GPS软件接收机（3）——跟踪

跟踪的主要目的是精确化频率和码相位值，并保持跟踪，然后从跟踪到的卫星中解调出导航数据

                                                                                 Fig1 跟踪流程图

1.初始化输出结构体参数

%%%%tracking.m
trackResults.status         = '-';      % 初始状态为无信号捕获
trackResults.absoluteSample = zeros(1, settings.msToProcess); %共msToProcess输出值，初始值为36000，确保遍历所有子帧

%记录每ms的实时码频率
trackResults.codeFreq       = inf(1, settings.msToProcess);

% Frequency of the tracked carrier wave:
%记录每ms的实时跟踪载波频率
trackResults.carrFreq       = inf(1, settings.msToProcess);

% Outputs from the correlators (In-phase):
% 同相支路的相关器的输出值
trackResults.I_P            = zeros(1, settings.msToProcess);
trackResults.I_E            = zeros(1, settings.msToProcess);
trackResults.I_L            = zeros(1, settings.msToProcess);

% Outputs from the correlators (Quadrature-phase):
%正交支路的相关器输出值
trackResults.Q_E            = zeros(1, settings.msToProcess);
trackResults.Q_P            = zeros(1, settings.msToProcess);
trackResults.Q_L            = zeros(1, settings.msToProcess);

% Loop discriminators 定义为极大值
trackResults.dllDiscr       = inf(1, settings.msToProcess);
%跟踪环路延迟锁相环鉴相器的输出值
trackResults.dllDiscrFilt   = inf(1, settings.msToProcess);
%跟踪环路延迟锁相环滤波器的输出值
trackResults.pllDiscr       = inf(1, settings.msToProcess);
%跟踪环路载波锁相环鉴相器的输出值
trackResults.pllDiscrFilt   = inf(1, settings.msToProcess);
%跟踪环路载波锁相环滤波器的输出值


trackResults = repmat(trackResults, 1, settings.numberOfChannels);
%生成numberOfChannels个结构体

%% 初始化跟踪变量 ==========================================

codePeriods = settings.msToProcess;     % 跟踪的C/A码周期数

%--- DLL variables --------------------------------------------------------
% Define early-late offset (in chips) 
%超前-滞后与及时码的间隔 单位为码片
earlyLateSpc = settings.dllCorrelatorSpacing;

% Summation interval
% 码环累加间隔1ms

PDIcode = 0.001;

% Calculate filter coefficient values 
% 环路采用二阶环
[tau1code