Summary of the invention
The embodiment of the present application discloses a kind of signal processing method and its relevant device, for from corresponding with minimum residual valueAt least one chip offset in determine minimum value, and according to the minimum value calculate pseudorange.
The first aspect of the application provides a kind of signal processing method characterized by comprising
Determine the smallest residual value at least two residual values, the smallest residual value by the first correlated results, at leastSecond correlated results of the argument value of the single diameter of one ideal and at least one ideal single diameter is determined according to the first formula, describedThe argument value of at least one ideal single diameter by first correlated results and at least one second correlated results according toSecond formula determines that treated as a result, the described second related knot by correlator to receive signal for first correlated resultsBy correlator, treated as a result, at least one described second correlated results is related to described first for ideal single diameter for fruitAs a result there is at least one corresponding chip offset, ideal single diameter is single diameter in current tracking chip presetting range,Ideal single diameter is the single drive signal of not noise jamming；
When the smallest residual value is less than the first threshold value, determine at least one described chip offset mostSmall value；
Pseudorange is calculated according to the minimum value in first correlated results and the chip offset.
Based in a first aspect, in the first embodiment of the embodiment of the present application first aspect, which is characterized in that describedCalculating pseudorange according to the minimum value in first correlated results and the chip offset includes:
First correlated results is subjected to chip offset, offset is the minimum value in the chip offset；
Pseudorange is calculated according to first correlated results after offset.
Based on the first of first aspect and first aspect embodiment, at second of the embodiment of the present application first aspectIn embodiment, which is characterized in that first formula includes:
J(τ0)=arg ∑k|Y(k)-∑ixi×P(k-τi)|；
Wherein, the Y (k) first correlated results, the xiFor the argument value of i-th single diameter, P (the k- τi) tableShow second correlated results, wherein the τiIndicate the chip offset of i-th diameter, the value range of the i be n >=I >=1, the i are positive integer.
Based on the first of first aspect and first aspect embodiment, in the third of the embodiment of the present application first aspectIn embodiment, which is characterized in that at least two residual value of determination before the smallest residual value, the method is also wrappedIt includes:
Determine the power of every ideal single diameter in described at least one ideal single diameter；
Determine the maximum value of the power；
The second threshold value is determined according to the maximum value；
When being less than ideal single diameter of second threshold value in described at least one ideal single diameter there are power, reallyThe argument value that the fixed power is less than ideal single diameter of second threshold value is zero.
Based on the first of first aspect and first aspect embodiment, at the 4th kind of the embodiment of the present application first aspectIn embodiment, before the minimum value at least one chip offset described in the determination, the method also includes:
The smallest residual value is normalized.
Based on the first of first aspect and first aspect embodiment, at the 5th kind of the embodiment of the present application first aspectIn embodiment, which is characterized in that second formula includes:
Wherein, Y indicates the Y (k),
Wherein, []N×mRepresenting matrix size is N row m column, described []N×1Representing matrix size is the column of N row 1, describedP(k-τm) indicate second correlated results, wherein the τmIndicate the chip offset of the m articles diameter, the value of the mRange is n >=m >=1, and the m is positive integer.
The second aspect of the application provides a kind of multipath estimation device characterized by comprising
First determination unit, for determining the smallest residual value at least two residual values, the smallest residual value bySecond correlated results of the first correlated results, the argument value of at least one ideal single diameter and at least one ideal single diameter according toFirst formula determines that the argument value of described at least one ideal single diameter is as described in first correlated results and described at least oneSecond correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knotFruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated resultsAs a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chipSingle diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Second determination unit is used at least one described in determination when the smallest residual value is less than the first threshold valueMinimum value in chip offset；
Computing unit, for calculating pseudorange according to the minimum value in first correlated results and the chip offset.
Based on second aspect, in the first embodiment of the embodiment of the present application second aspect, which is characterized in that describedComputing unit includes:
Offset module, for first correlated results to be carried out chip offset, offset is in the chip offsetMinimum value；
Computing module, for calculating pseudorange according to first correlated results after offset.
Based on the first of second aspect and its second aspect embodiment, the second of the embodiment of the present application second aspectIn kind embodiment, which is characterized in that the multipath estimation device further include:
Third determination unit, for determining the power of every ideal single diameter in described at least one ideal single diameter；
4th determination unit, for determining the maximum value of the power；
5th determination unit, for determining the second threshold value according to the maximum value；
6th determination unit, when there are power to be less than described in second threshold value in described at least one ideal single diameterWhen ideal list diameter, the argument value for determining that the power is less than ideal single diameter of second threshold value is zero.
Based on the first of second aspect and its second aspect embodiment, in the third of the embodiment of the present application second aspectIn kind embodiment, which is characterized in that the multipath estimation device further include:
Processing unit, for the smallest residual value to be normalized.
The application third aspect provides a kind of multipath estimation device, comprising: memory, transceiver, processor and totalLinear system system；
Wherein, the memory is for storing program and instruction；
The transceiver is for receiving or sending information under the control of the processor；
The processor is used to execute the program in the memory；
The bus system is for connecting the memory, the transceiver and the processor, so that the memory, the transceiverAnd the processor is communicated；
Wherein, which is used to call the program instruction in the memory, executes such as first aspect and its first aspectThe first method being somebody's turn to do to any one of the 5th kind of implementation implementation.
A kind of computer readable storage medium, including instruction are provided in terms of the embodiment of the present application four, when instruction is calculatingWhen being run on machine, so that computer is executed such as the first of first aspect and first aspect to the 5th kind of implementation, secondThe method of any implementation of the first of aspect and second aspect into the third implementation.
A kind of computer program product comprising instruction is provided in terms of the embodiment of the present application five, when it is transported on computersWhen row so that computer execute as first aspect and first aspect the first to the 5th kind of implementation, second aspect withAnd the method for any implementation of the first of second aspect into the third implementation.
The embodiment of the present application, which has the advantage that, to be determined by the argument of the ideal single diameter of the first correlated results and at least oneThe minimum residual value that value and the second correlated results acquire then determines the second correlated results relative to the first phase according to the residual valueThe minimum offset in the offset of result is closed, pseudorange is asked according to the minimum offset and the first correlated results.In the present embodimentIn, residual value is sought by being fitted a plurality of ideal single diameter, there are phase delay, phases relative to practical reception signal for every single drive signalPosition postpones a smallest single drive signal (assuming that delay is τ1) it is the corresponding signal of direct wave, therefore letter can be received by practicalNumber correlated results postpone τ1A unit is the correlated results of direct wave, so can be according to the first correlated results and τ1It calculates pseudo-Away to achieve the purpose that calculate pseudorange under multipath scenario.
Specific embodiment
It is understood that the present embodiment passes through practical reception signal and a plurality of reason under virtual analog multipath effect sceneThink single drive signal, by the transmission path with signal under multiple groups multipath signal simulating multi-path scene, therefrom selects and most suitable make an uproarThe smallest one group of multipath signal of sound defaults the path as Multipath Transmission under practical multipath effect, it is to be understood that direct waveIt is to reach receiver at first, accordingly, with respect to the corresponding single diameter of reception signal correlated results phase delay minimum correlated resultsBe direct wave transmission path.
In the present embodiment, first correlated results, at least one ideal single diameter are by the above-mentioned remnants thoughtValue minimum is the value of corresponding selection, and minimum residual value calculates gained according to the first formula by them.
In the present embodiment, pseudo range measurement is prolonged by first calculating satellite launch moment to the time that receiver receives the momentLate, then multiplied by the light velocity, as satellite launch moment position and user distance r, this distance is exactly pseudorange.Satellite is in t1It is rawAt navigation information code, in t2Moment reaches receiver, and receiver passes through the local reproduction code constantly generated and the letter receivedNumber carry out related operation, until local signal and receive signal occur it is perfectly correlated, realize signal synchronize, illustrate moment t1ThenCarve t2Between time delay ▽ t be exactly time of the satellite-signal in space propagation.
Existing typical code loop tracks are illustrated in fig. 1 shown below, by adjusting local C/A code phase, obtain Early andLate two-way, it is related to the signal progress after mixing respectively and integrate, to obtain the road I/Q correlated results.By correlated results benefitCurrent code phase tracking error is calculated with discriminator algorithm.Error is used as subsequent time local C/A code after loop filteringPhase generates clock, carrier loop tracking is added, for correcting the code rate deviation due to caused by Doppler effect, to guarantee to carryThe accurate tracking to carrier phase may be implemented in wave tracking ring.Existing code loop tracks algorithm only considered single diameter mode, whenIn the presence of multipath, code ring discriminator will fail, and there are errors for the tracing positional provided.
In the present embodiment, ranging code and navigation message data are modulated on satellite carrier signal, therefore at baseband signalThe intermediate-freuqncy signal that reason part is exported by radio-frequency front-end copies the carrier wave and ranging code signal consistent with satellite, removing packetThe carrier signal including Doppler shift is included, C/A code is obtained.
Referring to figure 2., a kind of signal processing method of the embodiment of the present application will be illustrated below.
201, the smallest residual value at least two residual values is determined；
Determine the smallest residual value at least two residual values, the smallest residual value is by the first correlated results, at least oneThe argument value of the ideal single diameter of item and the second correlated results of the single diameter of at least one ideal determine that this at least one according to the first formulaThe argument value of the ideal single diameter of item determines by first correlated results and at least one second correlated results according to the second formula,At least one second correlated results has at least one corresponding chip offset, ideal list diameter with first correlated resultsCurrently to track single diameter in chip presetting range, ideal list diameter is the single drive signal of not noise jamming.
The signal model received under multipath scenario be typically expressed as a direct signal and multiple reflection signals andWhite Gaussian noise, the first correlated results is that correlator carries out the knot that related operation obtains to the practical signal that receives in the present embodimentFruit, the second correlated results are every single drive signal (i.e. direct signal and transmitting signal) under multipath scenario after correlator operationObtained result.
In the present embodiment, due to being every ideal single diameter under simulating multi-path effect, it is therefore desirable to select from multiple groupsIt is fitted in ideal list diameter set and selects, the foundation of selection is to pass through since there are noise jammings for practical reception signal and determine realityReceive signal correlated results and every group of ideal single drive signal correlated results it is accumulative and difference, this difference is practical to receive signalRelative to noise ideally, the smallest one group of simulation ideal single drive signal group of noise figure i.e. residual value is taken, that is, is consideredMost suitable ideal single diameter group.
In the present embodiment, it is taken from multiple residual values first one the smallest, it is to be understood that in practical operationIn, there is the step of simulation the first correlated results of multiple groups seeks corresponding residual value with ideal single diameter, the mode of specific implementation can beFirst preset one group ideal single diameter, calculates residual value, then traverses the corresponding path position combination of sampled point, determines next group of ideal single diameterAnd its corresponding practical reception signal, calculate next group of residual value.First correlated results in the present embodiment, it is described extremelyA few ideal single diameter corresponding that group of value when being residual value minimum, it is remaining to calculate multiple groups for multiple groups value result in practiceValue is that every group of value is brought into the process of the first formula, the second formula circulation, and the application only uses minimum residual value, therefore specificDetails are not described herein again for cyclic process.
It is understood that every single drive signal under multipath scenario is the ideal single drive signal in the present embodiment, it shouldIdeal single drive signal is without the signal Jing Guo noise jamming.
In the present embodiment, into correlator is crossed, treated as a result, first phase to receive signal for first correlated resultsClosing result can be after over-sampling as a result, general sampling multiple is 4 to 8 times, and up-sampling multiple is higher, and algorithm accuracy is got overGood, complexity is also higher, and the second correlated results and the first correlated results keep identical sample rate.In the present embodiment, it samplesMode can be using interpolation method.
In the present embodiment, there are chip offsets between the first correlated results and the second correlated results, due to the second phaseClosing result is at least one, and the first correlated results is relatively fixed, therefore there are at least one chip offsets, in the present embodimentIn, the first correlated results is first determined when the selection of the second correlated results, and the second phase is then chosen in current chip presetting rangeIt closes as a result, being embodied in reference axis as shown in Figure 3.On the basis of first correlated results, the second correlated results carries out unit quantityOffset, offset can be to use τiIt indicates.
In the present embodiment, under multipath effect, chip duplication, therefore this are carried out to every single diameter for receiverApplication mainly individually receives signal by every under virtual simulating multi-path effect scene, and related with practical reception signalAs a result the second correlated results after carrying out chip offset in reference axis indicates every ideal single drive signal under the multipath scenarioCorrelated results.Since direct signal is arrival receiver at first, so opposite first correlated results chip offset minimum theThe correlated results of the as direct signal of two correlated results obtains the corresponding mobile minimum chip offset of the first correlated results directlyThe correlated results of signal is penetrated, to seek pseudorange according to the result.
In the present embodiment, there are certain value ranges for the ideal single drive signal of simulation, generally in currently tracking chipSearch in positive and negative 0.5 chip range.This is because the corresponding distance of solid size piece is 1/1.023MHz*3*10^8=291m, multipathReceiving the time that signal reaches under effect has differences but not very big, since a chip is corresponding apart from excessive, choosingTake positive and negative 0.5 chip more appropriate.
202, when the smallest residual value is less than the first threshold value, the minimum at least one chip offset is determinedValue；
In the present embodiment, it is normalized effect be avoid digital front-end quantify data there are difference in size, thusAnd there are deviations when the first thresholding compares.Specific method for normalizing are as follows: by the first correlated results divided by correlated results sequenceMaximum value in column.
In the present embodiment, there are chip offsets with respect to the first correlated results for the second correlated results of every ideal single diameterAmount, the present embodiment includes at least one ideal single diameter, therefore there are at least one chip offsets, due to the correlation of direct signalAs a result minimum relative to the first correlated results chip offset, it is therefore desirable to determine the minimum value in the offset.
At this time, it may be necessary to be compared with the first threshold value, if residual value is too big, then it is assumed that the multipath and reality being currently fittedReceived multipath signal is improper or noise jamming is excessive, in short, the algorithm of residual value is asked to fail, exporting is 0.
203, pseudorange is calculated according to the minimum value in the first correlated results and chip offset.
In the present embodiment, the first correlated results is subjected to chip offset, offset is the minimum value, after offsetFirst correlated results is the correlated results for being regarded as direct signal, then calculates pseudorange further according to the correlated results, is realizedAsk pseudorange mode identical under mode and single diameter scene, details are not described herein again.
In the present embodiment, residual value calculation expression is substituted into after the argument value of ideal single diameter is found out by LS algorithm, is takenThe ideal single diameter of that corresponding group of the smallest residual value, it is later determined that inclined relative to the first correlated results chip in the ideal single diameter of the groupThe smallest shifting amount is direct wave signal, then seeks pseudorange according to the corresponding code phase of the direct wave.
In the present embodiment, a kind of possible to be achieved in that first to filter out power too small before carrying out residual value calculatingIdeal single drive signal because it can be ignored the practical influence for receiving signal under multipath effect.Referring to figure 4.,It is described below.
401, the power of every ideal single diameter at least one ideal single diameter is determined；
The power that wherein every ideal single diameter is determined according to the argument expression formula of every group of ideal single diameter, on amplitude-phase figureWatt level can be compared with root range degree.
402, the maximum value of power is determined；
403, the second threshold value is determined according to maximum value；
In the present embodiment, the second threshold value is determined according to the maximum value of power, and the second threshold value is with the maximum powerBasis, but it is not equal to the power, the ideal single drive signal for being far smaller than maximum power the purpose is to filter out performance number.
404, when at least one ideal single diameter there are power less than the second threshold value single diameter when, determine power less than theThe argument value of single diameter of two threshold values is zero；
When being far smaller than the ideal single drive signal of maximum power there are power, it is believed that it is acquired in LS algorithmThe error of ideal list diameter, the actually diameter may be and is not present, it is thus determined that single diameter of the power less than the second threshold valueArgument value is zero.
405, the smallest residual value at least two groups residual value is determined；
In the present embodiment, embodiment step 405 is similar with embodiment illustrated in fig. 2 step 201, does not go to live in the household of one's in-laws on getting married herein specificallyIt states.
You need to add is that specific algorithm is as follows:
In the present embodiment, the formula for calculating argument value is as follows:
Second formula are as follows:
Wherein, Y indicates the Y (k),
Wherein, []N×mRepresenting matrix size is N row m column, []N×mRepresenting matrix size is the column of N row 1, P (k- τm) indicate theTwo is related as a result, wherein τiIndicate chip offset of the m articles diameter relative to the first correlated results, the value range of the m be n >=M >=1, the i are positive integer.
In the present embodiment, Z indicates the cumulative of the second correlated results and the second phase of that is, one even a plurality of ideal single diameterPass result is cumulative to obtain corresponding Z.
It brings the second correlated results matrix Z of one in every group even a plurality of ideal single diameter into LS algorithm, obtains every group of reasonThink the argument value of every ideal single diameter in single diameter, it is to be understood that available every ideal from the expression formula of argument valueThe amplitude and phase value of single diameter.
It then brings the argument expression formula of every acquired ideal single diameter into first formula and asks residual value, the first formula are as follows:
J(τ0)=arg ∑k|Y(k)-∑ixi×P(k-τi)|；
Wherein, the first correlated results of Y (k), xiFor the argument value of i-th single diameter, P (k- τi) indicate the second correlated results,Middle τiIndicate the chip offset of i-th diameter, the value range of i is n >=i >=1, and i is positive integer.
In the present embodiment, a kind of possible situation be certain ideal single diameter power it is too small when, it is believed that be that LS algorithm is askedThe error of solution sets 0 for the argument expression formula of the ideal single drive signal at this time, carries out below in conjunction with specific application scenariosExplanation.
(1) i takes 3, and ideal single drive signal is respectively τ1、τ2、τ3。
Work as τ1When argument value is too small, power is too low, little to the practical effect of signals that receives in multipath effect, can ignoreDisregard, the actual algorithm of above-mentioned formula is J (τ0)=arg ∑k|Y(k)-x1×P(k-τ1)+x2×P(k-τ2)|
(2) i takes 3, and ideal single drive signal is respectively τ1、τ2、τ3。
Work as τ1、τ2When argument value is too small, it is similarly set to 0, the actual algorithm of above-mentioned formula is J (τ0)=arg ∑k|Y(k)-x1×P(k-τ1)|
(3) i takes 3, and ideal single drive signal is respectively τ1、τ2、τ3。
When there is no power too small situation, formula calculating is all brought into.
It is understood that the value of i is without limitation in this application scene.
406, when the smallest residual value is less than the first threshold value, the minimum at least one chip offset is determinedValue；
407, pseudorange is calculated according to the minimum value in the first correlated results and chip offset.
In the present embodiment, embodiment step 406,407 and embodiment illustrated in fig. 2 step 202,203 similar, specifically hereinIt does not repeat.
The present embodiment is illustrated below in conjunction with concrete application scene.
Preset one group of first correlated results and virtual 4 ideal single diameters inside the multipath estimation module of receiver, fourCorresponding second correlated results of ideal list diameter is also preset by receiver, and the second correlated results exists with respect to the first correlated resultsThe chip offset of chip offset, four ideal single diameters is respectively τ1、τ2、τ3、τ4, the width of every ideal single diameter is found out firstAngle value, calculation formula such as formula two, details are not described herein again, the value of Z be the second correlated results of four ideal single diameters it is cumulative and,The power of every ideal single diameter in four ideal single diameters is judged at this time, such as it is respectively a that first diameter to Article 4 diameter, which is,1, a2,a3, a4If ai<c1*max(a1, a2, a3, a4), c1Indicate preset constant, then aiCorresponding diameter power is too small, can ignoreDisregard, first to Article 3 diameter argument value and the second correlated results calculated into residual value in conjunction with the first correlated results at this time,Assuming that this residual value is minimum residual value, therefore first to fourth diameter is regarded as straight under practical multipath effect sceneSignal and reflection signal are penetrated, since direct wave reaches receiver at first, and since the second correlated results is relative to the first correlationAs a result the correlated results for generating chip offset, it is thus determined that τ1、τ2、τ3、τ4In the smallest offset, and by first receive signalThe result obtained after offset same chip is considered the correlated results of direct signal, then calculates pseudorange.
In the present embodiment, by filtering out the too small ideal single drive signal of power, the accuracy of residual value calculating is increased,Also increase the diversity of scheme implementation.
The embodiment of the present application is illustrated from the angle of signal processing method above, it referring to figure 5., below will be from moreThe angle of diameter multipath estimation device is illustrated the embodiment of the present application.
First determination unit 501, for determining the smallest residual value at least two residual values, the smallest residual valueBy the first correlated results, the second correlated results root of the argument value of at least one ideal single diameter and at least one ideal single diameterIt is determined according to the first formula, the argument value of described at least one ideal single diameter is by first correlated results and at least one instituteState the second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knotFruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated resultsAs a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chipSingle diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Second determination unit 502, when the smallest residual value is less than the first threshold value, for determining described at least oneMinimum value in a chip offset；
Computing unit 503, it is pseudo- for being calculated according to the minimum value in first correlated results and the chip offsetAway from.
In the present embodiment, residual value is brought by the argument expression formula that LS algorithm finds out ideal single diameter to calculate, determine mostThe ideal single diameter of that corresponding group of small residual value, it is later determined that relative to the first correlated results chip offset in the ideal single diameter of the groupThe smallest is direct wave signal, and by the corresponding offset minimum offset of the first correlated results, obtained image is direct wave pairThe minimum correlated results answered, then seeks pseudorange according to the correlated results.
In the present embodiment, pseudorange is asked to can be the first related knot to the minimum value of offset according to the first correlated resultsFruit deviates corresponding chip, please refers to Fig. 6, is described below.
First determination unit 601, for determining the smallest residual value at least two residual values, the smallest residual valueBy the first correlated results, the second correlated results root of the argument value of at least one ideal single diameter and at least one ideal single diameterIt is determined according to the first formula, the argument value of described at least one ideal single diameter is by first correlated results and at least one instituteState the second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knotFruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated resultsAs a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chipSingle diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Second determination unit 602, when the smallest residual value is less than the first threshold value, for determining described at least oneMinimum value in a chip offset；
Computing unit 603, it is pseudo- for being calculated according to the minimum value in first correlated results and the chip offsetAway from.
Wherein, computing unit includes:
Offset module 6031, for first correlated results to be carried out chip offset, offset is the chip offsetMinimum value in amount；
Computing module 6032, for calculating pseudorange according to first correlated results after offset.
In the present embodiment, the first correlated results after offset is the correlated results of direct signal, then according to routineAlgorithm calculates pseudorange, and similarly to the prior art, details are not described herein again for specific algorithm.How the present embodiment describes in detail according toOne correlated results and minimum offset calculate pseudorange, increase the feasibility of scheme.
In the present embodiment, when carrying out residual value calculating, lower-powered ideal single drive signal can be ignored, widthAngle value sets 0, please refers to Fig. 7, is described below.
Third determination unit 701, for determining the power of every ideal single diameter in described at least one ideal single diameter；
4th determination unit 702, for determining the maximum value of the power；
5th determination unit 703, for determining the second threshold value according to the maximum value；
6th determination unit 704, when there are power to be less than second threshold value in described at least one ideal single diameterWhen ideal single diameter, the argument value for determining that the power is less than ideal single diameter of second threshold value is zero.
First determination unit 705, for determining the smallest residual value at least two residual values, the smallest residual valueBy the first correlated results, the second correlated results root of the argument value of at least one ideal single diameter and at least one ideal single diameterIt is determined according to the first formula, the argument value of described at least one ideal single diameter is by first correlated results and at least one instituteState the second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knotFruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated resultsAs a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chipSingle diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Second determination unit 706, when the smallest residual value is less than the first threshold value, for determining described at least oneMinimum value in a chip offset；
Computing unit 707, it is pseudo- for being calculated according to the minimum value in first correlated results and the chip offsetAway from.
In the present embodiment, 0 is set by the ideal single drive signal argument value by power less than the second threshold value, had using residualThe accuracy that residual value calculates also increases the diversity of scheme implementation.
In the present embodiment, before residual value is compared with the first threshold value, residual value can be normalized placeReason, effect be avoid digital front-end quantify data there are difference in size, to exist when compared with the first thresholdingDeviation please refers to Fig. 8, is described below.
First determination unit 801, for determining the smallest residual value at least two residual values, the smallest residual valueBy the first correlated results, the second correlated results root of the argument value of at least one ideal single diameter and at least one ideal single diameterIt is determined according to the first formula, the argument value of described at least one ideal single diameter is by first correlated results and at least one instituteState the second correlated results according to the second formula determine, first correlated results be receive signal by correlator treated knotFruit, by correlator, treated as a result, at least one described second correlation for ideal single diameter for second correlated resultsAs a result there is at least one corresponding chip offset with first correlated results, ideal single diameter is current tracking chipSingle diameter in presetting range, ideal single diameter are the single drive signal of not noise jamming；
Processing unit 802, for the smallest residual value to be normalized.
Second determination unit 803, when the smallest residual value after the normalized is less than the first threshold value,For determining the minimum value at least one described chip offset；
Computing unit 804, it is pseudo- for being calculated according to the minimum value in first correlated results and the chip offsetAway from.
In the present embodiment, by being normalized, the feasibility for thering is Utilization plan to implement.
Fig. 9 is a kind of multipath estimation device schematic diagram provided by the embodiments of the present application, which includes clearLook at device, it may include one or one which, which can generate bigger difference because configuration or performance are different,The above central processing unit (central processing units, CPU) 922 (for example, one or more processors) andStorage medium 930 (such as one or one of memory 932, one or more storage application programs 942 or data 944The above mass memory unit).Wherein, memory 932 and storage medium 930 can be of short duration storage or persistent storage.It is stored inThe program of storage medium 930 may include one or more modules (diagram does not mark), and each module may include to moreSeries of instructions operation in diameter estimation device.Further, central processing unit 922 can be set to and storage medium 930Communication executes the series of instructions operation in storage medium 930 on multipath estimation device 900.
The central processing unit 922 can operate according to instruction and execute following steps:
Determine the smallest residual value at least two residual values, the smallest residual value by the first correlated results, at leastSecond correlated results of the argument value of the single diameter of one ideal and at least one ideal single diameter is determined according to the first formula, describedThe argument value of at least one ideal single diameter by first correlated results and at least one second correlated results according toSecond formula determines that treated as a result, the described second related knot by correlator to receive signal for first correlated resultsBy correlator, treated as a result, at least one described second correlated results is related to described first for ideal single diameter for fruitAs a result there is at least one corresponding chip offset, ideal single diameter is single diameter in current tracking chip presetting range,Ideal single diameter is the single drive signal of not noise jamming；
When the smallest residual value is less than the first threshold value, determine at least one described chip offset mostSmall value；
Pseudorange is calculated according to the minimum value in first correlated results and the chip offset.
Multipath estimation device 900 can also include one or more power supplys 926, one or more wired or nothingsWired network interface 950, one or more input/output interfaces 958, and/or, one or more operating systems 941,Such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM etc..
The step as performed by multipath estimation device can be based on the multipath estimation device shown in Fig. 9 in above-described embodimentStructure.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be withIt realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the division of unit,Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be withIn conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussedMutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit orCommunication connection can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unitComponent may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networksOn unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unitIt is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated listMember both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent productTo be stored in a computer readable storage medium.Based on this understanding, the technical solution of the application substantially orSay that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software productsOut, which is stored in a storage medium, including some instructions are used so that a computer equipment(can be personal computer, local client or the network equipment etc.) executes each embodiment method of the application Fig. 2 and Fig. 4All or part of the steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (read-onlyMemory, ROM), random access memory (random access memory, RAM), magnetic or disk etc. is various to depositStore up the medium of program code.
More than, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned realityExample is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned eachTechnical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modifiedOr replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.