (GEMS) II provides the capability to detect and localize interferers in real time in a given area. It consists of a number of spatially distributed sensor nodes connected to a central processing unit. Interference is localized using hybrid direction-of-arrival (DOA) and time-difference-of-arrival (TDOA) techniques. We describe the GEMS II environment and provide an in-depth analysis and evaluation of the TDOA aspects of the system. During evaluation, signals generated from Spirent GPS signal generators as well as data from actual field-test trials are used to provide extensive performance analysis and comparison, with a view to final system integration.     

基于泛在信号融合的室内外场景鲁棒感知算法

针对室内外场景结合的导航应用服务需求的发展以及现有室内外场景感知方法的识别稳定性较低、准确率不高问题,本文提出一种基于泛在信号融合的室内外场景鲁棒感知算法,利用室内外场景中融合的泛在信号降低单一信号识别误差;同时为提高传统AdaBoost算法对不平衡数据集的分类精度,采用概率神经网络（PNN）作为训练的弱分类器,并引入熵权法,对迭代产生的弱分类器的权重进行修正来提高强分类器的分类准确率．现实场景下的实验表明,本文算法在采用室内外环境中的WiFi信号、全球卫星导航系统（GNSS）可用星数、光照强度这三种融合的泛在信号进行室内外场景感知时性能最佳,对于不同角度方向下的室内外场景切换,可以在误报率仅为1.7％的情况下,达到98％的识别准确率,验证了本文所提算法的准确性和鲁棒性．      

HERON LITE移动测量系统在房地一体中的应用

在开展房地一体项目时,传统的测量技术已不堪重负,即时定位与地图构建(SLAM)技术在移动测绘方面具有较好的应用,其不依托GNSS信号可以对室内和室外的地面水平环境进行地图构建和环境建模。文中利用HERON LITE便携式移动测量系统开展房地一体测量实验,介绍测图流程、数据内业处理与点云成图,并分析其点云精度,对比各种作业方式的效率。实验证明,该系统在保证精度的同时,可以提高房地一体测量效率。     

卫星雷达遥感在滑坡灾害探测和监测中的应用:挑战与对策

将卫星雷达遥感应用于滑坡灾害的探测与监测,不仅可以从空间尺度上大范围捕捉到滑坡信号,而且可以从时间尺度上以较长周期追踪滑坡的运动状态。但是,卫星雷达遥感本身的局限性和滑坡所处的复杂地形环境使这一应用面临一些挑战。对卫星雷达遥感技术的4个主要挑战进行了总结与分析,同时给出了相应的解决方案:①通过提高卫星雷达影像的空间、时间分辨率,使用较长波段雷达信号或采用增强型时间序列分析技术,可降低密集植被覆盖对相干性的影响。另外,采用像素点偏移量追踪或距离向分频干涉测量方法,可克服传统干涉测量中大梯度形变引起的相位失相干。②大气延迟对卫星遥感的影响较大,尤其是地处山区的滑坡探测和监测,利用通用型卫星雷达大气改正系统可显著减弱干涉影像的大气信号并进一步简化时间序列分析,提高缓慢运动滑坡的探测和监测质量。③对于中等分辨率的雷达影像而言,利用数字高程模型可提前量化分析雷达几何畸变（如叠掩、阴影等）引发的滑坡探测监测的适用性;而对于高分辨率的雷达影像而言,利用机器学习方法无需外部高分辨率数字高程模型即可精确识别雷达影像的阴影和叠掩区并进行掩膜,从而大幅度提高数据处理效率。④针对高坡度地区残余的地形相位引起的解缠误差,可通过基线线性组合的方法予以减弱。此外,提出了一个基于多源对地观测的滑坡探测/监测系统框架,综合卫星雷达遥感与其他对地观测数据（如地基雷达、激光雷达、全球导航定位系统）,搭建了一个自动化滑坡探测与监测系统。该研究旨在阐明卫星雷达遥感的优缺点,进一步深化其在滑坡灾害监测方面的应用和推广,引出未来侧重发展方向的思考与探讨。     

GPS信号的差分相关捕获算法研究

随着人们活动范围的日益扩大和周边环境的日益复杂，低信噪比环境下捕获卫星导航信号逐渐成为国内外研究的重点。本文分析两种常用的改善检测统计量信噪比的方法：相干累加和非相干累加，指出它们各自存在的问题。引出差分相关捕获算法，详细介绍差分相关捕获算法，分析了其数学模型。从理论上研究差分相关捕获算法的性能，并借助MATLAB仿真，分析各个参数对算法性能的影响，同时与相干／非相干累加算法进行比较。