• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    A method for estimating useful signal parameters and multi-path signals originating from a radiolocation signal transmitted by a satellite, by means of a locating device comprising at least two sensors adapted to receive said signal, the method comprising the steps of: - correlating the signal received by said sensors with a local code by means of correlators, - constructing, for each sensor, a sampled intercorrelation function of the signal received with the local code, - determining a space intercorrelation function time from the concatenation of the cross-correlation functions obtained in the previous step for each sensor, - estimating representative parameters of the wanted signal and multi-path signals by applying a maximum likelihood algorithm, said representative parameters including at least one complex amplitude independently estimated for each sensor.
    公开号:FR3079308A1
    申请号:FR1800238
    申请日:2018-03-22
    公开日:2019-09-27
    发明作者:Guillaume CARRIE；Celine Berland；Franck BARBIERO
    申请人:Centre National dEtudes Spatiales CNES；Thales SA；
    IPC主号:
    专利说明:

    Multi-antenna device for multi-path rejection in a satellite navigation system and associated method
    The field of the invention relates to satellite navigation systems and more particularly to radiolocation devices by calculating the propagation time of signals transmitted by satellites.
    The term “satellite navigation system” is understood here to mean any system dedicated to wide area navigation, such as for example the existing GNSS systems (“Global Navigation Satellite System”) called GPS, GLONASS or GALILEO, as well as all their equivalents and derivatives. Those skilled in the art are familiar with the principle of localization of satellite navigation systems. The radiofrequency signal emitted by a satellite is coded and the time taken by this signal to reach the receiver to be located is used to determine the distance between this satellite and this receiver, called pseudo-distance. The accuracy of satellite navigation systems is affected by a number of errors. These errors can be broken down into two categories: global contributions and local contributions. Mention may be made, for global contributions, of errors linked to the passage of electromagnetic waves in the ionosphere and errors linked to satellites (orbit errors and clock errors). With regard to local contributions, one can cite the errors linked to the passage of electromagnetic waves in the troposphere, the errors of reflection of the signals, the errors linked to interference, the errors due to white areas and the noise of the receivers.
    In an urban environment as illustrated in FIG. 1, the radiolocation device is particularly affected by the phenomenon of reflection of signals on urban obstacles such as, for example, building facades. FIG. 1 represents a motor vehicle circulating in an urban environment and a satellite emitting radiolocation signals. The MP multipaths on the LOS useful signals constitute the predominant faults for localization. In fact, the multipath signals MP introduce a bias in the estimation of the propagation time of the signals which causes location errors of the receiver. It is important to be able to delete or estimate these multipaths to improve the location accuracy of the location devices.
    International patent application WO 2012/025306 describes a device for receiving radio navigation signals by satellite capable of estimating and eliminating the multipaths affecting the received signal. Such a device comprises several antennas or sensors and several correlators.
    A drawback of this solution is that it implements a method for estimating the parameters of the multi-path signals which assumes that all the sensors of the device are identical and in particular that they all have identical radiation patterns.
    However, in reality, this observation is not verified and, on the contrary, the radiation patterns are different, in particular due to coupling phenomena. Failure to take these differences into account can lead to rendering the solution described in the aforementioned request inoperative.
    The invention proposes an improvement of the method and the device described in application WO 2012/025306 to take into account the differences in radiation patterns of the different antennas of the reception device.
    Thus, the subject of the invention is a method of estimating useful signal parameters and multi-path signals originating from a radiolocation signal emitted by a satellite, by means of a location device comprising at least two capable sensors receiving said signal, the method comprising the steps of:
    - Correlate the signal received by said sensors with a local code by means of correlators,
    - Build, for each sensor, a sampled intercorrelation function of the signal received with the local code,
    - Determine a spatio-temporal cross-correlation function from the concatenation of the cross-correlation functions obtained in the previous step for each sensor,
    - Estimate parameters representative of the useful signal and multi-path signals by application of a maximum likelihood algorithm, said representative parameters including at least one complex amplitude estimated independently for each sensor.
    According to a particular aspect of the invention, said representative parameters include the propagation delay, the Doppler frequency and the direction of arrival of a signal.
    According to a particular aspect of the invention, the step of estimating the parameters representative of the useful signal and of the multi-path signals is executed iteratively for each multi-path signal and the useful signal and includes the sub-steps of:
    - Subtract, from the spatio-temporal intercorrelation function, the parametric model or models of signals estimated in the previous iterations,
    - Estimate the parameters representative of a multi-path signal or of the useful signal by applying a maximum likelihood algorithm to the result of the previous subtraction.
    According to a particular aspect of the invention, the step of estimating the parameters representative of a multi-path signal or of the useful signal comprises the sub-steps of:
    - Estimate the direction of arrival of the signal by jointly using all the sensors,
    - Estimate the complex amplitude of the signal independently for each sensor,
    - Project the estimated complex amplitude on the subspace defined by the estimated direction of arrival.
    The invention also relates to a localization device capable of discriminating a useful signal from multi-path signals, the device comprising at least two sensors for radiolocation signals emitted by a satellite, each of said sensors being connected to at least two lines of signal processing, each processing line comprising a correlator and at least one delay line capable of introducing a delay corresponding to a multiple of the integration time of the correlators, the device comprising signal processing means configured to implement a maximum likelihood estimation algorithm for estimating parameters representative of the useful signal and multi-path signals, from the signals taken at the output of the delay lines, said representative parameters including at least one complex amplitude estimated independently for each sensor .
    According to a particular aspect of the invention, a correlator of a first processing line is spaced by a fraction of the symbol period of the spreading code relative to the correlator of a second processing line.
    According to a particular aspect of the invention, the algorithm for estimating the maximum likelihood is of the "SAGE" type.
    Other characteristics and advantages of the present invention will appear better on reading the description which follows in relation to the appended drawings which represent:
    FIG. 1, a mobile receiving the radiolocation signals emitted by a satellite in an urban environment,
    FIG. 2, a diagram of a localization device architecture according to the invention,
    - Figure 3, several diagrams illustrating a correlation function measured on each reception channel for different PRN spreading codes,
    - Figure 4, a flowchart describing the main steps of the method according to the invention.
    The description of the location device described in application WO 2012/025306 is repeated here. The location device according to the present invention is based on the device described previously in the aforementioned application and provides improvements with respect thereto.
    FIG. 2 describes an architecture of a location device according to the invention.
    The location device according to the invention comprises a plurality of sensors A1, A2, An. These sensors are elementary antennas designed to pick up the radiolocation signals emitted by the satellites of a navigation system such as the GPS or Galileo system. The network of sensors A1, A2, An makes it possible to obtain directional information by spatial sampling of the received wavefront.
    The location device also includes means for processing the signals received by all of the sensors A1, A2 to An. Signal processing lines are connected at the output of each sensor.
    We describe in this paragraph the signal processing chain between the output of the sensor A1 and the calculation means implementing the maximum likelihood algorithm. The presence of the RF stage, frequency descent and a possible analog-to-digital converter at the output of each antenna not being useful for understanding the invention, these elements are not shown in FIG. 2, the reader may consider them as part of the sensors. The sensor A1 is connected to a first line successively comprising a correlator C11 (consisting of a multiplier and an integrator), then a first delay line R111 and a rnth delay line R11m, the said lines being connected in parallel . The output of the delay lines is connected to calculation means which can implement a maximum likelihood algorithm.
    The set of correlators provides an estimate of the cross-correlation function between the local code (generated in the receiver) and the received code in order to be able to estimate the delays of the different signals.
    The delay lines will sample the post-correlation signal with a sampling period of Tint in order to be able to estimate the Doppler frequencies of the different signals.
    Following the correlation processing, delay lines R111 and R11m are connected at the output of the integrator. These delay lines are arranged in parallel. The difference introduced by each delay line always corresponds to a multiple of the integration time of the correlator. By way of nonlimiting example, the first delay line R111 does not introduce a delay, a delay of Tint is introduced by the second delay line R112 and the nth delay line R11m introduces a delay of (m-1 ) Tint. The processing line can include a number m of delay lines in parallel, each delay line being spaced by a duration Tint corresponding to the integration time of the correlators. The delay lines can be created by any means of signal processing in analog as well as digital. Similarly, the sensor A1 is connected to a second processing line successively comprising a correlator C12 spaced apart by a fraction of the symbol period of the spreading code (duration noted Te in FIG. 2) relative to the correlator C11 and m lines delay R121 to R12m arranged in the same way as the first processing line. The sensor
    A1 can be connected to third and fourth or more processing lines which are not shown in FIG. 2. The processing lines comprising the correlators C11 and C12 are identical. More generally, the structures of the processing lines at the output of each antenna are identical to each other.
    According to a simpler embodiment, the processing lines may not include delay lines. In this case, the outputs of the correlators are directly connected to the calculation means μΡ implementing a maximum likelihood algorithm.
    The location device comprises a plurality of sensors A1 to An and each sensor is connected to a processing line as described above following the sensor A1. The sensors and the processing lines, comprising the delay lines, form a multi-correlator space-time network.
    The delay lines are directly connected on multiple inputs to calculation and processing means μΡ implementing a maximum likelihood algorithm. Several types of maximum likelihood algorithm can be implemented. Preferably, a SAGE type algorithm processes the signals from the delay lines in order to estimate the characteristic parameters of the received signals (incident direction in azimuth and elevation, delay, Doppler for example). The estimation of these parameters makes it possible to discriminate the useful signal from the multipath signals. The maximum likelihood algorithm is able to process the signals coming from the system implemented according to a multi-correlator space-time architecture.
    In the present invention, contrary to the hypotheses taken in application WO 2012/025306, it is assumed that the sensors A1, A2, An are all different and thus have different radiation patterns.
    An example of correlation function modules measured using a device such as that of FIG. 2 is illustrated in FIG. 3 for a device comprising four antennas, for different sequences of PRN spreading codes at the same time. In each of the six diagrams in FIG. 3, the correlation functions obtained for each of the four reception channels have been represented. Note in these figures that the measured correlation functions are different for each reception channel and are also different depending on the PRN spreading code used.
    It follows from these two diagrams that the gains differ between the different antennas of a device as a function of the direction of arrival of the signals. Thus, the application of the method for estimating the parameters of the multipath signals, as described in application WO 2012/025306, is ineffective because it leads to the virtual appearance of signals that are not received. Indeed, this method considers that the antenna gains are identical for each of the reception channels.
    FIG. 3 also identifies in the form of “+” symbols the theoretical levels received, taking into account measurements in an anechoic chamber, radiation patterns of the antennas. We can verify that these levels are not superimposed on the correlation peaks of the measured signals and that the classification of the channels is not reproduced either.
    Finally, this figure identifies in the form of symbols "*" the estimated levels of the signals received by means of the present invention. We can check this time that the estimated levels correspond to the levels received on the four reception channels, which validates the contribution of the invention.
    We now detail the steps for calculating the parameters of the signals (direct path and multi-path) received by the device in FIG. 2.
    The expression y (t) of the signal brought back to baseband at the output of identical antennas can be in the form:
    £ -1 y (O = E a ( 0 /, ç> z ) x / z x exp (2] π.ν ι .f) xc (tT t ) + b (Z)
    1 = 0 where the index “/” corresponds to the number of paths received for the same signal (direct path and echoes), the number Ό 'being assigned to the direct path, & (θ, φ) represents the directional vector of the network d antennas as a function of the angles of arrival Θ and φ of each signal, γι represents the complex amplitude of the signal, v / its Doppler frequency, η its propagation delay, c (.) the spreading code and finally b ( .) represents the thermal noise vector at the output of each antenna.
    This signal then crosses the correlators represented in FIG. 2. The expression X of the signal received post-correlation for the proposed multi-correlator STAP architecture can be put in the following vectorized form:
    x-JXW + b ,,, / = 0 with
    Ψ / ri rl , v rl ] T
    Χ ζ (ψ /) = // χ ^ θ ι , φ ι ) ®Κ € (ε τ -T rl , s v -v rl )
    Recall that m represents the number of delay lines per processing line, p denotes the total number of processing lines per antenna and n represents the number of antennas.
    bmpjint represents the thermal noise vector at the output of each integrated antenna over a duration Tint, ψ / represents the vector of the parameters to be estimated for the path Ί and X, X, and b mp , 77η / are of dimension m * n * p.
    We note and v r i the delays and relative Doppler shifts of the path Ί 'with respect to the direct path. The correlator is slaved on the direct path and commits an error s r on the code (delay counted positively) with respect to the reference path of index Ό 'and ε ν on the frequency of the direct path, y, denotes the complex amplitude of the post correlation signal. The notation (.) R represents the transpose of a vector, (.) H represents the conjugate transpose of a vector and the operator 0 represents the product of Kronecker.
    The signal time correlation matrix R c is constructed as follows:
    First, the multi-correlator outputs are concatenated in a column vector to reconstruct a sampled cross-correlation function of the received signal with the local code.
    These intercorrelation functions obtained for different post-correlation times are always concatenated in a column vector so as to plot the temporal evolution of the intercorrelation functions. This temporal evolution will make it possible to characterize the relative Doppler of the echoes.
    -τ , ΙΑ + ~ P 2 T e ) xexp [-2j ^. (g v
    M 'Ort “Um - ^“ ;) xexp [-2y ^. (G v -v r / ) .7] nt ] r ^ T -τ Η , 2 + - 2 $ T e ) xexp [-2Jx . (s v - ^,). 2.7 ^] M r (e T -U ,, 2 - ^ - ^ T e ) xexp [-2j ^. (g v - v rl ) .27 int ]
    M
    -U /, m ~ - 2 'T e ) xexp [-2] π. (Ε ν with r () the cross-correlation function of a code received with its local replica.
    The relative Doppler shifts are assumed to be constant over the duration of treatment m.7 / nf , the relative delays evolve as:
    y T ri, m = T ri, o + m ~ T M ° ù £ denotes the carrier frequency of the signal.
    According to the multi-correlator space-time architecture proposed in FIG. 2, the temporal autocorrelation matrix R ; postcorrelation noise is equal to that of the local pre-correlation code and is independent of the Doppler, it is written:
    'r (0)r (Te) r (Te) AT AT r (P.te)M R P = M r (Te) r (0) r (Te) MMr (Te) r (0) r (Te)r {P.te) AT AT r (Te) r (0).
    Assuming white noise spatially, the spatio-temporal autocorrelation matrix of post correlation noise is written:
    F (bwp, r int x ^ w ', 7; nt) = C = <T x Im „®R P
    Finally, we note at ~ ^ rl , s v -vJ = Rgfc r -T rl , e v -v rf ) x [l ro OR; 1 ] or:
    H M X Rp x exp [- 2] π. (Ε ν - v rl ) .7 ^] ïrl, k 2 /
    H M X Rp x exp [- 2] π. (Ε ν - v rl ) .2.7j nt ] r (£ T ï r i, 2 ( P ) k 2 7
    Μ
    Γ ( ε τ T rl, N + ^ P 2 T e) H M XR; 1 x exp [- 2] π. (Ε ν - v rl ηι.Τ ^] Γ ( ε τ τ ", Ν ( p k 2 >
    The principle of the SAGE algorithm consists in decomposing the signal received over all of the paths and in estimating, for maximum likelihood, the parameters of each path.
    For the architecture and the proposed signal model, the opposite of the Log-likelihood function Α, ζψ,) for the path T is written at a constant and a multiplicative coefficient near:
    where the notation Λ designates the estimate of a quantity. We then show that maximizing the likelihood for the path Ί means maximizing the term
    Λ, ζψ,) defined by:
    Λ ζ (ψ /) = -------- 13
    The "E-Step" phase of the SAGE algorithm consists in isolating a particular path, and the "M-Step" phase consists in estimating the parameters of the path by maximum likelihood. We then loop over all of the paths and then loop iteratively until the algorithm converges. The convergence criterion generally relates to the standard for updating the vector of the parameters to be estimated. We can also add a criterion on the amplitude of the path to be estimated to distinguish it from noise.
    The equation of the “E-Step” and “M-Step” phases in tracking mode is as follows.
    During the “E-Step” phase, the parametric model of the signals estimated in the previous iterations is subtracted from the signals received as follows:
    X ,. = χ-Σχ, (ψ,) / = 0 / * / „
    The parametric signal model is updated as follows to take into account potentially different amplitudes of the received signal on the different receiving antennas:
    Ψ / = ^ ι ^ ι , φ ι , τ Η , ν Η ] τ Χ / (Ψ /) = Υ / ~ ^ rl)
    In this latter form, the complex amplitude is no longer a scalar but a vector of dimension equal to the number of reception channels of the device according to the invention.
    During the “M-Step” phase, the parameters of the next multi-path signal (among the L-1 multi-path signals and the useful signal) are estimated as follows.
    First, we look for the relative delay and Doppler of the signal to be estimated. In order to reduce the computational load, we first build the vector Y, o which uses the DOA estimates (direction of arrival of the signals), then we maximize the likelihoods for the delay and the Doppler relative to the neighborhood of the solutions of the previous iteration:
    Y ,. = Ke ,, Å) ®i "jXX ,.

    Then, we look for the directions of arrival (DOA) of the signal to be estimated on the various sensors. In order to reduce the computational load, we first build the vector Ζ, θ which uses the estimated delay and relative Doppler, then we maximize the likelihoods for the DOA in the vicinity of the solutions of the previous iteration:
    z / 0 = [ïm 0 & - sort, èv - v rl )] x X Zo θ 1ο = arg max | a (0 ,, φ,) H x Ζ, θ |) Φι. = argmaxL · ^, φ ι ) H x Ζ, θI) <Pi 1 '
    Finally, the complex post-correlation amplitude of the signal to be estimated for each sensor is determined by assuming the different amplitudes, a priori, for each sensor.
    For this, an independent estimate of the complex amplitudes is carried out on the different antennas:
    Then, we project the resulting vector onto the subspace defined by the estimated direction of arrival:
    ~ (afxy /) xa z . γ, -------- a, xa z
    Where the operator "·" designates a product of term-to-term vectors and where the complex amplitude estimated in the last step is no longer a scalar but a dimension vector the number of reception channels of the device according to the invention.
    In other words, the component corresponding to the direction of arrival estimated in the previous step is kept in the independent estimate of the complex amplitude. We therefore favor the estimated direction of arrival.
    In practice, it is understood that will not have to be recalculated numerically on the fly during the processing by the receiver so as not to increase the computational load. At worst, numerical values can be pre-calculated and stored, or even, under certain assumptions, an analytical solution can be proposed.
    For example, if we neglect the evolution of the delay as a function of the relative Doppler (which amounts to neglecting a variation of the order of 6.10 '10 s for a Doppler of 100 Hz and an observation duration of 10 ms) and that the term (ε τ -T rl ) is multiple of the time step between the correlators, then each block (term corresponding to 1 line with post-correlation delay) of the matrix with c is reduced to a Dirac multiplied by a term of phase:
    à P (k) x exp [- 2jπ. {ε ν - v rl ) T int ] T k c (kT e , S v ~ v rl ô P (k) x exp [- 2jn. (e v - v rl ) .2.T int ]
    M δ Ρ (k) x exp [- 2} 'π. (Ε ν - v rl ) .mT iat ] with:
    ü p (k) = [0 A 0 1 0 A θ] Γ
    Λ t-1 k k + l Λ - 2 2
    FIG. 4 shows diagrammatically, on a flow diagram, the main steps of the method for estimating the parameters of the multipath signals and of the useful signal, according to the invention.
    A first step 401 of the method consists in correlating the signal received by the sensors with a local code by means of the correlators of the device.
    A second step 402 of the method consists in constructing, for each sensor, a sampled intercorrelation function of the signal received with the local code.
    A third step 403 of the method consists in determining a spatio-temporal intercorrelation function from the concatenation of the intercorrelation functions obtained in the previous step for each sensor.
    Then, it is estimated, iteratively, the parameters representative of the useful signal and of the multi-path signals by application of a maximum likelihood algorithm.
    For this, at each iteration, in step 404, we subtract from the spatio-temporal intercorrelation function, the parametric model or models of signals whose representative parameters have been estimated in the previous iterations.
    Then, in step 405, the parameters representative of a multi-path signal or of the useful signal are estimated by application of a maximum likelihood algorithm to the result of the previous subtraction. This step 405 comprises at least the following sub-steps:
    - Estimate the direction of arrival of the signal by jointly using all the sensors,
    - Estimate the complex amplitude of the signal independently for each sensor,
    - Project the estimated complex amplitude on the subspace defined by the estimated direction of arrival.
    The invention makes it possible to discriminate the useful signal from multi-path signals by taking into account the different characteristics of the reception channels of the device. This advantage is obtained by independent estimation of the complex amplitude of the signal received by each sensor.
    The invention applies to ground reference or observation stations for constellations of navigation satellites. This invention can be used in mobile terminals to improve the navigation solution in urban or even airport environments.
    权利要求:
    Claims (7)
    [1" id="c-fr-0001]
    1. Method for estimating useful signal parameters and multi-path signals originating from a radiolocation signal transmitted by a satellite, by means of a location device comprising at least two sensors capable of receiving said signal, the method comprising stages of:
    - Correlate (401) the signal received by said sensors with a local code by means of correlators,
    - Build (402), for each sensor, a sampled intercorrelation function of the signal received with the local code,
    - Determine (403) a spatio-temporal cross-correlation function from the concatenation of the cross-correlation functions obtained in the previous step for each sensor,
    - Estimate (404,405) parameters representative of the useful signal and multi-path signals by application of a maximum likelihood algorithm, said representative parameters including at least one complex amplitude estimated independently for each sensor.
    [2" id="c-fr-0002]
    2. The estimation method according to claim 1, in which said representative parameters include the propagation delay, the Doppler frequency and the direction of arrival of a signal.
    [3" id="c-fr-0003]
    3. Estimation method according to one of the preceding claims, in which the step of estimating the parameters representative of the useful signal and of the multi-path signals is performed iteratively for each multi-path signal and the useful signal and comprises the sub -steps of:
    - Subtract (404), from the spatio-temporal intercorrelation function, the parametric model or models of signals estimated in the previous iterations,
    - Estimate (405) the parameters representative of a multi-path signal or the useful signal by applying a maximum likelihood algorithm to the result of the previous subtraction.
    [4" id="c-fr-0004]
    4. The estimation method according to claim 3, in which the step of estimating (405) the parameters representative of a multi-path signal or of the useful signal comprises the sub-steps of:
    - Estimate the direction of arrival of the signal by jointly using all the sensors,
    - Estimate the complex amplitude of the signal independently for each sensor,
    - Project the estimated complex amplitude on the subspace defined by the estimated direction of arrival.
    [5" id="c-fr-0005]
    5. Locating device capable of discriminating a useful signal from multi-path signals, the device comprising at least two sensors (A1, A2) of radiolocation signals emitted by a satellite, each of said sensors being connected to at least two processing lines signals, each processing line comprising a correlator (C11, C12) and at least one delay line (R11m) capable of introducing a delay corresponding to a multiple of the integration time of the correlators, the device comprising processing means signals (μΡ) configured to implement a maximum likelihood estimation algorithm for estimating parameters representative of the useful signal and multi-path signals, from the signals taken at the output of the delay lines, said representative parameters including at least one complex amplitude independently estimated for each sensor.
    [6" id="c-fr-0006]
    6. Locating device according to claim 5 in which a correlator (C11) of a first processing line is spaced from a fraction of the symbol period of the spreading code with respect to the correlator (C12) of a second line treatment.
    [7" id="c-fr-0007]
    7. Localization device according to one of claims 5 or 6 in which the algorithm for estimating the maximum likelihood is of the "SAGE" type.
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    US11237274B2|2022-02-01|
    KR20190111817A|2019-10-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2012025306A1|2010-08-27|2012-03-01|Thales|Space-time multi-antenna and multi-correlator device for rejecting multi-paths in navigation systems|
    US20120286994A1|2011-05-12|2012-11-15|Thales|Method and system for locating interferences affecting a satellite-based radionavigation signal|
    US8655298B2|2011-10-07|2014-02-18|Thales|Method and system for locating interferences by frequency sub-band|
    CN113297780B|2021-07-27|2021-10-12|湖南卫导信息科技有限公司|High-speed simulation method, device, medium and equipment for carrier shielding and multipath signals|
    CN113589336B|2021-09-27|2022-01-04|中国人民解放军国防科技大学|BOC signal non-fuzzy capture method based on side peak elimination|
    法律状态:
    2019-03-05| PLFP| Fee payment|Year of fee payment: 2 |
    2019-09-27| PLSC| Publication of the preliminary search report|Effective date: 20190927 |
    2020-02-27| PLFP| Fee payment|Year of fee payment: 3 |
    2021-02-25| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1800238|2018-03-22|
    FR1800238A|FR3079308B1|2018-03-22|2018-03-22|MULTI-ANTENNA DEVICE FOR MULTI-PATH REJECTION IN A SATELLITE NAVIGATION SYSTEM AND ASSOCIATED METHOD|FR1800238A| FR3079308B1|2018-03-22|2018-03-22|MULTI-ANTENNA DEVICE FOR MULTI-PATH REJECTION IN A SATELLITE NAVIGATION SYSTEM AND ASSOCIATED METHOD|
    US16/357,259| US11237274B2|2018-03-22|2019-03-18|Multi-antenna device for the rejection of multi-paths in a satellite navigation system and associated method|
    ES19163952T| ES2860125T3|2018-03-22|2019-03-20|Multiple antenna device for multipath rejection in a satellite navigation system and associated procedure|
    EP19163952.5A| EP3543745B1|2018-03-22|2019-03-20|Multi-antenna device for rejection of multipaths in a satellite navigation system and associated method|
    KR1020190032502A| KR20190111817A|2018-03-22|2019-03-21|Multi-antenna device for the rejection of multi-paths in a satellite navigation system and associated method|
    CN201910220295.6A| CN110297260A|2018-03-22|2019-03-22|For excluding the multi-antenna arrangement and correlation technique of the multipath in satellite navigation system|
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