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”是一本关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教材，由Thomas Pany撰写。这本书详细介绍了GNSS软件接收机中的捕获和跟踪算法，是该领域的经典参考资料。在GNSS软件接收机技术中，信号处理是核心部分，它涵盖了从原始射频信号到解码出位置、速度和时间信息的整个过程。捕获阶段主要是寻找并锁定卫星信号，通常涉及快速傅里叶变换（FFT）和其他搜索策略，以便在大量噪声中识别出微弱的卫星信号。跟踪阶段则确保对已捕获的信号进行精确的跟踪，通常采用循环缓冲器（Correlator）和卡尔曼滤波器（Kalman Filter）等技术，以保持与卫星信号的同步，并提取导航信息。书中的内容可能包括： 1. GNSS系统概述：介绍GPS、GLONASS、Galileo、BeiDou等全球主要的导航卫星系统，以及它们的工作原理和信号特性。 2. 数字信号处理基础：涵盖数字信号处理的基本概念，如采样理论、滤波器设计和数字调制解调。 3. 射频前端处理：讲解射频信号到中频信号的转换，包括低噪声放大器、混频器和本地振荡器的作用。 4. FFT与匹配滤波器：阐述如何利用FFT进行快速的频域分析，以及匹配滤波器在捕获阶段的应用。 5. 捕获算法：详述滑窗搜索、网格搜索等方法，以及如何优化搜索性能，降低计算复杂度。 6. 跟踪环路：讨论载波相位跟踪、码相位跟踪和多径抑制等技术，确保信号的稳定跟踪。 7. 伪距和多普勒频移的计算：解释如何通过跟踪信号来确定用户与卫星之间的距离和相对速度。 8. 协同处理和多模接收：探讨多个GNSS系统的联合使用，提高定位精度和可用性。 9. 实时性与效率：关注在有限的硬件资源下实现高效软件接收机的方法，如使用嵌入式处理器和优化算法。 10. MATLAB和汇编程序：书中可能提供了相关的MATLAB代码和汇编程序示例，帮助读者实践和理解理论内容。 11. 实验和案例研究：可能包含了实际应用案例，使读者能将理论知识应用于实际系统。 “Navigation Signal Processing for GNSS Software Receivers”对于学习和理解GNSS接收机信号处理技术，尤其是捕获和跟踪算法，是非常宝贵的资源。通过深入阅读和实践，读者可以掌握构建和优化软件接收机所需的关键技能。

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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