GNSS空间信号质量评估方法研究及测距性能影响分析
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摘要
GNSS（Global Navigation Satellite System）导航信号是卫星导航系统最重要的组成部分之一，导航信号质量的优劣，将直接反映卫星导航系统的PVT（Position, Velocity, Time）性能，同时也能够反映卫星有效载荷的工作状态及各种电性能指标。进行GNSS空间信号质量的评估，是卫星导航系统设计和运行过程中最重要的环节之一，不仅可以为导航系统信号设计、关键技术在轨验证提供技术手段和支撑，还可以监测评估其他导航卫星系统，为自身科学研究和应用提供有价值的参考。为保证给用户提供高质量服务，GPS和Galileo均已建设配套的导航信号质量监测评估环境，在对各自卫星系统下行信号质量进行监测和评估的同时，还积极监测分析其他国家卫星导航信号。
论文开展的GNSS空间信号质量评估方法的研究，其成果在我国北斗卫星导航系统的信号设计、信号体制验证、性能指标评估、完好性监测、卫星故障快速定位等方面，将发挥非常重要的作用。其成果不仅可以推动我国卫星导航信号体制设计和评估理论的发展，得到准确的信号质量评估结果，还可为系统的维护和管理提供决策支持信息，保证系统的高质量服务，有利于提高北斗卫星导航系统在国际上的影响力，具有重要的应用价值。同时，该论文的研究成果也将会在国际领域的合作中产生影响并发挥重要作用。
本论文主要针对GNSS空间信号质量评估内容及方法、GNSS空间信号畸变现象产生机理、GNSS空间信号畸变对测距性能影响三个方面来展开研究，并在文章的最后给出GNSS信号质量评估结果。文章的主要内容可归纳为：
（1）GNSS信号体制
论文较详细地研究了国际上已建成或正在建设的GNSS各类调制信号的产生机理及信号特点，并分析不同调制方式下导航信号的码跟踪性能和抗多径性能，在此基础上，给出了目前及将来GNSS可能采用的信号体制，为提炼GNSS空间信号质量评估对象及评估准则提供参考依据。
（2）GNSS空间信号质量评估的对象及评估准则
在分析GNSS信号体制的基础上，结合信号体制设计的理论值或标准图形曲线、卫星载荷研制技术要求或地面测试结果、接口控制文件（ICD）等公开服务性能规范，论文详细地研究了GNSS下行信号的评估对象及相应的评估指标，提出了GNSS空间信号质量评估准则，为GNSS空间信号质量评估提供判断依据和准则。
（3）GNSS空间信号质量评估方法
论文分别从卫星射频信号监测数据、卫星信号离线采集数据、监测接收机测距数据、干扰监测数据、标校数据和气象监测数据等方面，对信号质量评估所需的各种数据处理方法（包括数据预处理方法）进行了详细介绍。并依据信号体制设计要素、卫星导航信号PVT性能评估内容、有效载荷研制技术要求，提炼信号质量评估单项要素内容及综合评估内容。本论文详细介绍了各项评估内容的评估算法，并建立了一套信号质量评估方法体系，能够全面分析接收GNSS空间信号质量。
（4）信号畸变模型库
论文创新性的研究了GNSS导航信号各类常见畸变，给出了数学分析模型，建立了信号畸变模型库，分析了各类畸变对信号质量评估结果和测距性能的影响。对载波泄漏和频谱不对称畸变、码片波形畸变、码间串扰畸变、多径畸变、干扰和噪声畸变、杂散和AM-AM饱和失真、AM-PM失真等的产生机理进行深入研究，定性或定量的给出了各种信号畸变对信号质量评估结果的影响，并基于分析模型，严格推导出各类畸变最终可能对测距性能的影响。为多次故障排查与定位提供了依据。
（5）GNSS空间信号质量评估结果
分别从射频仪器监测、功率及功率谱、测距码时域波形、调制性能、相关函数、测距稳定性、相干性、接收性能、多径性能和干扰分析等方面，对北斗、GPS和Galileo在轨卫星进行了全面的信号质量监测与评估，论文中有针对性地展示出了具有代表性的典型结果。
Navigation signal is one of the most important factors for a GNSS (Global NavigationSatellite System) to achieve precise navigation, position, velocity and timing. The pros and consof a navigation signal will directly reflect the working conditions and electrical performance ofthe satellite payload. Therefore, evaluating GNSS signal quality is of great importance in thedesign and operation process of a satellite system. It can provide a technical support not onlyfor the design of navigation signal but also for the in-orbit validation of key technologies. Inaddition, monitoring and evaluating signals quality of other navigation satellite systems canprovide a valuable reference for Chinese scientific researches and applications. To provide userswith high-quality services, GPS and Galileo have already built their own signal qualitymonitoring and evaluating systems. They can not only monitor and detect GPS or Galileo signalsbut also signals of other countries, thus to a certain extent improve the accuracy and reliability oftheir navigation satellite systems.
The achievements of researches on GNSS signal quality monitoring and evaluating willplay a very significant role in many areas such as signal design, signal validation, performanceassessment, integrity monitoring, and satellite fault fast locating of BeiDou navigation satellitesystem. Those achievements can not only promote the development of signal design andevaluation of Chinese BeiDou navigation satellite system, but also provide the decisionsupporting information for the maintenance and management of BeiDou system. An accurateevaluating result can ensure the high quality of service performance for navigation satellitesystems, which will improve the competitiveness of BeiDou system in the international arena.Therefore, monitoring and evaluating GNSS signal quality is of great economic and strategicsignificance. Meanwhile, the achievements of this thesis will also play an important role in thefield of international cooperation.
This thesis conductes researches mainly on the basis of three aspects: evaluation contentsand methods of GNSS signal quality, generation mechanism of GNSS signal distortions and theinfluence of GNSS signal distortions on service performance. Those typical results of GNSSsignal quality evaluating are shown in the end. This thesis could be divided into five parts:
(1) GNSS signal system
The generation mechanism and signal characteristics of GNSS signals are introduced indetail in this thesis, including signals of American GPS, European Galileo, Russian GLONASS and Chinese BeiDou system. In addition, code tracking accuracy and code multipath error ofdifferent signals are analyzed and compared. Consequently, current and future GNSS signals aregiven on this basis, providing a reference for extracting the objects and criteria for evaluatingGNSS signal quality.
(2) Objects and criteria for GNSS signal quality evaluating
Those detailed objects and criteria for GNSS downlink signal evaluating are studied anddescribed based on the analysis of GNSS signal system and some other performance indicatorssuch as ICD (Interface Control Documents), technical requirements for payload development,ground test results of payload, ideal values or curves of designed signals. The extractedevaluating objects and criteria could be used as the judging basis and criteria for GNSS signalquality monitoring and evaluating.
(3) Methods for evaluating GNSS signal quality
The processing methods of different data that are needed for GNSS signal qualityevaluating were described in detail. Data used for signal quality evaluating includes the RFsignal monitoring data, offline collected data, outputs of monitoring receivers, interferencemonitoring data, calibrating data, meteorological monitoring data and so on. In addition, theindividual elements and comprehensive contents of GNSS signal quality evaluating are extractedbased on the elements of signal design, evaluating contents of PVT performance and technicalrequirements for payload development. The evaluating methods of all contents are introducedexhaustively, and a suit of methods for GNSS signal quality evaluating is established, which canevaluate GNSS signal quality comprehensively.
(4) GNSS signal distortion models
The biggest highlight of this thesis is the in-depth analysis of various types of GNSS signaldistortions. The generation mechanisms of GNSS signal distortions, together with the influencesof signal distortions on signal quality evaluation and service performance are analyzed in detail.Mathematical analysis models are constructed for different distortions such as the carrier leakageand asymmetry of PSD, code waveform distortion, inter-symbol interference, multipath,environmental interference, AM-AM Saturation, AM-PM distortion. The qualitative orquantitative analysis of the influence of each distortion on signal quality evaluation and serviceperformance are given in this thesis.
(5) Evaluating results of GNSS signal quality
Signals of BeiDou, GPS, Galileo and GLONASS in-orbit satellites are monitored and evaluated comprehensively from such aspects as RF equipments monitoring, offline analysis ofPSD, ranging code waveform, modulation performance, correlation performance, rangingstability, coherency property, and multipath performance. This thesis demonstrates some typicalresults of GNSS signal quality evaluating for the first time in the world. Results show that thoseanalysis methods proposed in this thesis are feasible for GNSS signal quality evaluating withhigh accuracy.
论文开展的GNSS空间信号质量评估方法的研究，其成果在我国北斗卫星导航系统的信号设计、信号体制验证、性能指标评估、完好性监测、卫星故障快速定位等方面，将发挥非常重要的作用。其成果不仅可以推动我国卫星导航信号体制设计和评估理论的发展，得到准确的信号质量评估结果，还可为系统的维护和管理提供决策支持信息，保证系统的高质量服务，有利于提高北斗卫星导航系统在国际上的影响力，具有重要的应用价值。同时，该论文的研究成果也将会在国际领域的合作中产生影响并发挥重要作用。
本论文主要针对GNSS空间信号质量评估内容及方法、GNSS空间信号畸变现象产生机理、GNSS空间信号畸变对测距性能影响三个方面来展开研究，并在文章的最后给出GNSS信号质量评估结果。文章的主要内容可归纳为：
（1）GNSS信号体制
论文较详细地研究了国际上已建成或正在建设的GNSS各类调制信号的产生机理及信号特点，并分析不同调制方式下导航信号的码跟踪性能和抗多径性能，在此基础上，给出了目前及将来GNSS可能采用的信号体制，为提炼GNSS空间信号质量评估对象及评估准则提供参考依据。
（2）GNSS空间信号质量评估的对象及评估准则
在分析GNSS信号体制的基础上，结合信号体制设计的理论值或标准图形曲线、卫星载荷研制技术要求或地面测试结果、接口控制文件（ICD）等公开服务性能规范，论文详细地研究了GNSS下行信号的评估对象及相应的评估指标，提出了GNSS空间信号质量评估准则，为GNSS空间信号质量评估提供判断依据和准则。
（3）GNSS空间信号质量评估方法
论文分别从卫星射频信号监测数据、卫星信号离线采集数据、监测接收机测距数据、干扰监测数据、标校数据和气象监测数据等方面，对信号质量评估所需的各种数据处理方法（包括数据预处理方法）进行了详细介绍。并依据信号体制设计要素、卫星导航信号PVT性能评估内容、有效载荷研制技术要求，提炼信号质量评估单项要素内容及综合评估内容。本论文详细介绍了各项评估内容的评估算法，并建立了一套信号质量评估方法体系，能够全面分析接收GNSS空间信号质量。
（4）信号畸变模型库
论文创新性的研究了GNSS导航信号各类常见畸变，给出了数学分析模型，建立了信号畸变模型库，分析了各类畸变对信号质量评估结果和测距性能的影响。对载波泄漏和频谱不对称畸变、码片波形畸变、码间串扰畸变、多径畸变、干扰和噪声畸变、杂散和AM-AM饱和失真、AM-PM失真等的产生机理进行深入研究，定性或定量的给出了各种信号畸变对信号质量评估结果的影响，并基于分析模型，严格推导出各类畸变最终可能对测距性能的影响。为多次故障排查与定位提供了依据。
（5）GNSS空间信号质量评估结果
分别从射频仪器监测、功率及功率谱、测距码时域波形、调制性能、相关函数、测距稳定性、相干性、接收性能、多径性能和干扰分析等方面，对北斗、GPS和Galileo在轨卫星进行了全面的信号质量监测与评估，论文中有针对性地展示出了具有代表性的典型结果。
Navigation signal is one of the most important factors for a GNSS (Global NavigationSatellite System) to achieve precise navigation, position, velocity and timing. The pros and consof a navigation signal will directly reflect the working conditions and electrical performance ofthe satellite payload. Therefore, evaluating GNSS signal quality is of great importance in thedesign and operation process of a satellite system. It can provide a technical support not onlyfor the design of navigation signal but also for the in-orbit validation of key technologies. Inaddition, monitoring and evaluating signals quality of other navigation satellite systems canprovide a valuable reference for Chinese scientific researches and applications. To provide userswith high-quality services, GPS and Galileo have already built their own signal qualitymonitoring and evaluating systems. They can not only monitor and detect GPS or Galileo signalsbut also signals of other countries, thus to a certain extent improve the accuracy and reliability oftheir navigation satellite systems.
The achievements of researches on GNSS signal quality monitoring and evaluating willplay a very significant role in many areas such as signal design, signal validation, performanceassessment, integrity monitoring, and satellite fault fast locating of BeiDou navigation satellitesystem. Those achievements can not only promote the development of signal design andevaluation of Chinese BeiDou navigation satellite system, but also provide the decisionsupporting information for the maintenance and management of BeiDou system. An accurateevaluating result can ensure the high quality of service performance for navigation satellitesystems, which will improve the competitiveness of BeiDou system in the international arena.Therefore, monitoring and evaluating GNSS signal quality is of great economic and strategicsignificance. Meanwhile, the achievements of this thesis will also play an important role in thefield of international cooperation.
This thesis conductes researches mainly on the basis of three aspects: evaluation contentsand methods of GNSS signal quality, generation mechanism of GNSS signal distortions and theinfluence of GNSS signal distortions on service performance. Those typical results of GNSSsignal quality evaluating are shown in the end. This thesis could be divided into five parts:
(1) GNSS signal system
The generation mechanism and signal characteristics of GNSS signals are introduced indetail in this thesis, including signals of American GPS, European Galileo, Russian GLONASS and Chinese BeiDou system. In addition, code tracking accuracy and code multipath error ofdifferent signals are analyzed and compared. Consequently, current and future GNSS signals aregiven on this basis, providing a reference for extracting the objects and criteria for evaluatingGNSS signal quality.
(2) Objects and criteria for GNSS signal quality evaluating
Those detailed objects and criteria for GNSS downlink signal evaluating are studied anddescribed based on the analysis of GNSS signal system and some other performance indicatorssuch as ICD (Interface Control Documents), technical requirements for payload development,ground test results of payload, ideal values or curves of designed signals. The extractedevaluating objects and criteria could be used as the judging basis and criteria for GNSS signalquality monitoring and evaluating.
(3) Methods for evaluating GNSS signal quality
The processing methods of different data that are needed for GNSS signal qualityevaluating were described in detail. Data used for signal quality evaluating includes the RFsignal monitoring data, offline collected data, outputs of monitoring receivers, interferencemonitoring data, calibrating data, meteorological monitoring data and so on. In addition, theindividual elements and comprehensive contents of GNSS signal quality evaluating are extractedbased on the elements of signal design, evaluating contents of PVT performance and technicalrequirements for payload development. The evaluating methods of all contents are introducedexhaustively, and a suit of methods for GNSS signal quality evaluating is established, which canevaluate GNSS signal quality comprehensively.
(4) GNSS signal distortion models
The biggest highlight of this thesis is the in-depth analysis of various types of GNSS signaldistortions. The generation mechanisms of GNSS signal distortions, together with the influencesof signal distortions on signal quality evaluation and service performance are analyzed in detail.Mathematical analysis models are constructed for different distortions such as the carrier leakageand asymmetry of PSD, code waveform distortion, inter-symbol interference, multipath,environmental interference, AM-AM Saturation, AM-PM distortion. The qualitative orquantitative analysis of the influence of each distortion on signal quality evaluation and serviceperformance are given in this thesis.
(5) Evaluating results of GNSS signal quality
Signals of BeiDou, GPS, Galileo and GLONASS in-orbit satellites are monitored and evaluated comprehensively from such aspects as RF equipments monitoring, offline analysis ofPSD, ranging code waveform, modulation performance, correlation performance, rangingstability, coherency property, and multipath performance. This thesis demonstrates some typicalresults of GNSS signal quality evaluating for the first time in the world. Results show that thoseanalysis methods proposed in this thesis are feasible for GNSS signal quality evaluating withhigh accuracy.
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