CN105301610B - A kind of Novel GPS L5 signal quick catching methods of anti-symbol saltus step - Google Patents
A kind of Novel GPS L5 signal quick catching methods of anti-symbol saltus step Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
Abstract
The invention discloses a kind of Novel GPS L5 signal quick catching methods of anti-symbol saltus step, this method is during the pseudo-code all phase parallel search of GPS L5 signals, circulation packet is carried out again after carrying out zero padding processing to reception signal and pseudo-code, it is two small-scale circulation time correlated processes by circulation associative operation procedure decomposition, so as to eliminate symbol hopping edge to while capture result influence, computation complexity is reduced, improves efficiency of algorithm.This method can be used for Satellite TT terminal and navigation neceiver and carry out fast Acquisition to GPS L5 signals and similar signal in the case of without ancillary method, solves the problems, such as the saltus step of base code sign and causes acquisition performance to lose.Relatively conventional fast method for catching, the present invention effectively reduce computation complexity, improve efficiency of algorithm, and will not cause the deterioration of signal to noise ratio after correlation intergal.
Description
Technical Field
The invention relates to the technical field of satellite measurement and control and navigation signal acquisition, in particular to a novel GPS L5 signal rapid acquisition method capable of resisting symbol hopping, which is used for realizing GPS L5 signal rapid acquisition in the technical field of measurement and control and navigation.
Background
In the process of GPS modernization, a civil signal newly increased on an L5 frequency point has the following new characteristics compared with the traditional GPS L1C/A signal: (1) The transmitting power is higher, and a longer pseudo code (the code length is 10230) is adopted, so that a better cross-correlation characteristic is obtained; (2) QPSK modulation is adopted, an auxiliary channel (without modulation data information) is added, and long-time integration can be realized to improve the sensitivity of the receiver; (3) And base code modulation (NH codes with the period of 10 and 20) is added, so that data synchronization is facilitated. The length of the code element of the base code is equal to a pseudo code period, the rate is far lower than the pseudo code rate, and after being added with the pseudo code modulo 2, a longer pseudo code is generated. The base code modulation improves the navigation performance, increases the signal capture difficulty, and changes the search space from two-dimension (frequency and pseudo code phase) to three-dimension (Doppler frequency, pseudo code phase and base code phase). The base code is mainly used in the application environment (e.g., indoor, forest) for capturing weak signals, and limits the integration time length together with the doppler frequency. Under the condition of low sensitivity requirement, the GNSS receiver can complete signal capture by using carrier Doppler and pseudo code phase information only, and simultaneously realize synchronization of the base code.
If the receiver does not utilize the base Code information in the whole acquisition process, when a pseudo Code-phase Search (PCS) is performed, the coherent integration result may be sharply reduced due to the objective existence of the base Code jump (the jump edge is located in the middle of the pseudo Code of the adjacent period, which may also be referred to as a symbol jump edge), which may cause the algorithm to fail. Currently, there are several different types of methods that can overcome the symbol transition edge effect.
In the prior art, a simple and effective method for overcoming the influence of symbol hopping edges is as follows: double zero padding + PCS algorithm; the method continuously collects the received signals of two pseudo code periods and the local signals with equal length (consisting of a local replica code of one period and zero padding of one period) to carry out circular correlation (pseudo code full-phase parallel search: PCS), and can effectively avoid the influence of symbol jump edges. The disadvantage of this method is that the computational complexity is multiplied and the efficiency is low, half of the computational effort in the cyclic correlation process is useless.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a novel GPS L5 signal rapid acquisition method resisting symbol jump, which is used for rapidly acquiring GPS L5 signals and similar signals under the condition of no auxiliary measures by a satellite measurement and control terminal and a navigation receiver, solves the problem of acquisition performance loss caused by base code jump (jump edge is positioned in the middle of pseudo codes of adjacent periods and can also be called as symbol jump edge) in pseudo code full-phase parallel search of the GPS L5 signals, and effectively reduces the calculation complexity and improves the algorithm efficiency compared with the traditional rapid acquisition method.
The above object of the present invention is achieved by the following scheme:
a novel GPS L5 signal fast acquisition method for resisting symbol hopping comprises the following steps:
(1) Sequentially selecting Doppler frequency according to a set Doppler bin, and carrying out down-conversion on a received GPS L5 signal according to the Doppler frequency to obtain a GPS L5 baseband signal;
(2) Using a set down-sampling clock f down Down-sampling the GPS L5 baseband signal obtained in the step (1) to obtain a down-sampled signal x d (ii) a And using said down-sampling clock f down Generating a local pseudo-code signal h c ；
(3) Respectively for the down-sampled signal x d And a local pseudo-code signal h c Carrying out data block acquisition and zero padding operation to obtain a signal data set X and a pseudo code data set H, wherein the specific implementation method comprises the following steps:
in down-sampling the signal x d Collecting data block with length M, and supplementing N after the data block 0 0 pieces formed with a length of N = M + N 0 A signal data set X; at local pseudo-code signal h c The middle collection length isAnd supplementing after said data block0 pieces formed with a length of N = M + N 0 The pseudo code data set H; wherein the content of the first and second substances,f code is the pseudo-code frequency, P, of the GPSL5 signal n_len The number of chips of the GPSL5 signal in a pseudo code period is shown; n is a radical of 0 ＝min(N 1 ,N 2 )，N 1 Is an integer andl 1 to satisfy the conditionA minimum positive odd number of; n is a radical of hydrogen 2 Is an integer andl 2 p satisfies the conditionAnd make it possible toTake the minimum value,/ 2 Is a positive even number, and p is a positive integer;
(4) Respectively carrying out the signal data set X and the pseudo code data set HPoint decomposition to obtain a first signal component x 1 And a second signal component x 2 And a first pseudo code component h 1 And a second pseudo-code component h 2 Wherein:
(5) For the first signal component x 1 And a first pseudo code component h 1 Performing circular correlation productDivide the signal into a plurality of components and apply the division to the second signal component x 2 And a second pseudo-code component h 2 Performing cyclic correlation integral operation, and then adding the two secondary cyclic correlation integral operation results to obtain a total cyclic correlation operation result;
(6) And (5) carrying out correlation peak detection on the total cyclic correlation operation result obtained in the step (5): if the detected correlation peak value is larger than or equal to the set capture threshold, judging that the capture is successful, and entering the step (7); if the detected correlation peak value is smaller than the set capture threshold, judging that the capture fails, adjusting the Doppler frequency, and returning to the step (1) to perform the re-capture;
(7) And obtaining a signal capturing result according to the detection result of the correlation peak.
In the above mentioned novel GPS L5 signal fast acquisition method resisting symbol jump, in step (2), f down >2f code 。
The above-mentioned novel GPS L5 signal fast acquisition method resisting symbol jump, in step (3), if N is 0 ＝N 1 Then, thenIf N is present 0 ＝N 2 Then, thenThen, in the step (5), the L-point FFT processing is adopted to realize the secondary cycle correlation integral operation, and the specific realization method is as follows:
(5a) For the first signal component x respectively 1 A second signal component x 2 First pseudo code component h 1 And a second pseudo-code component h 2 Performing L-point FFT to obtain a first signal frequency domain component X fft,1 Frequency domain component X of the second signal fft,2 First pseudo code frequency domain component H fft,1 And a second pseudo-code frequency-domain component H fft,2 ；
(5b) The frequency domain component X of the first signal fft,1 And the first pseudo code frequency domain component H fft,1 Is multiplied to obtain a first secondary correlation result Y fft,1 ＝H fft,1 * ·X fft,1 (ii) a And the frequency domain component X of the second signal fft,2 And a second pseudo code frequency domain component H fft,2 Is multiplied to obtain a second secondary correlation result Y fft,2 ＝H fft,2 * ·X fft,2 ；
(5c) The first operation result Y is obtained fft,1 And the result of the second operation Y fft,2 Add to obtain Y = Y fft,1 +Y fft,2 ；
(5d) Performing L-point IFFT on the frequency domain operation result Y, and taking the frequency domain operation result beforeAnd taking the point as a total cyclic correlation operation result for carrying out correlation peak detection.
Compared with the prior art, the invention has the following beneficial effects:
(1) In the process of the pseudo code full-phase parallel search of the GPS L5 signal, the received signal and the pseudo code are subjected to zero filling processing and then are subjected to cyclic grouping, and a cyclic correlation operation process is decomposed into two small-scale secondary cyclic correlation processes, so that the influence of a symbol jump edge on a captured result is eliminated, the calculation complexity is reduced, and the algorithm efficiency is improved;
(2) The signal and pseudo code grouping method adopted by the invention is simple and easy to realize, and does not involve approximate calculation, so that the signal-to-noise ratio after the correlation integral can not be deteriorated while the calculated amount is reduced.
Drawings
Fig. 1 is a flowchart of a novel symbol-hopping-resistant GPS L5 signal fast acquisition method according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
in the pseudo code full phase parallel search of the GPS L5 signal, the capturing performance loss is caused by the jump of the base code, aiming at the problem, the invention provides a novel GPS L5 signal fast capturing method for resisting the jump of the symbol. Wherein: the zero padding processing is to eliminate the influence of the symbol jump edge, and the cyclic correlation decomposition can effectively reduce the captured operand, thereby ensuring the immunity to the influence of the symbol jump edge, and compared with the traditional pseudo code full-phase parallel search calculation method (PCS), the method effectively reduces the calculation complexity and improves the algorithm efficiency.
The principle of the rapid capture method of the invention is explained as follows:
the circular correlation operation in the pseudo code full phase parallel search method for representing the GPS L5 signal by a matrix form is as follows:
in formula (1), h [ n ] is represented as a pseudo code signal, x [ n ] is a data set after down-conversion, y [ n ] is a cyclic correlation operation result, and formula (2) is a matrix expression of formula (1).
If the local pseudo code is zero-padded, equation (1) can be modified as follows:
first, using only the first half of the correlator output, the vector y and matrix are deletedTo obtain a truncated vector y of the N/2 point T And a truncated matrix of N/2 XN
The decomposition of the compound of formula (5),is decomposed intoThe decomposition method comprises the following steps: will be provided withElement h [ n ] of (1)]Is set to zero, where N/4<n&(lt) N/2-1, the rest being kept unchanged to obtainWill be provided withElement h [ n ] of (1)]Is set to zero, wherein 0<n&(lt) N/4-1, the rest being kept unchanged to obtainNamely:
irrespective of the last column, matrixEach containing N/4 columns of zeros. After removing all zero columns, a matrix is obtainedSimultaneously removing the corresponding row of x to obtain the vector x 0 、x 1 . As shown in formula (7), y T Is a vector of N/2 points and,is a matrix of N/2X 3N/4, x 0 、x 1 Is a vector of 3N/4 points:
finally, from equation (7), the matrixHave a cyclic character between the row vectors. Thus, the matrix can be converted into a circulant matrix by expanding the rows. As shown in equation (8), for the matrixNewly adding N/4 rows:
after expansion, equation (7) can be modified to the following form:
wherein, y M Is a vector of points 3N/4,a cycle of 3N/4X 3N/4Matrix, x 0 、x 1 Is a vector of points 3N/4. y is M From an initial vector y T N/2 points in (1), and vector y D N/4 point composition (to be discarded). The multiplication in equation (9) is replaced by FFT, resulting in the following expression:
wherein:
from the above equation, the number of points discarded by the new algorithm is reduced by half of the calculated output ((N/2)/N), to one third ((N/4)/(3N/4)).
Recall from the publication (7) that notes the matrixThe last column of (d) is all zeros. Then all zero rows are summed with vector x 0 、x 1 The last element in (a) can be removed without affecting the calculation result. Thus, can beModified to a circulant matrix of (3N/4-1) × (3N/4-1), x 0 、x 1 、y M Is a vector of (3N/4-1) without affecting the useful calculation result y T Only the useless result y is affected D (becomes a vector of (N/4-1)). Further, we can also be in the matrixIs added p all zero columns and all zeros are added after the last column of (x) vector 0 、x 1 Adds p arbitrary elements at the end of (3N/4+p) so that the sub-correlation length of the signal becomes (3N/4+p).
Based on the principle of the method, the flow chart of the novel symbol-hopping-resistant GPS L5 signal rapid acquisition method is shown in FIG. 1, and the specific implementation steps of the method are as follows:
(1) Sequentially selecting Doppler frequency according to a set Doppler bin, and carrying out down-conversion on a received GPS L5 signal according to the Doppler frequency to obtain a GPS L5 baseband signal;
(2) Using a set down-sampling clock f down Down-sampling the GPS L5 baseband signal obtained in the step (1) to obtain a down-sampled signal x d (ii) a And using said down-sampling clock f down Generating a local pseudo-code signal h c . Wherein, set f down >2f code The down-sampling clock frequency is set to satisfy the sampling law and take full consideration of reducing the computing resources.
(3) Separately for down-sampled signals x d And a local pseudo-code signal h c Carrying out data block acquisition and zero padding operation to obtain a signal data set X and a pseudo code data set H, wherein the specific implementation method comprises the following steps:
in down-sampling the signal x d Collecting data block with length M, and supplementing N after the data block 0 0 pieces formed with a length of N = M + N 0 The signal data set X of (a); at local pseudo-code signal h c The middle collection length isAnd supplementing after said data block0 pieces formed with a length of N = M + N 0 The pseudo code data set H; wherein, among others,f code for the pseudo code frequency of the GPSL5 signal, the number P of chips of the GPSL5 signal in one pseudo code period n_len ＝10230；N 0 ＝min(N 1 ,N 2 )，N 1 Is an integer andl 1 to satisfy the conditionA minimum positive odd number of; n is a radical of hydrogen 2 Is an integer andl 2 p satisfies the conditionAnd make it possible toTake the minimum value,/ 2 Is a positive even number, and p is a positive integer;
(4) Respectively carrying out the signal data set X and the pseudo code data set HPoint cycle decomposition to obtain a first signal component x 1 And a second signal component x 2 And a first pseudo-code component h 1 And a second pseudo-code component h 2 Wherein:
wherein, the first and the second end of the pipe are connected with each other,
(5) For the first signal component x 1 And a first pseudo code component h 1 Performing a correlation integral operation and applying a second signal component x 2 And a second pseudo-code component h 2 Performing correlation integral operation, and then adding the two correlation integral operation results to obtain a total correlation operation result; the specific implementation method comprises the following steps:
(5a) For the first signal component x respectively 1 A second signal component x 2 First pseudo code component h 1 And a second pseudo-code component h 2 Performing L-point FFT to obtain a first signal frequency domain component X fft,1 Frequency domain component X of the second signal fft,2 First pseudo code frequency domain component H fft,1 And a second pseudo-code frequency-domain component H fft,2 (ii) a Wherein: if N is present in step (3) 0 ＝N 1 Then, thenIf N is present in step (3) 0 ＝N 2 Then, then
(5b) The frequency domain component X of the first signal fft,1 And the first pseudo code frequency domain component H fft,1 The conjugate values of the first and second sub-correlation results are multiplied to obtain a first result Y fft,1 ＝H fft,1 * ·X fft,1 (ii) a And the frequency domain component X of the second signal fft,2 And a second pseudo-code frequency domain component H fft,2 The conjugate values of the first and second sub-correlation results are multiplied to obtain a second result Y fft,2 ＝H fft,2 * ·X fft,2 ；
(5c) The result of the first secondary correlation operation Y is obtained fft,1 And the result Y of the second secondary correlation operation fft,2 Adding to obtain the total frequency domain correlation result Y = Y fft,1 +Y fft,2 ；
(5d) Carrying out L-point IFFT on the frequency domain correlation result Y and taking the result beforePoint as total cyclic correlationAnd calculating the result for detecting the correlation peak.
(6) And (5) carrying out correlation peak detection on the total correlation operation result obtained in the step (5): if the detected correlation peak value is larger than or equal to the set capture threshold, judging that the capture is successful, and entering the step (7); if the detected correlation peak value is smaller than the set capture threshold, judging that the capture fails, adjusting the value of the Doppler frequency, and returning to the step (1) to perform the re-capture;
(7) And obtaining a capturing result according to the detection result of the correlation peak.
The invention can eliminate the influence of the symbol jump edge, reduce the calculation complexity and improve the algorithm efficiency. In this embodiment, under the same down-sampling frequency, the calculation amount of the conventional anti-symbol-hopping PCS method is compared with that of the present invention, and the comparison result is shown in table 1. Compared with the prior art, the FFT point number of the method is half of that of the traditional PCS algorithm when the down-sampling frequency is between 20.46MHz and 21 MHz. Consider that an N-point FFT requires approximately (N/2) log 2 Multiplication (N), then the conventional PCS algorithm needs about 3 (N/2) log 2 (N) + N multiplications, however, the method of the invention requires only 5 (N/2) log 2 (N) +2N multiplications. For example, when the down-sampling frequency is 21MHz, the FFT count of the conventional PCS is 65536, whereas the FFT count of the present invention is only 32768. Since the number of sampling data points is 42000, the conventional algorithm needs to be zero-padded to 65536 points, while the present invention only needs to be zero-padded to 43692 points. In this case, the amount of calculation of the present invention is reduced by at least 20%. The quantity of the second half section of the FFT output point of the invention is 16384 points, while the quantity of the second half section of the FFT output point of the traditional algorithm is 32768 points, and the second half section is useless because of the influence of symbol jump and needs to be discarded.
Therefore, the invention has less useless calculation amount and less resource waste.
TABLE 1 comparison of the calculated quantities of the conventional PCS Algorithm and the present invention
(Down-sampling frequency =20.46 MHz-21 MHz, doppler search frequency range 0.54 MHz)
After the method and the traditional PCS algorithm are realized through the FPGA, the resource consumption statistical result is shown in the table 2, wherein XILINX Virtex-4 XC4VSX55 is referred to as the statistical result, and the statistical result is only a circular correlation calculation part. As can be seen from the statistical results of table 2: the method of the invention requires more resources, however, as the FFT length used by the method of the invention is halved, the FFT processing time is halved, and the data acquisition time is also correspondingly reduced, the acquisition time of the receiver is lower than half of that of the traditional algorithm. Therefore, the total amount of hardware resources consumed by the method is about the same as that of the traditional PCS algorithm (the consumed RAM resources are reduced), and therefore the method is more efficient.
TABLE 2 statistical results of resource consumption for the conventional PCS algorithm and the method of the present invention
| Xtreme DSP slices | Block RAM(18Kb Blocks) | Latency(μs) | |
| Traditional PCS algorithm | 6 | 18 | 2622.488 |
| The method of the invention | 9 | 14 | 1246.168 |
One Xtreme DSP slices comprises an 18 x 18 multiplier, an adder and an integral accumulator.
The above description is only one embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (3)
1. A GPS L5 signal fast acquisition method for resisting symbol jump is characterized by comprising the following steps:
(1) Sequentially selecting Doppler frequency according to a set Doppler bin, and carrying out down-conversion on a received GPS L5 signal according to the Doppler frequency to obtain a GPS L5 baseband signal;
(2) Using a set down-sampling clock f down Down-sampling the GPS L5 baseband signal obtained in the step (1) to obtain a down-sampled signal x d (ii) a And using said down-sampling clock f down Generating a local pseudo-code signal h c ；
(3) Separately for down-sampled signals x d And a local pseudo-code signal h c Carrying out data block acquisition and zero padding operation to obtain a signal data set X and a pseudo code data set H, wherein the specific implementation method comprises the following steps:
in down-sampling the signal x d Collecting data block with length of M, and supplementing N after the data block 0 Each 0 is formed with a length of N = M + N 0 A signal data set X; at local pseudo-code signal h c The middle collection length isAnd supplementing after said data block0 pieces formed with a length of N = M + N 0 The pseudo code data set H of (1); wherein the content of the first and second substances,f code is the pseudo-code frequency, P, of the GPSL5 signal n_len The number of chips of the GPSL5 signal in a pseudo code period is shown; n is a radical of hydrogen 0 ＝min(N 1 ,N 2 )，N 1 Is an integer andl 1 to satisfy the conditionA minimum positive odd number of; n is a radical of 2 Is an integer andl 2 p satisfies the conditionAnd make it possible toTake the minimum value,/ 2 Is a positive even number, p is a positive integer;
(4) Respectively carrying out the signal data set X and the pseudo code data set HPoint decomposition to obtain a first signal component x 1 And a second signal component x 2 And a first pseudo-code component h 1 And a second pseudo-code component h 2 Wherein:
(5) For the first signal component x 1 And a first pseudo code component h 1 Performing a cyclic correlation integral operation on the second signal component x 2 And a second pseudo-code component h 2 Performing cyclic correlation integral operation, and then adding the two secondary cyclic correlation integral operation results to obtain a total cyclic correlation operation result;
(6) And (5) carrying out correlation peak detection on the total cyclic correlation operation result obtained in the step (5): if the detected correlation peak value is larger than or equal to the set capture threshold, judging that the capture is successful, and entering the step (7); if the detected correlation peak value is smaller than the set capture threshold, judging that the capture fails, adjusting the Doppler frequency, and returning to the step (1) to perform the re-capture;
(7) And obtaining a signal capturing result according to the detection result of the correlation peak.
2. The method of claim 1 for fast acquisition of a symbol hopped resistant GPS L5 signal, wherein: in step (2), f down >2f code 。
3. The method of claim 1 for fast acquisition of a symbol hopped resistant GPS L5 signal, wherein: in step (3), if N is present 0 ＝N 1 Then, thenIf N is present 0 ＝N 2 Then, thenThen, in the step (5), the L-point FFT processing is adopted to realize the secondary cycle correlation integral operation, and the specific realization method is as follows:
(5a) For the first signal component x respectively 1 A second signal component x 2 First pseudo code component h 1 And a second pseudo-code component h 2 Performing L-point FFT to obtain a first signal frequency domain component X fft,1 Frequency domain component X of the second signal fft,2 First pseudo code frequency domain component H fft,1 And a second pseudo-code frequency-domain component H fft,2 ；
(5b) The frequency domain component X of the first signal fft,1 And the first pseudo code frequency domain component H fft,1 The conjugate value of the first sub-cycle is multiplied to obtain a first sub-cycle correlation integral operation result Y fft,1 ＝H fft,1 * ·X fft,1 (ii) a And the frequency domain component X of the second signal fft,2 And a second pseudo code frequency domain component H fft,2 The conjugate value of the first sub-cycle is multiplied to obtain a second sub-cycle correlation integral operation result Y fft,2 ＝H fft,2 * ·X fft,2 ；
(5c) The first secondary cycle correlation integral operation result Y is obtained fft,1 And a second result Y of the second sub-cycle correlation integration operation fft,2 Add to obtain Y = Y fft,1 +Y fft,2 ；
(5d) Performing L-point IFFT on the frequency domain operation result Y, and taking the result beforeAnd taking the point as a total cyclic correlation operation result for carrying out correlation peak detection.
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