GNSS软件接收机的导航信号处理技术

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"Navigation Signal Processing for GNSS Software Receivers" 是一本专注于全球导航卫星系统（Global Navigation Satellite System，简称GNSS）软件接收机信号处理的专业书籍。本书由Thomas Pany撰写，是Artech House的GNSS技术与应用系列之一。书中详细涵盖了卫星导航数据处理的各种关键技术和方法，旨在为读者提供全面的GNSS信号处理知识。作者可能深入讨论了从信号捕获、跟踪到定位解算的整个过程，这对于理解和开发GNSS软件接收机至关重要。在内容方面，可以预期书中会涉及以下几个主要知识点： 1. **GNSS系统概述**：介绍全球主要的GNSS系统，如GPS、GLONASS、Galileo和北斗等，以及它们的信号结构和工作原理。 2. **信号模型**：详细讲解各种GNSS信号的物理特性，包括载波频率、码率、调制方式和多普勒效应等。 3. **信号捕获**：讲述如何在噪声中识别和锁定GNSS信号，可能包括快速傅里叶变换（FFT）、匹配滤波器和滑窗技术的应用。 4. **码相位跟踪**：解释码相位锁环和载波相位锁环的原理，以及它们在保持信号同步中的作用。 5. **数据解码**：阐述如何从捕获和跟踪的信号中解码出导航电文，以获取卫星位置、时间和其他信息。 6. **多径效应和干扰抑制**：讨论环境因素如建筑物反射引起的多径效应，以及如何通过抗干扰技术来提高接收机性能。 7. **定位算法**：介绍单点定位、差分定位、RTK（实时动态）定位等方法，以及最小二乘法和卡尔曼滤波器在解算中的应用。 8. **软件接收机实现**：可能包含使用MATLAB和汇编语言编写软件接收机的实践经验，以及相关的程序代码示例。 9. **误差源分析**：分析并讨论钟差、大气延迟、卫星轨道误差等对定位精度的影响及其修正方法。 10. **GNSS应用**：探讨GNSS在测绘、交通管理、航空、海洋、农业和科学研究等领域的实际应用。这本书对于从事GNSS系统设计、软件开发或者相关研究的工程师和学者来说，是一份宝贵的参考资料。它不仅理论深入，还结合了实际操作，有助于读者提升对GNSS信号处理的理解和实践能力。同时，附带的MATLAB程序和汇编代码则提供了动手实践的机会，进一步巩固所学知识。

Preface xv

Chapter 4 points out that least-squares code, carrier, and Doppler estimation

is optimal under white and colored noise for arbitrary sample rates including sub-

Nyquist sampling. The least-squares scheme is affected by the squaring loss, but a

numerical evaluation of the true Cramér-Rao lower bound demonstrates that the

least-squares scheme is an optimal estimator. In fact, a correct treatment of the car-

rier phase as a uniformly distributed nuisance parameter shows that the squaring

loss is part of the code phase and the Doppler Cramér-Rao lower bound. Linear-

ity conditions are discussed that the proposed least-squares multipath-estimating

discriminator has to fulﬁll to be optimal. Techniques like macroscopic long coher-

ent integration times and vector tracking are pointed out to fulﬁll the linearity re-

quirements, even for weak signals. Nonparametric (i.e., multipath-mitigating) and

parametric (i.e., multipath-estimating) least-squares discriminators are detailed in

Chapter 8, making use of the different classes of correlators presented in Chapter 7.

An efﬁcient software receiver implementation relies on extra- or interpolation of

correlator values, a technique that is also investigated from the parameter-estima-

tion point of view in Chapter 4. Signal preprocessing, including quantization and

sampling, is detailed in Chapter 6, as well as the handling of colored noise. The

theoretical basis for signal detection or acquisition is laid out in Chapter 5. Signal

acquisition is a computational-extensive task that is most efﬁciently done via FFT

methods in a software receiver. Those methods are described in Chapter 9 and are

related to time-domain correlation.

Overall, this book covers signal processing, starting from the ADC up to the

estimation of the code phase, the carrier phase, and Doppler as depicted in Figure

P.1. Tracking loops are covered with respect to their inﬂuence on the discriminators.

For other navigation receiver aspects, like message decoding or positioning, the

reader is referred to other literature. Also, some speciﬁc high-precision techniques

like semi-codeless tracking and pulse blanking are covered.

The software receiver core algorithms consuming most of the processing time

are covered in Chapter 9. A run-time performance analysis is presented, making use

of x86 assembly language code snippets. The reader can ﬁnd those snippets in the

exemplary source code on the homepage for this book, http://www.artechhouse.-

Figure P.1 Covered navigation receiver topics: black—fully covered; gray—partly covered; white—

not covered.

com/static/reslib/pany/pany1.html. The source code includes the FFT acquisition

methods and multipath-estimating tracking. Furthermore, MATLAB scripts for

the true Cramér-Rao lower bound as well as for the thermal-noise analysis of the

noncoherent discriminators are included. The scripts run with the four exemplary

navigation signals of Chapter 1 and are outlined in Chapter 11.

Book’s Usage for Practical Receiver Implementation

This book should help in building advanced navigation software receivers. It is

not a beginner’s book and the reader should be familiar with the architecture

of a GNSS software receiver, which is, for example, excellently described by

Borre’s book mentioned in Chapter 2. Borre’s book also comes with a complete

MATLAB receiver and our text may help you to extend this receiver for high-sensitivity

applications using efﬁcient FFT techniques or for high-precision applications ap-

plying multipath-mitigation schemes or stable double-difference carrier-phase

tracking.

To build a navigation software receiver, you need there things: navigation sig-

nal samples, a software framework that handles the data ﬂow, and efﬁcient core

algorithms.

Signal samples can be obtained by one of the GNSS front ends described in

Chapter 2 or you can use the single-channel signal generator of Chapter 11. Some-

times, the front-end manufacturers can provide you with exemplary signal-sample

streams, too.

Writing a software receiver framework from scratch can be a quite tedious

work. The framework handles the enormous amount of signal samples, synchro-

nizes the different receiver channels, computes the position, and provides some

standard output formats. You can short-cut this by adapting the MATLAB source

code mentioned above. Another possibility to avoid this cumbersome work is to

use a commercial software receiver having an application programming interface,

which you can plug into your own source code. Chapter 11 provides you with a

single-channel framework that demonstrates how to convert the sample stream into

pseudorange measurements.

Finally, the core algorithms can actually be found within this text. They are

derived in a way that they can be adapted easily for a speciﬁc framework and the

assembler code should help to realize them efﬁciently.

xvi Preface

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