近年來全球衛星導航系統迅速發展下，無線定位議題顯得日趨重要。由於可同時觀察到不同系統之衛星，高仰角衛星數量增加，有利於減少因衛星被遮蔽或低仰角能量較弱而造成之定位誤差。因此，針對利用不同衛星系統相互輔助以提升定位可靠度之研究被大量探討。本論文旨在提出多頻多星系GNSS訊號接收軟硬體整合之即時處理架構，將不同衛星系統之訊號處理整合於一可擴充之平台架構內。本文針對此即時訊號處理之接收機詳細描述其軟體架構設計與時序安排，如此有利於各種定位演算法之實現。另外，過去由於單頻定位精度僅約公尺等級，進而發展出利用網路通訊提升定位精度之主從式定位法則，舉凡廣域差分、RTK等。然而隨著現代化衛星佈建完成，不依靠外界提供額外資訊，僅由接收機自身提升定位精度之方法勢必有所調整。因此本論文亦於所提出之系統架構下，以針對GPS之L1 C/A與L2C兩頻段訊號進行分析為例，發展一套完整GPS雙頻定位流程，利用雙頻訊號特性消除電離層誤差以及增加接收機抑制干擾之能力，並將上述方法實現於所提出架構之導航接收機中。

In recent years, with the rapid development of global satellite navigation systems, wireless positioning issues have become increasingly important. Since satellites of different systems can be observed at the same times, with the increase of the number of high-elevation satellites, the positioning errors can be reduced as satellites are less likely to be shadowed or subject to fading. Therefore, researches on using different satellite systems to improve the reliability of positioning have been extensively discussed. The purpose of this thesis is to propose a real-time, multi-frequency and multi-constellation GNSS software-hardware integration architecture, which integrates the signal processing of different satellite systems into an extendable platform architecture. Single-frequency positioning accuracy is only about meters in the past, however, with the completion of the construction of modern satellites, the method of improving the positioning accuracy by the receiver itself is being investigated without relying on the outside world to provide additional information. This thesis also details the software architecture design and timing of the receiver for real-time signal processing, which facilitates the implementation of various positioning algorithms. Finally, the implementation of the proposed receiver architecture in FPGA based SoC is also demonstrated in this thesis.

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