CN101963668A - Method for realizing real-time closed-loop synchronization control by simulating satellite navigation signal - Google Patents
Method for realizing real-time closed-loop synchronization control by simulating satellite navigation signal Download PDFInfo
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Abstract
The invention relates to a method for realizing real-time closed-loop synchronization control by simulating a satellite navigation signal. The method comprises the following steps that: a simulator generates a synchronization trigger signal and calculates first frame carrier motion trail data to generate a motion parameter; simulation software calculates the current position and parameter of a satellite in real time after receiving a first frame motion parameter so as to generate a satellite data parameter and transmits the satellite data parameter to a navigation signal simulator in real time; the navigation signal simulator performs simulation and synchronization control on the signal according to the satellite data parameter so as to generate a simulation navigation signal; a receiver performs demodulating and positioning resolving on the signal and feeds a resolving result back to the simulator; and the simulator continues simulating according to the step length of a system and performs closed-loop control according to the transmitted position information. In the method of the invention, the motion trail of a carrier can be received in real time through data navigation simulation software, so that the problems of real-time trail modification, lack of a feedback loop and the like in the conventional open-loop system are solved.
Description
Technical field
The present invention relates to the satellite navigation technical field, relate in particular to a kind of method that realizes analog satellite navigation signal real-time closed-loop synchro control.
Background technology
The satellite navigation signals analogue system is widely used in exploitation, test and the maintenance activity of various radio frequency electric system, and the process of construction of navigational system has all adopted the satellite-signal analogue system both at home and abroad.Just can export the complex RF simulate signal that comprises various characteristics in typical navigation simulation system such as the gps signal simulator.
At present, GPS of America, Russian GLONASS (GLONASS), the Galileo of European Union (Galileo), China's GPS (Global Position System) such as " No. two, the Big Dippeves " have been arranged in the global range, and the compatible navigation that the user can utilize a plurality of systems effectively to make up and realize in the global range is located.And the satellite navigation simulator can provide the instrument and equipment of multisystem, the compatible interoperability satellite-signal of multifrequency point just, and the simulator of developing many scales, many systems helps subscriber computer exploitation producer various positioning errors, signal capture tracking performance and various resource are tested and assessed.
Satellite navigation signal simulator is used for all kinds of navigation terminal equipment are realized the not test under rail, indoor or critical condition of satellites, or the repeated test under the specified requirements.The mathematical simulation part can provide relevant satellite transit model for the user, the information of user movement model aspect, and can graphics mode show the satellite transit track, generate the true radiofrequency signal that has each category feature (postpone, Doppler decays etc.) by radio frequency simulation, send to terminal device, by the related data of testing evaluation part collection terminal equipment, obtain test result, and test result is managed again by database.
The classic method that navigation signal is simulated is to adopt the method for open loop, promptly generate movement locus, satellite document scene and the related data of carrier in advance, when carrying out the navigation signal simulation, these data are play, can not revise the carrier track, also not have corresponding Data Input Interface.In the actual exploitation and use of satellite navigation signal simulator emulation, need to generate the carrier movement model of various different tracks.This pattern relative method of testing for the uncertain application of those tracks is comparatively single, can not solve the problem of real time modifying track.The drawback of this method is that navigation signal simulator can not be connected with replicating machine, can not adjust the carrier track, causes the navigation signal simulator function imperfect, can not be applied in the meticulousr model emulation process.Replicating machine has also lacked this important backfeed loop of satellite navigation signals when carrying out system emulation.
The present invention can overcome the above problems.In large-scale simulated testing system, adopt replicating machine to come the movement locus of real time modelling carrier, satellite data simulation software and navigation signal simulator all carry out simulation calculation in real time, replicating machine provides the required simulated environment of prototype, exploitation and emulation of navigational system model machine according to the kinetic characteristic of carrier, navigation signal simulator produces simulation satellite signal in real time, digital, half closed-loop experiment in kind of final realization navigation management and guidance, flight management etc.
Summary of the invention
In view of tradition based on the existing problem of technology, the object of the present invention is to provide a kind of method of analog satellite navigation signal real-time closed-loop synchro control, and be fundamental construction real-time closed-loop type satellite navigation signal simulator device with the method, for receiver provides the satellite navigation simulating signal
The present invention is achieved by the following technical solutions:
A kind of method that realizes analog satellite navigation signal real-time closed-loop synchro control comprises:
Steps A: replicating machine produces a synchronous triggering signal, begins to calculate the first frame carrier movement track data simultaneously, generates complete kinematic parameter, is sent to simulation software.
Step B: simulation software calculates satellite current location and parameter after receiving the first frame kinematic parameter in real time, generates the satellite data parameter in real time, then the satellite data parameter is real-time transmitted to navigation signal simulator.
Step C: navigation signal simulator carries out the simulation and the synchro control of signal according to the satellite data parameter, generates the analogue navigation signal then.
Step D: receiver carries out the demodulation of signal after receiving the analogue navigation signal, and positioning calculation will resolve the result and feed back to replicating machine then.
Step e: replicating machine is proceeded emulation according to system's step-length, replicating machine receives the positional information that receiver transmits, carry out closed-loop control, adjust the kinematic parameter of carrier then, adjusted kinematic parameter is transferred to satellite data simulation software input interface by interface;
Step F: repeating step B, C, D, E;
Step G: when the needs system arrives emulation during the concluding time, replicating machine is out of service, and system's closed-loop simulation finishes.
Satellite data simulation software in this method step B receives the first frame kinematic parameter by data transmission interface, and this data transmission interface is at least a in Ethernet interface, reflective memory interface or the RS485 interface;
Wherein, in step C, the step that navigation signal simulator is controlled signal according to the satellite data parameter comprises:
(1) timing: after navigation signal simulator receives trigger pip, pick up counting, behind the delay time of the system of arrival appointment, navigation signal simulator begins output signal.
(2) increase buffer memory: in navigation signal simulator inside, when output time is specified in system's no show, the inner signal that generates of navigation signal simulator with digital store in the internal buffer.
The navigation signal simulator that is adopted in this method is the navigation signal simulator of multiple system, comprises GPS (global location) system, Galileo (Galileo) system, GLONASS (GLONASS) system or dipper system.
System's step-length in this method step e can be set to 1-200ms.
The effect that the present invention is useful
Pass through the method for the invention, can realize movement locus by the real-time received vector of data navigation simulation software, and calculate the satellite constellation ruuning situation of GPS (global location) system, Galileo (Galileo) system, GLONASS (GLONASS) and dipper system in real time, calculate of the influence of various errors in real time to signal, and realize the satellite-signal of real time modelling by navigation signal simulator, arrive the navigation signal of user terminal, solved and occur the real time modifying track in the above-mentioned open cycle system and lack problem such as backfeed loop.
Description of drawings
Fig. 1 is a kind of open cycle system primary structure schematic block diagram of the prior art;
Fig. 2 is that a kind of real-time closed-loop system that the specific embodiment of the present invention provides forms synoptic diagram;
Fig. 3 is the principle schematic that a kind of navigation signal simulator that the specific embodiment of the present invention provides is put;
Fig. 4 is to the method flow diagram of analog satellite navigation signal real-time closed-loop synchro control in the real-time closed-loop system that provides of the specific embodiment of the present invention.
Embodiment
The method of the realization analog satellite navigation signal real-time closed-loop synchro control that provides for clearer this embodiment of explanation now is elaborated to this method in conjunction with Figure of description.
Fig. 1 is a kind of open cycle system primary structure schematic block diagram in the prior art.Shown in the figure, load the satellite navigation emulated data that has generated in advance in navigation signal simulator inside, when operation, carry out data playback, data are converted to simulating signal use for receiver.But these data are not to produce in real time, and this pattern relative method of testing for the uncertain application of those tracks is comparatively single, can't realize the problem of real time modifying track.And navigation signal simulator can not be connected with replicating machine, can not adjust the carrier track, cause the navigation signal simulator function imperfect, simultaneously, replicating machine has also lacked this important backfeed loop of satellite navigation signals when carrying out system emulation.
Shown in Figure 2, a kind of real-time closed-loop satellite navigation signals simulation system of the present invention is made up of four parts such as replicating machine, satellite data simulation software, navigation signal simulator, receiver.The operation of real-time closed-loop type satellite navigation signal simulator device is controlled by replicating machine, such as adopting China to make every effort to achieve the logical HRT100 of company type replicating machine.After finishing, the initialization of replicating machine wait other parts can start working.Replicating machine at first sends a start trigger signal to other parts, sends the carrier positions parameter information according to system's step-length in real time to the satellite data simulation software then; The satellite data simulation software is the software that specialty is used to calculate particular surroundings simulations such as satellite trajectory, parameter and Atmospheric models, is used for calculating in real time the position and the error effects of satellite, and the result is passed to navigation signal simulator; Navigation signal simulator can be at least a in GPS (global location) system, Galileo (Galileo) system, GLONASS (GLONASS) and the dipper system, be used for producing in real time the satellite navigation simulating signal, and emit by antenna or feeder line form.Receiver is used to receive the satellite navigation simulating signal and carries out positioning calculation, draw relevant informations such as position, speed, and will resolve result transmission and give replicating machine, replicating machine receives the athletic posture of adjusting carrier after the positional information of feedback in real time, replicating machine carries out the simulation of space and movement locus according to system model, feed back to the radiofrequency signal simulator then, form closed-loop system.
Fig. 3 is a navigation signal simulator internal work theory diagram, its principle of work is as follows: navigation signal simulator internal work process is pseudo range data, the telegraph text data that receiving satellite transmits according to simulation software, carry out corresponding calculated, and carry out phase control, the Doppler simulation of navigation signal, then these signals are carried out the synthetic and filtering of numeral, become simulating signal by the conversion of DA chip then, simulating signal generates required radio frequency analog signal through up-conversion modulation back.
Fig. 4 is for carrying out the method flow diagram of real-time closed-loop synchro control to the analog satellite navigation signal among the present invention.
According to this process flow diagram, the present invention realizes that analog satellite navigation signal real-time closed-loop synchro control step is as follows:
1) various piece self check respectively in the system, self check is ready to by back notice replicating machine, can begin emulation.
2) after replicating machine waits for that satellite data simulation software, navigation signal simulator, receiver can begin, can move, produce trigger pip, and be transferred to satellite data simulation software, navigation signal simulator, receiver, this is defined as analogue system time 0 point constantly.
3) replicating machine carries out the carrier trace simulation, calculates generation the 1st bag and can by data transmission interface data transmission be arrived the satellite data simulation software for the data of satellite data simulation software use.Data transmission interface can be at least a interface in Ethernet interface, reflective memory interface or the RS485 interface, as long as this interface can satisfy the requirement of message transmission rate.
4) the satellite data simulation software begins real-time calculating after receiving the data of replicating machine, and the moonscope data that calculate and satellite message data etc. are transferred to navigation signal simulator.
5) after the data of navigation signal simulator receiving satellite according to simulation software, calculate in real time and signal imitation, produce simulation satellite signal.Because navigation signal simulator inside is provided with buffer memory, the signal of generation is not to export immediately, but just outputs to receiver after waiting for the delay that arrives default.
6) after the delay of the system of arrival appointment, navigation signal simulator sends the output signal order, by after the DA conversion analog radio-frequency signal being exported.
7) after receiver receives the navigation simulation signal, begin to position and resolve, transfer data to replicating machine in real time, replicating machine receives the adjustment of carrying out after these data carrier track and attitude.
8) replicating machine is transferred to the satellite data simulation software with adjusted carrier track data, carries out follow-up real-time simulation.
For realizing analog satellite navigation signal real-time closed-loop synchro control, need the assurance system can realize fully synchronously.Because in the simulation process of each system cycle, replicating machine, satellite data simulation software, each consuming time all inequality when navigation signal simulator calculates, for the signal that guarantees final output keeps when exporting synchronously, just need a kind of method to guarantee unanimity when signal output time delay.Adopted the method at navigation signal simulator internal clocking and increase buffer memory among the present invention, after navigation signal simulator receives trigger pip, picked up counting, behind the delay time of the system of arrival appointment, navigation signal simulator begins output signal.In navigation signal simulator inside, when output time is specified in the system no show, the inner signal that generates of navigation signal simulator with digital store in the internal buffer.This method has guaranteed can realize synchro control between replicating machine and the navigation signal simulator.
When system's step-length was 1ms, every 1ms replicating machine calculated a track data, and the every 1ms of satellite data simulation software and simulator upgrades a trajectory parameters, and all the other systematic parameter real-time simulations generate.System's running precision is the highest under this step-length, and it is best to produce the signal Synchronization performance, and simulation result is near legitimate reading.
When system's step-length is 5ms, every 5ms replicating machine calculates a track data, the every 5ms of satellite data simulation software and simulator upgrades a trajectory parameters, but in order to guarantee the system emulation precision, interpolation processing is carried out to the data track in navigation signal simulator inside, track is subdivided into 1ms once, and all the other systematic parameter real-time simulations generate.System's running precision is higher under this step-length, produces the signal Synchronization better performances, and simulation result is relatively near legitimate reading.
When system's step-length is 100ms, every 100ms replicating machine calculates a track data, the every 100ms of satellite data simulation software and simulator upgrades a trajectory parameters, but in order to guarantee the system emulation precision, the satellite data simulation software carries out interpolation processing to the data track, and track is subdivided into 20ms once, and interpolation processing is also carried out to the data track in navigation signal simulator inside, track is subdivided into 1ms once, and all the other systematic parameter real-time simulations generate.System's running precision is under some influence under this step-length, and it is general to produce the signal Synchronization performance, and may there be a small amount of error in simulation result with legitimate reading.
When system's step-length is 200ms, every 200ms replicating machine calculates a track data, the every 200ms of satellite data simulation software and simulator upgrades a trajectory parameters, but in order to guarantee the system emulation precision, the satellite data simulation software carries out interpolation processing to the data track, and track is subdivided into 20ms once, and interpolation processing is also carried out to the data track in navigation signal simulator inside, track is subdivided into 1ms once, and all the other systematic parameter real-time simulations generate.System's running precision is relatively poor under this step-length, produces the signal Synchronization poor-performing, and may there be a small amount of error in simulation result with legitimate reading.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (7)
1. a method that realizes analog satellite navigation signal real-time closed-loop synchro control is characterized in that, comprises the steps:
Steps A: replicating machine produces a synchronous triggering signal, begins to calculate the first frame carrier movement track data simultaneously, generates complete kinematic parameter, is sent to the satellite data simulation software;
Step B: the satellite data simulation software calculates satellite current location and parameter after receiving the first frame kinematic parameter in real time, generates the satellite data parameter in real time, then the satellite data parameter is real-time transmitted to navigation signal simulator;
Step C: navigation signal simulator carries out the simulation and the synchro control of signal according to the satellite data parameter, generates the analogue navigation signal then;
Step D: receiver carries out the demodulation of signal after receiving the analogue navigation signal, and positioning calculation will resolve the result and feed back to replicating machine then;
Step e: replicating machine is proceeded emulation according to system's step-length, replicating machine receives the positional information that receiver transmits, carry out closed-loop control, adjust the kinematic parameter of carrier then, adjusted kinematic parameter is transferred to satellite data simulation software input interface by interface;
Step F: repeating step B, C, D, E;
Step G: when the needs system arrives emulation during the concluding time, replicating machine is out of service, and system's closed-loop simulation finishes.
2. according to the described a kind of method that realizes analog satellite navigation signal real-time closed-loop synchro control of claim 1, it is characterized in that: the satellite data simulation software among the described step B receives kinematic parameter by data transmission interface.
3. according to the described a kind of method that realizes analog satellite navigation signal real-time closed-loop synchro control of claim 2, it is characterized in that described data transmission interface is at least a interface in Ethernet interface, reflective memory interface or the RS485 interface.
4. according to the described a kind of method that realizes analog satellite navigation signal real-time closed-loop synchro control of claim 1, it is characterized in that: among the described step C, navigation signal simulator comprises the step that signal carries out synchro control according to the satellite data parameter:
(1) timing: after navigation signal simulator receives trigger pip, pick up counting, behind the delay time of the system of arrival appointment, navigation signal simulator begins output signal;
(2) increase buffer memory: in navigation signal simulator inside, when output time is specified in system's no show, the inner signal that generates of navigation signal simulator with digital store in the internal buffer.
5. according to the described a kind of method that realizes analog satellite navigation signal real-time closed-loop synchro control of claim 1, it is characterized in that, in the described step e, adjusted kinematic parameter is transferred to satellite data simulation software input interface by at least a interface in Ethernet interface, reflective memory interface or the RS485 interface.
6. according to the described a kind of method that realizes analog satellite navigation signal real-time closed-loop synchro control of claim 1, it is characterized in that: described navigation signal simulator comprises at least a navigation signal simulator in GPS (global location) system, Galileo (Galileo) system, GLONASS (GLONASS) system or the dipper system.
7. according to the described a kind of method that realizes analog satellite navigation signal real-time closed-loop synchro control of claim 1, it is characterized in that: the system's step-length in the described step e can be set to 1-200ms.
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| CN110161538B (en) * | 2019-04-26 | 2023-06-16 | 湖南卫导信息科技有限公司 | Method and system for testing real-time closed-loop performance of navigation signal source |
| CN110161538A (en) * | 2019-04-26 | 2019-08-23 | 湖南卫导信息科技有限公司 | A kind of test method and system of navigation signal source real-time closed-loop performance |
| CN111208539A (en) * | 2019-12-18 | 2020-05-29 | 中国航空工业集团公司成都飞机设计研究所 | High-precision GNSS simulator time synchronization method |
| CN111208539B (en) * | 2019-12-18 | 2023-06-23 | 中国航空工业集团公司成都飞机设计研究所 | High-precision GNSS simulator time synchronization method |
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| CN113452430B (en) * | 2021-06-16 | 2023-03-10 | 中国电子科技集团公司第五十四研究所 | Ground agent system for testing navigation satellite and navigation satellite testing method |
| CN113810146A (en) * | 2021-08-05 | 2021-12-17 | 西安理工大学 | Data synchronous transmission method without external reference clock |
| CN113810146B (en) * | 2021-08-05 | 2023-09-22 | 西安理工大学 | Data synchronous transmission method without external reference clock |
| CN114578393A (en) * | 2022-04-29 | 2022-06-03 | 湖南卫导信息科技有限公司 | Device for rapidly detecting performance of satellite navigation terminal mounted on carrier platform |
| CN115575982A (en) * | 2022-11-24 | 2023-01-06 | 中汽研软件测评(天津)有限公司 | Method, apparatus and storage medium for determining robustness of vehicle-mounted satellite positioning system |
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