CN103336289A - Navigation satellite signal processing method, corresponding baseband receiving chip and module - Google Patents
Navigation satellite signal processing method, corresponding baseband receiving chip and module Download PDFInfo
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- CN103336289A CN103336289A CN2013102247818A CN201310224781A CN103336289A CN 103336289 A CN103336289 A CN 103336289A CN 2013102247818 A CN2013102247818 A CN 2013102247818A CN 201310224781 A CN201310224781 A CN 201310224781A CN 103336289 A CN103336289 A CN 103336289A
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Abstract
The invention provides a navigation satellite signal processing method. The navigation satellite signal processing method comprises the following steps of: obtaining a navigation bit sequence before satellite broadcast signals; and before coherent accumulation is performed, navigation bit exfoliation is performed on received satellite signals through using the navigation bit sequence. Through adopting the navigation satellite signal processing method, coherent accumulation of which the duration is longer than one navigation bit length is performed on signals which have been subjected to exfoliation operation, the navigation bit length of a 50bps signal is 20 milliseconds, and the navigation bit length of a 500bps signal is 2 milliseconds, and therefore, the sensitivity of a receiver can be improved to a larger degree. The invention also provides a Beidou satellite navigation system baseband receiving chip and a Beidou satellite navigation system receiving module and a receiver.
Description
Technical field
The present invention relates to the Beidou satellite navigation field, particularly a kind of method of Big Dipper navigation satellite signal processing and corresponding chip, module.
Background technology
Along with satellite navigation system (GPS of USA system, the dipper system of China, Muscovite Glonass system, progressively the perfecting Galileo system in Europe etc.), the raising of receiver design level, satellite navigation technology now is widely used, for daily life has brought various facilities.Simultaneously, also no longer be confined to the home position service of open environment for the requirement of airmanship, the application demand under the how abominable signal environment is much accounted of, and what so just require receiver can have higher sensitivity and more accurate measurement result.
Owing to propagate the needs of navigation information, can modulate the navigation information bit in the navigation satellite signal, usually be divided into two kinds of 50bps and 500bps, be example with the 50bps satellite-signal, the length of navigation bit is 20 milliseconds, and this architectural characteristic has determined, in the receiver design, be difficult to surpass 20 milliseconds coherent accumulation integration, so just limited the further lifting of receiver sensitivity to a great extent.
In the application of reality, have two kinds of means to improve usually and obtain the navigation bit: a kind of is in receiver inside, collects the bit information of a complete cycle, and the characteristic of broadcasting according to its circulation is predicted the bit of cycle period next time then.But the problem that this method exists is that the correct time point of navigation information updating be can not determine, in the another one cycle period, also can't accurately predict for the bit of reserved word part.Once Cuo Wu prediction may cause the direct losing lock of this tracking passage to be lost.Another kind of means are, the method that receiver injects by the outside obtains the bit that navigates accurately in advance, this will differentiate boat satellite receiver and other functional module combine, such as various communication facilitiess, this also is the direction of present terminal development certainly.
Summary of the invention
Based on above-mentioned situation, the present invention proposes a kind of signal processing method for satellite navigation system, this method mainly utilizes the receiver can be before signal arrives, obtain the navigation information bit in advance, when receiving signal, earlier signal is carried out demodulation, and then carry out coherent accumulation, the length that breaks through former navigation bit is 20 milliseconds restriction, thereby can promote the sensitivity of receiver to a great extent.
A kind of signal processing method for satellite navigation system comprises step:
A kind of signal processing method for satellite navigation system is characterized in that, comprises step: obtained the navigation bit sequence before satellite broadcast signal; Before carrying out coherent accumulation, with described navigation bit sequence the satellite-signal that the receives bit that navigates is peeled off.
Signal to described coherent accumulation carries out Base-Band Processing, draws the Navsat locating information; Resolve according to described Navsat locating information again, obtain position and the speed of navigational satellite receiver.
The equipment that described navigation bit sequence is provided is Navsat ground control station or Navsat ground monitoring equipment.
The method that described bit is peeled off adopts the BPSK demodulation method.
Described Navsat locating information comprises signal transmission time and Doppler shift value.
After receiver gets access to 4 or 4 Navsat locating information more than the satellite, utilize the described information transmission time to set up position clock correction system of equations, calculate the receiver location coordinate; Utilize described Doppler shift value to set up speed frequency difference system of equations, calculate receiver speed.
Further, the present invention also provides a kind of Beidou satellite navigation system base band receiving chip of having used said method.
Further, the present invention also provides a kind of Beidou satellite navigation system receiving module of having used the Beidou satellite navigation system base band receiving chip of above-mentioned base band receiving chip.
This also comprises a data processing unit, carry out Base-Band Processing for the data after described bit strip module navigation bit is peeled off, draw the Navsat locating information, resolve by the Navsat locating information at last, obtain position and the speed of navigational satellite receiver.
Further, the present invention also provides a kind of receiver of using above-mentioned Beidou satellite navigation system receiving module.
With respect to prior art, a kind of signal processing method for satellite navigation system provided by the invention, by before satellite broadcast signal, obtain the navigation bit sequence in advance, with the navigation bit sequence that obtains in advance the satellite-signal that the receives bit that navigates is peeled off the mode of carrying out coherent accumulation again, make and finish strip operation signal afterwards, can carry out the coherent accumulation that duration surpasses 20 milliseconds (navigation ratio bit length), thereby can promote the sensitivity of receiver to a great extent.
Description of drawings
Fig. 1 is the schematic flow sheet of a kind of signal processing method embodiment for satellite navigation system of the present invention.
To be the present invention peel off the principle key diagram to the navigation satellite signal bit that navigates to Fig. 2.
Fig. 3 is a kind of Beidou satellite navigation system receiving module structural representation of the present invention.
Embodiment
Below in conjunction with wherein preferred embodiments the present invention program is described in detail.
The schematic flow sheet of a kind of signal processing method embodiment for satellite navigation system of the present invention has been shown among Fig. 1.
As shown in Figure 1, the method in the present embodiment comprises step:
S101: before satellite broadcast signal, obtain the navigation bit sequence.
Provide the navigation bit sequence by navigation bit generation equipment, before satellite broadcast signal, obtain this navigation bit sequence.Here it can be the Navsat ground control station that the navigation bit of saying generates equipment, also can be Navsat ground monitoring equipment, and its major function is before the Navsat broadcast singal, to provide the bit sequence that navigates accurately.
Traditional method mainly is the characteristic of utilizing the navigation information circulation to broadcast, and navigational satellite receiver at first receives and store complete bit information in the navigation information updating cycle, predicts according to its cycle characteristics then.But the problem that this method exists is:
1, navigation information is not complete repetitive cycling, and reserved word wherein might change in different cycle periods;
2, the time point of next round renewal can not accurately be determined.
So, based on these two characteristics, very high in the special probability of errors of receiver intra-prediction navigation ratio, and therefore the land station place that bit generates of navigating just directly obtains this mode of navigation bit from ground control station and Navsat ground monitoring equipment and can obtain accurate fully navigation bit sequence.
S102: the navigation bit sequence provide in advance is provided, the satellite-signal that the receives bit that navigates is peeled off, stripping means is the BPSK demodulation method, as shown in Figure 2;
The original bit sequence signal of the 21st, 10bit;
The 22nd, to 101 results that carry out polarity mapping, namely 1 ,-1,1,1 ,-1,1 ,-1 ,-1,1 ,-1,1 and-1 symbol polarity of only representing signal here;
The 23rd, comprise the signal hint of the bit that navigates, suppose that this signal energy amplitude is constant, intensity is A, wherein the length of each navigation bit is 20 milliseconds;
The 24th, peel off the signal of navigation behind the bit, the stripping process i.e. bit position of 22 and 23 correspondences multiplies each other, thereby makes the symbol polarity unanimity of signal.
S103: the coherent accumulation that carries out navigation satellite signal; In the present embodiment, coherent accumulation is the process that navigation satellite signal is sued for peace continuously;
Under normal conditions, because the unpredictability of navigation bit, the receiver maximum can only be carried out 20 milliseconds coherent accumulation, if surpass 20 milliseconds, and just may be because the symbol polarity of navigation bit be offset most energy mutually on the contrary.And in the receiver design, obtaining effective, the most direct method of high sensitivity is exactly the correlation integral of signal being carried out the long period.If the signal hint 23 that comprises the bit that navigates is carried out 200 milliseconds coherent accumulation, because the bit positive-negative polarity that navigates is just offset, so finally obtaining this energy value of 200 milliseconds is 0; Adopt method of the present invention, carry out 200 milliseconds coherent accumulation to peeling off the signal 24 of navigation behind the bit, because predict in advance and peeled off the navigation bit sequence, so the result who adds up is this energy summation 10A of 200 milliseconds.
S104: carry out the navigation satellite signal Base-Band Processing, draw the Navsat locating information;
Navigation satellite signal Base-Band Processing in this step, its processing procedure comprises tracking error discriminating, loop filtering, the tracking mode adjustment to signal, and according to receiver the tracking mode of satellite-signal is extracted transmission time and the Doppler shift value of this satellite-signal, finally draw the Navsat locating information.Because the navigation satellite signal Base-Band Processing is a routine techniques, present embodiment repeats no more.
S105: resolve according to above-mentioned Navsat locating information, obtain position and the speed of receiver.
According to above-mentioned Navsat locating information, comprise signal transmission time and Doppler shift value.They are characteristic informations of a satellite, and are just passable after receiver gets access to 4 or 4 characteristic informations more than the satellite, utilize the transmission time to set up position clock correction system of equations, can calculate the receiver location coordinate; Utilize the Doppler shift value to set up speed frequency difference system of equations, calculate receiver speed.
As shown in Figure 3, Beidou satellite navigation system receiving module work synoptic diagram:
301 navigation bits generate equipment, are used for providing the bit sequence that navigates accurately before the Navsat broadcast singal.
302 data transmission sets receive above-mentioned bit sequence, the navigation Bit data, and in time be handed down to and lead the base band receiving chip.
The data transmission set here, the node and the downstream terminal device that comprise data transmission path, the node form of data transmission path depends on selects transmit data for which kind of mode, such as, if select for use the internet to propagate, this node can be certain Website server, if select wireless communication propagation for use, this node can be radio communication base station, and the function of this node is, reception generates the navigation Bit data of equipment from the navigation bit, and in time is handed down to the downstream terminal device; The terminal device in downstream utilizes satellite navigation system that the terminal device of location-based service is provided for requiring, mobile phone for example, personal digital product etc., this equipment is by certain agreement (for example 3gpp agreement), obtain the navigation bit sequence, send to Beidou satellite navigation system receiving module then.
303 navigation bits are peeled off the unit, are used for obtaining before satellite broadcast signal the navigation bit sequence; Before carrying out coherent accumulation, with described navigation bit sequence the satellite-signal that the receives bit that navigates to be peeled off, the bit that here navigates is peeled off the unit can be integrated into Beidou satellite navigation system base band receiving chip.
304 data processing units carry out Base-Band Processing for the data after described bit strip module navigation bit is peeled off, and draw the Navsat locating information, resolve by the Navsat locating information at last, obtain position and the speed of navigational satellite receiver.
303 navigation bits are peeled off the unit and 304 data processing units can be integrated into navigation receiver module, are the chief component of the receiver of Beidou satellite navigation system receiving module.In addition, also there have been radio frequency and baseband chip integrated even the integrated integrated chip of application processor (AP), all within protection scope of the present invention.In addition, the dual-mode/multi-mode baseband chip of compatible various navigational satellite systems, module, as long as used the said method of the present invention, all should be within protection scope of the present invention.
The principle of work of this module is, the navigation bit generates equipment 301 and provided the navigation bit sequence in advance before navigation satellite signal broadcasting, and send to data transmission set 302, data transmission set 302 is transferred to the navigation bit again and peels off unit 303, the navigation bit is peeled off unit 303 after receiving bit sequence, and elder generation carries out the satellite-signal that receives, and bit is peeled off, coherent accumulation; Carry out Base-Band Processing by data processing unit, drawing the Navsat locating information, resolving by the Navsat locating information at last, obtaining position and the speed (message namely navigates) of receiver.
It mainly is to solve under normal conditions that navigation bit in this principle is peeled off, because the unpredictability of navigation bit, the receiver maximum can only be carried out 20 milliseconds coherent accumulation, if surpass 20 milliseconds, just may be because the symbol polarity of navigation bit be offset the problem of most energy mutually on the contrary.If the signal that comprises the bit that navigates is carried out 200 milliseconds coherent accumulation, because navigation bit positive-negative polarity just offsets, so finally obtain this energy value of 200 milliseconds and be 0 problem.Signal behind the bit that navigates through peeling off after the processing of bit strip module, when the coherent accumulation that carries out 200 milliseconds, because predict and peeled off the navigation bit sequence in advance, so the result who adds up is this energy summation 10A of 200 milliseconds, such signal can promote the sensitivity of receiver greatly.
Navigation satellite signal Base-Band Processing in this principle, its processing procedure comprises tracking error discriminating, loop filtering, the tracking mode adjustment to signal, and according to receiver the tracking mode of satellite-signal is extracted transmission time and the Doppler shift value of this satellite-signal, finally draw the Navsat locating information.According to above-mentioned Navsat locating information, comprise signal transmission time and Doppler shift value.They are characteristic informations of a satellite, and are just passable after receiver gets access to 4 or 4 characteristic informations more than the satellite, utilize the transmission time to set up position clock correction system of equations, can calculate the receiver location coordinate; Utilize the Doppler shift value to set up speed frequency difference system of equations, calculate receiver speed.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a signal processing method that is used for satellite navigation system is characterized in that, comprises step: obtained the navigation bit sequence before satellite broadcast signal; Before carrying out coherent accumulation, with described navigation bit sequence the satellite-signal that the receives bit that navigates is peeled off.
2. signal processing method according to claim 1 is characterized in that, the signal of described coherent accumulation is carried out Base-Band Processing, draws the Navsat locating information; Resolve according to described Navsat locating information again, obtain position and the speed of navigational satellite receiver.
3. signal processing method according to claim 1 is characterized in that, the equipment that described navigation bit sequence is provided is Navsat ground control station or Navsat ground monitoring equipment.
4. according to claim 1 or 2 or 3 described signal processing methods, it is characterized in that the method that described bit is peeled off adopts the BPSK demodulation method.
5. according to claim 1 or 2 or 3 described signal processing methods, it is characterized in that described Navsat locating information comprises signal transmission time and Doppler shift value.
6. signal processing method according to claim 5 is characterized in that, after receiver gets access to 4 or 4 Navsat locating information more than the satellite, utilizes the described information transmission time to set up position clock correction system of equations, calculates the receiver location coordinate; Utilize described Doppler shift value to set up speed frequency difference system of equations, calculate receiver speed.
7. Beidou satellite navigation system base band receiving chip of having used as method as described in the claim 1-6.
8. one kind comprises the Beidou satellite navigation system receiving module as method as described in the claim 7.
9. Beidou satellite navigation system receiving module according to claim 8, it is characterized in that, also comprise a data processing unit, carry out Base-Band Processing for the data after described bit strip module navigation bit is peeled off, draw the Navsat locating information, resolve by the Navsat locating information at last, obtain position and the speed of navigational satellite receiver.
10. receiver of having used as Beidou satellite navigation system receiving module as described in claim 8 or 9.
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| CN106227031A (en) * | 2016-05-25 | 2016-12-14 | 广州市国飞信息科技有限公司 | A kind of receiver module and single-chip realize satellite and tame and punctual method |
| CN108345013A (en) * | 2018-04-16 | 2018-07-31 | 南京天际易达通信技术有限公司 | A kind of method and satellite navigation receiver improving satellite navigation signals receiving sensitivity |
| WO2019041318A1 (en) * | 2017-09-01 | 2019-03-07 | 深圳传音通讯有限公司 | Gps function testing method, terminal apparatus, system, and storage medium |
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Cited By (4)
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| CN106227031A (en) * | 2016-05-25 | 2016-12-14 | 广州市国飞信息科技有限公司 | A kind of receiver module and single-chip realize satellite and tame and punctual method |
| WO2019041318A1 (en) * | 2017-09-01 | 2019-03-07 | 深圳传音通讯有限公司 | Gps function testing method, terminal apparatus, system, and storage medium |
| CN108345013A (en) * | 2018-04-16 | 2018-07-31 | 南京天际易达通信技术有限公司 | A kind of method and satellite navigation receiver improving satellite navigation signals receiving sensitivity |
| CN108345013B (en) * | 2018-04-16 | 2023-09-01 | 南京天际易达通信技术有限公司 | Method for improving satellite navigation signal receiving sensitivity |
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Application publication date: 20131002 |