基于扩展卡尔曼滤波的全球导航卫星系统矢量跟踪建模与仿真

doi:10.3969/j.issn.1000-1093.2015.03.022

兵工学报 ›› 2015, Vol. 36 ›› Issue (3): 530-538.doi: 10.3969/j.issn.1000-1093.2015.03.022

基于扩展卡尔曼滤波的全球导航卫星系统矢量跟踪建模与仿真

曾广裕¹，申强¹，李东光¹，何新²

(1.北京理工大学机电工程与控制国家级重点实验室北京 100081;2.中国兵器工业信息中心北京 100089)

收稿日期:2014-06-04 修回日期:2014-06-04 上线日期:2015-05-01
通讯作者: 曾广裕 E-mail:zengguangyu1986@163.com
作者简介:曾广裕(1986—)，男，博士研究生
基金资助:
国家部委预先研究项目（40404020402）

Modeling and Simulation on GNSS Vector Tracking Loop Based on Extended Kalman Filter

ZENG Guang-yu¹, SHEN Qiang¹, LI Dong-guang¹, HE Xin²

(1.National Key Laboratory of Science and Technology on Electomechanical Dynamic Control, Beijing Institute of Technology,Beijing 100081, China; 2.Information Center of China North Industries Group Corporation, Beijing 100089, China)

Received:2014-06-04 Revised:2014-06-04 Online:2015-05-01
Contact: ZENG Guang-yu E-mail:zengguangyu1986@163.com

摘要/Abstract

摘要： 针对现有公开资料缺乏对全球导航卫星系统（GNSS）矢量跟踪算法具体滤波跟踪控制过程的详细分析，建立了矢量延迟/频率锁定环（VDFLL）跟踪模型并对模型线性化过程进行推导。重点分析了矢量VDFLL跟踪算法时序逻辑控制问题，同时针对VDFLL无法实现对载波相位锁定等问题，提出了一种串联式锁相环（PLL）电文解调模型。建立了以软件接收机为平台的矢量VDFLL模型，并进行了半实物仿真验证。仿真结果表明，所建矢量VDFLL控制模型不仅正确地实现对接收机状态信息的最优估计，同时具有良好的动态跟踪性能。

关键词: 兵器科学与技术, 矢量延迟/频率锁定环, 矢量跟踪, 扩展卡尔曼滤波, 卫星定位, 建模

Abstract: Considering a limited public information about analysis of GNSS vector tracking algorithm control process, a vector delay/frequency lock loop (VDFLL) tracking model is established, and a derivation on the model’s linearization process is proposed.The sequential control logic of vector tracking algorithmis analyzed. For the fact that VDFLL cannot lock the carrier phase, a message demodulation mode based on series phase-locked loop (PLL) is put forward. And a vector VDFLL model is implemented on the platform of a software receiver. The simulation results indicate that the controlling model not only can output correct and optimal estimate for receiver state information, but also has an excellentdynamic tracking performance.

Key words: ordnance science and technology, VDFLL, vector tracking, extended Kalman filter, satellite positioning, modeling

中图分类号:

TN966

曾广裕，申强，李东光，何新. 基于扩展卡尔曼滤波的全球导航卫星系统矢量跟踪建模与仿真[J]. 兵工学报, 2015, 36(3): 530-538.

ZENG Guang-yu, SHEN Qiang, LI Dong-guang, HE Xin. Modeling and Simulation on GNSS Vector Tracking Loop Based on Extended Kalman Filter[J]. Acta Armamentarii, 2015, 36(3): 530-538.

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基于扩展卡尔曼滤波的全球导航卫星系统矢量跟踪建模与仿真

Modeling and Simulation on GNSS Vector Tracking Loop Based on Extended Kalman Filter

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