基於延伸型卡爾曼濾波器的全球定位系統追蹤迴路設計與分析

Design and Analysis of Extended Kalman Filter Based GPS Tracking Loops

林易澂(Yi-Cheng Lin)

指導教授 ： 曹恆偉

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2010年)

https://doi.org/10.6342/NTU.2010.02018

摘要

全球定位系統（GPS）是目前使用最廣泛的全球衛星導航系統（GNSS）。其諸多好處如系統開放，易於使用，以及快速精確的定位使得它被廣泛應用在工程定位，車輛導航，個人導航裝置，以及其它許多產品或系統當中。90 年代中期美國聯邦通訊委員會（FCC）要求新一代行動電話必頇具備緊急 911（E-911）的功能，即能回傳室內使用者的所在位置。這開啟了在室內使用 GPS 定位的研究，其中最主要的挑戰在於處理被遮蔽物衰減的微弱衛星信號。本論文針對適用於微弱 GPS信號的追蹤迴路進行探討，包括傳統的追蹤迴路，以及基於延伸型卡爾曼濾波器（extended Kalman filter）的追蹤迴路。模擬結果顯示相較於傳統追蹤迴路，延伸型卡爾曼濾波器追蹤迴路對一般以及微弱 GPS 信號能分別有較小與相當的電碼相位均方追蹤誤差 （mean squared tracking error），同時其對信號動態 （signal dynamics）的反應亦優於傳統追蹤迴路。但傳統追蹤迴路於初始時能容許較大的載波頻率估計誤差。此外，本論文並對兩種追蹤迴路的計算複雜度進行分析與比較，以作為實現時的成本參考依據。

關鍵字

全球定位系統 ； 全球導航衛星系統 ； 室內定位 ； 微弱信號 ； 延伸型卡爾曼濾波器 ； 追蹤 ； 鎖相迴路

並列摘要

Global Positioning System (GPS) is the most widely used Global Navigation Satellite System (GNSS) nowadays. Advantages such as open system, easy to use, and fast and accurate positioning have made it being applied to engineering surveying, vehicular navigation, personal navigation devices, and many other products and systems. In the mid-90s, the U.S. Federal Communication Committee (FCC) demanded the Emergency-911 (E-911) capability on all new generation mobile phones, which requires a return of user position even indoor. This has opened the research of indoor GPS. The main challenge is to process the weak satellite signals degraded by the attenuation due to buildings. In this thesis, tracking loops for weak GPS signals are investigated, which include the conventional tracking loop and the extended Kalman filter (EKF) based tracking loop. Simulation results show that for normal and weak GPS signals, the EKF-based tracking loop has smaller and identical mean squared code phase tracking error than the conventional tracking loop, and it can handle signal dynamics better too. However, the conventional tracking loop requires less accurate initial carrier frequency estimation than the EKF-based tracking loop. In addition, the arithmetic complexity of the two tracking loops are also analyzed and compared in this thesis, to provide a basic prediction of implementation costs.

並列關鍵字

GPS ； GNSS ； indoor positioning ； weak signal ； extended Kalman filter ； tracking ； PLL

參考文獻

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