CN106571862A - Rapid frame synchronization method for GPS receiver - Google Patents
Rapid frame synchronization method for GPS receiver Download PDFInfo
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- CN106571862A CN106571862A CN201610931072.7A CN201610931072A CN106571862A CN 106571862 A CN106571862 A CN 106571862A CN 201610931072 A CN201610931072 A CN 201610931072A CN 106571862 A CN106571862 A CN 106571862A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18578—Satellite systems for providing broadband data service to individual earth stations
- H04B7/18582—Arrangements for data linking, i.e. for data framing, for error recovery, for multiple access
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/24—Radio transmission systems, i.e. using radiation field for communication between two or more posts
- H04B7/26—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is mobile
- H04B7/2662—Arrangements for Wireless System Synchronisation
- H04B7/2671—Arrangements for Wireless Time-Division Multiple Access [TDMA] System Synchronisation
- H04B7/2678—Time synchronisation
- H04B7/2687—Inter base stations synchronisation
- H04B7/2693—Centralised synchronisation, i.e. using external universal time reference, e.g. by using a global positioning system [GPS] or by distributing time reference over the wireline network
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Synchronisation In Digital Transmission Systems (AREA)
Abstract
The invention relates to a rapid frame synchronization method for a GPS receiver. Navigation text bit streams of at least two satellites are received. The method comprises steps that subframe synchronization of the first satellite is accomplished; bit counting of the second satellite is confirmed through utilizing the bit counting information acquired by the first synchronized satellite; subframe synchronization of the second satellite is accomplished through a verification step. Through the method, frame synchronization of the first satellite is accomplished through employing a frame synchronization mode of searching for a fixed synchronization head, frame synchronization of other satellites can be accomplished in a mode of word verification without individually searching for the synchronization head. The method is advantaged in that calculation complexity is low, rapid frame synchronization under conditions of different signal to noise ratios can be accomplished, and especially the frame synchronization time under the condition of weak signals is shortened.
Description
Technical field
The present invention relates to technical field of satellite, more particularly to a kind of rapid frame synchronization method of GPS.
Background technology
Global positioning satellite and navigation system, such as global positioning system（GPS）, including the one of one group of transmission gps signal
Individual satellite constellation, the gps signal can be used for determining the position of the receiver by receiver.
Be modulated with navigation message on gps satellite signal, navigation message be by each gps satellite in L1, L2 and L5 frequency with
The 1500bit that 50 bps broadcast（Bit）Navigation message.Text includes system time, clock correction parameter, ionosphere delay
Model parameter, satellite ephemeris and satellite health, by the information etc. of C/A Code acquisition P codes.When this is to provide the user with
Between, the result data such as position coordinateses, speed, and be used for gps signal and process for information about.Navigation message is equally with binary code
Situation broadcast to user, therefore be called numeric data code, or claim D codes.
Text is transmitted by frame, and per frame text 1500 binary elements are included, and the cycle is 30s；It is divided into 5 sons again per frame
Frame, each subframe includes 300 binary codes, cycle 6s.Each subframe is divided into 10 character codes again, and such a character code is just wrapped
Containing 30 binary codes, its last 6 bit is parity check bit, to check whether transmission signal malfunctions, and corrects single
Mistake, therefore commonly referred to error correcting code.Complete navigation information is made up of 25 frame data, because spread speed is 50bit/s, so
All finishing needs 12.5min.
GPS is after satellite signal acquisition and tracking is completed, it is necessary to carry out the bit synchronization and frame of satellite-signal first
It is synchronous, can just carry out navigation message decoding and positioning calculation.During from signal capture to positioning calculation, frame synchronization it is time-consuming compared with
It is many.Shorten the frame synchronization time most important to improving receiver toggle speed.
Existing frame synchornization method mainly searches for 8 bit synchronous heads of remote measurement remote sensing word to determine subframe edge, and leads to
The correctness that the methods such as parity check sum socket inspection by attributes confirm frame synchronization is crossed, the frame synchronization of each satellite has been both needed to
Operate into more than, the frame synchronization of other passages is aided in without the channel information for being successfully completed frame synchronization is utilized.Due to
The GPS subframe cycle is 6 seconds, and synchronous head exists only in the beginning of every subframe first character, once miss subframe head synchronous head or
There is error code and then needs to wait for 6 seconds in the demodulation of subframe head, and the frame synchronization time becomes the key factor of restriction receiver positioning time.Especially
In being the complex environments such as urban canyons, signal is blocked causes signal intensity dynamic, and signal intensity reduces causing the bit error rate
Rise, the probability that error code occurs in subframe head is increased substantially, and existing frame synchornization method is difficult to fast and effectively complete frame synchronization, directly
Connecing causes receiver positioning time to increase.
The content of the invention
The present invention is in order to solve above-mentioned technical problem, there is provided a kind of rapid frame synchronization method of GPS.
A kind of rapid frame synchronization method of GPS, receives the navigation message bit stream of at least two satellites, and will
The navigation message bit stream is cached into original text relief area；Comprise the steps：
Complete the synchronizing sub-frame of the first satellite；
Bit count validation of information the second satellite bit count obtained using the first synchronous satellite；
The synchronizing sub-frame of the second satellite message is completed by checking procedure.
Further, the second satellite bit count verification step includes following sub-step:
A1. bit count value N in synchronous first satellite is obtained；
A2. judge whether N can be divided exactly by 30 bits, if N can be divided exactly by 30 bits, judgement is synchronized to satellite two, otherwise
Do not judged；
A3. respectively on the basis of last bit of the area of the text relief area of the second satellite end, area end bit second from the bottom forward
Obtain a text character code to be verified, result R1, R2 is obtained respectively；And be with area's the 2nd bit of head of the text relief area
Benchmark obtains backward a text character code and is verified, and obtains result R3；
A4. have in R1, R2, R3 and only 1 passes through to think synchronizing sub-frame success if verifying, according to the result pair by verification
The bit count value initial value of second satellite is configured；It is otherwise synchronizing sub-frame failure.
Further, the bit count value initial value method to set up of second satellite includes as follows：
If only R1 is set to N by verification, the bit count initial value of satellite two；
If only R2 is set to N+1 by verification, the bit count initial value of satellite two；
If only R3 is set to N-1 by verification, the bit count initial value of satellite two.
In addition, alternatively, the setting and verification of the second satellite bit count include following sub-step：
B1. the satellite message that the length for receiving the second satellite is at least two character codes is cached；The data of newest demodulation
Bit is placed on original text relief area tail of the queue, often demodulates 1 new bit telegraph text data, then head of the queue highest bit telegraph text data is moved
Go out；
B2. a new data bits are often demodulated, the character code that new data bits are located is verified；
B3. such as upcheck, whether X bits are synchronization character or reverse sync word before detection head of the queue, numerical value and the synchronous head length of X
It is equal；
If B4. X bits are synchronization character or reverse sync word before head of the queue, according to time word and buffering data length second is calculated
Satellite current bit count value, and compare with the first satellite current bit count value, such as the two difference is less than positive and negative 1 ratio
It is special, then it is assumed that the second satellite synchronizing sub-frame success.
Further, the initial value of the bit count value of first satellite is by time field and data cached length computation
Obtain, a new data bits are often demodulated thereafter and is then counted and Jia one.
Wherein, it is described to be verified as even-odd check.
Preferably, the satellite message cache way is FIFO storages.
Further, also the satellite message of the synchronizing sub-frame of satellite has been completed for storage including text storage area.
Further, the original text buffer length is at least in two text character codes, and for single word length
Integral multiple.
Further, the first described satellite synchronizing sub-frame is comprised the following steps：
C1. the data bit of newest demodulation is placed on original text relief area tail of the queue, often demodulates 1 new bit telegraph text data, then team
First highest bit telegraph text data is removed；
C2. detect before head of the queue that whether X bits are synchronization character or reverse sync word, numerical value and the synchronous head equal length of X；
If C3. X bits are synchronization character or reverse sync word before head of the queue, Y bit before head of the queue is verified, if verification passes through,
The first satellite frame synchronization success is then confirmed, otherwise it is assumed that frame synchronization failure.Y numerical value is the integral multiple of a text word length.
What the rapid frame synchronization method of GPS of the present invention was played has the technical effect that：
1st, this frame synchornization method for being applied to GPS receiver that the present invention is provided, with traditional GPS
Using frame synchornization method compare, in the case where there is a satellite to complete frame synchronization, without waiting for find other satellites
Frame synchronization head, effectively shortens the frame synchronization time.
2nd, the present invention can provide in weak signal conditions frame synchronization performance more more preferable than traditional method.
3rd, frame synchornization method computation complexity of the invention is low, can be completed using hardware mode, software may also be employed and completes.
Description of the drawings
Fig. 1 is navigation message frame structure.
Fig. 2 is that gps navigation message obtains flow chart.
Fig. 3 is the text buffering plot structure of the present invention
Fig. 4 is the rapid frame synchronization method flow chart of the present invention.
Fig. 5 is the second satellite synchronizing sub-frame verification implementing procedure figure in the embodiment of the present invention 2.
Fig. 6 is the second satellite synchronizing sub-frame verification implementing procedure figure in the embodiment of the present invention 3.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention are more
Easily it is readily appreciated by one skilled in the art, so as to make apparent defining to protection scope of the present invention.
In order to more clearly from describe technical scheme, gps navigation message frame structure is introduced first, such as
Shown in Fig. 1, a complete GPS subframe 101 includes 10 character codes, and each word length is 30 bits.Wherein first character code
102 is synchronization character, and comprising 8 fixed bit synchronous heads, specially 01110100, second word is word of shaking hands, comprising 17 bits
Time word, its count range is 1 ~ 100800, represents 6 whole number of seconds in 1 cycle.
In order to obtain the gps navigation message, as shown in Figure 2.Satellite-signal is navigated first receiver antenna 201 and receives.
Satellite-signal is downconverted and and the intermediate-freuqncy signal output by obtained by by radio-frequency module as radio-frequency module 202.Signal capture module
The 203 pairs of input intermediate-freuqncy signals carry out processing the capture for completing signal and by pseudo-code phase and frequency input signal tracking module 204.
Signal trace module 204 completes the locking of pseudo-code phase and carrier phase and defeated by the tracking to pseudo-code phase and carrier phase
Go out coherent integration results to data bit synchronization module 205.Data bit synchronization module is sought by methods such as maximal possibility estimations
Look for bit edges and to adjust local millisecond counter aligned.Data bit synchronization module is after bit synchronous are completed by 20 millis
The sign symbol or symbol result of the inverted of second coherent integration value is mapped to corresponding binary bits number and by bit stream
Export to frame synchronization module 206.The temporal information that frame synchronization module completes text synchronizing sub-frame and obtains according to synchronizing sub-frame will
Data flow is stored in order.
The present invention be after first satellite completes frame synchronization, according to the time difference relation of different satellite data transmissions with
And check system completes the frame synchronization of other satellite messages.Describe for convenience, we are called at the first satellite for completing frame synchronization
First satellite, subsequently completes other synchronous satellites and is referred to as the second satellite, it is possible to understand that, second satellite not refers in particular to one
Satellite, but at least one satellite set for needing to be synchronized based on the first satellite synchronization information.
Embodiment 1：
The frame synchronization mode of the first satellite in the present embodiment is to complete synchronizing sub-frame by way of searching synchronous head.Specifically
, the navigation message bit stream obtained by the demodulation of the first satellite, and the navigation message bit stream is cached to original text buffering
Qu Zhong, in navigation message bit stream synchronous head is found, and carries out odd even school to navigation message bit stream after synchronous head is searched out
Test, the synchronizing sub-frame of the first satellite is completed after confirming correct.Wherein original text buffering plot structure as shown in figure 3, its
It is cached with multiple text character codes.
The frame synchronization of the second satellite includes the synchronization of two aspects, and first aspect is to be obtained using the first synchronous satellite
Bit count validation of information the second satellite bit count；Second aspect is the son that the second satellite message is completed by checking procedure
Frame synchronization.Can confirm that the second satellite completes frame synchronization after synchronous confirmation correctly both ways, newest demodulation bit is deposited
Enter text storage area, and complete the synchronization of other whole satellites in the same fashion.
Synchronous method in the present embodiment, in the case where there is a satellite to complete frame synchronization, without waiting for find its
His satellite synchronizing sub-frame head, effectively shortens the frame synchronization time.Thus and all satellites can be completed within the shorter time
Synchronizing sub-frame.
Embodiment 2：
Used as the supplement of embodiment 1, the present embodiment is with the difference of embodiment 1：
Second satellite bit count verification step includes following sub-step, as shown in Figure 5：
A1. bit count value N in synchronous first satellite is obtained.The bit count value of the first synchronous satellite
The time field shaken hands in word after by synchronization character is obtained, and 1 bit is often demodulated thereafter, and then count information plus 1.
A2. according to each satellite message information time difference less than 1 bit principle, judge N whether there is can be by 30 bits
Divide exactly, so as to determining current bit count value whether in character code edge.If the value can be divided evenly, you can current to determine
Bit count value, according to divisible value, is configured at character code edge to the bit count value of the second satellite, if can not be by
Divide exactly, do not synchronize verification.
A3. by the second satellite message relief area end last bit on the basis of before push away, take out a text character code, to this
Character code is verified.Check results are R1.
Push away before on the basis of the penultimate bit of the second satellite message relief area end, a text character code is taken out, to this
Character code is verified.Check results are R2.
The pusher on the basis of second bit of head of the second satellite message relief area, takes out a text character code, to the character code
Verified.Check results are R3.
A4. have in R1, R2, R3 and only 1 passes through to think synchronizing sub-frame success if verifying, according to by verification
As a result the bit count value initial value of second satellite is configured；It is otherwise synchronizing sub-frame failure.
Original text buffer length at least corresponds to two text character codes, and for the integral multiple of word length.
Wherein, the bit count value initial value method to set up of the second satellite includes as follows：
If only R1 is set to N by verification, the bit count initial value of satellite two；
If only R2 is set to N+1 by verification, the bit count initial value of satellite two；
If only R3 is set to N-1 by verification, the bit count initial value of satellite two.
In the present embodiment, the initial value of the bit count value of the first satellite is by time field and the caching shaken hands in character code
Data length is calculated and obtained.
Satellite message cache way in the present embodiment can with but be not limited only to as FIFO store.
In addition, the present embodiment also provides the first satellite synchronizing sub-frame comprising the following steps：
C1. the data bit of newest demodulation is placed on original text relief area tail of the queue, often demodulates 1 new bit telegraph text data, then team
First highest bit telegraph text data is removed；
C2. detect before head of the queue that whether X bits are synchronization character or reverse sync word, numerical value and the synchronous head equal length of X；
If C3. X bits are synchronization character or reverse sync word before head of the queue, Y bit before head of the queue is verified, if verification passes through,
The first satellite frame synchronization success is then confirmed, otherwise it is assumed that frame synchronization failure.Y numerical value is the integral multiple of a text word length.
Embodiment 3：
The present embodiment is with the difference of embodiment 2：During the second satellite synchronization, the second satellite bit count confirms step
Checking procedure order in rapid and the second satellite message synchronizing sub-frame can be exchanged, and it can equally complete the same of the second satellite
Step.When i.e. the second satellite preliminary judgement finds frame synchronization head, current bit meter can be drawn according to time word and data cached length
Number N, compares with the first synchronous satellite current bit value of calculation, and such as the two difference is less than 1, confirm if having synchronously into
Work(, otherwise it is assumed that synchronization failure.
Specifically as shown in fig. 6, the character code in the second satellite message synchronizing sub-frame is arranged and checking procedure includes：
B1. the satellite message that the length for receiving the second satellite is at least two character codes is cached；The data of newest demodulation
Bit is placed on original text relief area tail of the queue, often demodulates 1 new bit telegraph text data, then head of the queue highest bit telegraph text data is moved
Go out；Completing the caching of the satellite message of a character code down under normal circumstances can both reach the purpose of verification, but in order to can be with
More accurately result is obtained, the original text buffer cache length of the present embodiment is set to two character codes.
Satellite message cache way in the present embodiment can with but be not limited only to as FIFO store.
B2. a new data bits are often demodulated；New data bit flow is formed after this step is completed, it is with upper one
The data bit flow of sequential compares and has more at least one data bit.Optimal case is to have more a bit, it is ensured that do not leak school
Test.The character code that new data bits are located is verified, the present embodiment is even-odd check.
B3. such as upcheck, whether X bits are synchronization character or reverse sync word before detection head of the queue, the numerical value and synchronous head of X
Equal length；
If B4. X bits are synchronization character or reverse sync word before head of the queue, then the is calculated according to time word and buffering data length
Two satellite current bit count values, and compare with the first satellite current bit count value, such as the two difference is less than 1, then it is assumed that
Second satellite synchronizing sub-frame success.
Embodiments of the present invention are explained in detail above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned enforcement
Mode, in the ken that those of ordinary skill in the art possess, can be with the premise of without departing from present inventive concept
Various changes can be made.
Claims (10)
1. a kind of rapid frame synchronization method of GPS, receives the navigation message bit stream of at least two satellites, and by institute
State navigation message bit stream to cache into original text relief area；It is characterized in that：Comprise the steps：
Complete the synchronizing sub-frame of the first satellite；
The bit count information obtained using the first synchronous satellite arranges the second satellite bit count；
The synchronizing sub-frame of the second satellite message is completed by checking procedure.
2. rapid frame synchronization method according to claim 1, it is characterised in that the setting of the second satellite bit count
And checking procedure includes following sub-step:
A1. bit count value N in synchronous first satellite is obtained；
A2. judge whether N can be divided exactly by 30 bits, if N can be divided exactly by 30 bits, judgement is synchronized to satellite two, otherwise
Do not judged；
A3. respectively on the basis of last bit of the area of the text relief area of the second satellite end, area end bit second from the bottom forward
Obtain a text character code to be verified, result R1, R2 is obtained respectively；And be with area's the 2nd bit of head of the text relief area
Benchmark obtains backward a text character code and is verified, and obtains result R3；
A4. have in R1, R2, R3 and only 1 passes through to think synchronizing sub-frame success if verifying, according to the result pair by verification
The bit count value initial value of second satellite is configured；It is otherwise synchronizing sub-frame failure.
3. rapid frame synchronization method according to claim 2, it is characterised in that at the beginning of the bit count value of second satellite
Initial value method to set up includes as follows：
If only R1 is set to N by verification, the bit count initial value of satellite two；
If only R2 is set to N+1 by verification, the bit count initial value of satellite two；
If only R3 is set to N-1 by verification, the bit count initial value of satellite two.
4. rapid frame synchronization method according to claim 1, it is characterised in that the setting of the second satellite bit count and
Verification includes following sub-step：
B1. the satellite message that the length for receiving the second satellite is at least two character codes is cached；The data of newest demodulation
Bit is placed on original text relief area tail of the queue, often demodulates 1 new bit telegraph text data, then head of the queue highest bit telegraph text data is moved
Go out；
B2. a new data bits are often demodulated, the character code that new data bits are located is verified；
B3. such as upcheck, whether X bits are synchronization character or reverse sync word before detection head of the queue, numerical value and the synchronous head length of X
It is equal；
If B4. X bits are synchronization character or reverse sync word before head of the queue, according to time word and buffering data length second is calculated
Satellite current bit count value, and compare with the first satellite current bit count value, such as the two difference is less than positive and negative 1 ratio
It is special, then it is assumed that the second satellite synchronizing sub-frame success.
5. the rapid frame synchronization method according to claim 2 or 4, it is characterised in that the bit count of first satellite
The initial value of value is obtained by time field with data length calculating is buffered, and thereafter one new data bits of often demodulation are then counted and added
One.
6. rapid frame synchronization method according to claim 1, it is characterised in that described to be verified as even-odd check.
7. rapid frame synchronization method according to claim 1, it is characterised in that the satellite message cache way is FIFO
Storage.
8. rapid frame synchronization method according to claim 1, it is characterised in that also including text storage area, for storing
The satellite message of the synchronizing sub-frame of satellite has been completed.
9. rapid frame synchronization method according to claim 1, it is characterised in that the original text buffer length is at least
It is in two text character codes, and for the integral multiple of single word length.
10. rapid frame synchronization method according to claim 1, it is characterised in that the first described satellite synchronizing sub-frame bag
Include following steps：
C1. the data bit of newest demodulation is placed on original text relief area tail of the queue, often demodulates 1 new bit telegraph text data, then team
First highest bit telegraph text data is removed；
C2. detect before head of the queue that whether X bits are synchronization character or reverse sync word, numerical value and the synchronous head equal length of X；
If C3. X bits are synchronization character or reverse sync word before head of the queue, Y bit before head of the queue is verified, if verification passes through,
The first satellite frame synchronization success is then confirmed, otherwise it is assumed that frame synchronization failure；Y numerical value is the integral multiple of a text word length.
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| CN107144864B (en) * | 2017-05-15 | 2022-10-14 | 上海双微导航技术有限公司 | Method for rapidly obtaining half-cycle turning mark during observation quantity generation |
| CN110007325A (en) * | 2019-04-15 | 2019-07-12 | 中国电子科技集团公司第二十研究所 | A kind of rapid frame synchronization method for star base enhancing L5 signal |
| CN110927749A (en) * | 2019-12-03 | 2020-03-27 | 中国电子科技集团公司第五十四研究所 | Rapid frame synchronization method for GPS navigation message |
| CN110927749B (en) * | 2019-12-03 | 2021-06-22 | 中国电子科技集团公司第五十四研究所 | Rapid frame synchronization method for GPS navigation message |
| CN111010225A (en) * | 2020-03-10 | 2020-04-14 | 湖南跨线桥航天科技有限公司 | Navigation message rapid frame synchronization method and system based on ephemeris matching |
| CN112698366A (en) * | 2020-11-26 | 2021-04-23 | 成都国星通信有限公司 | Frame synchronization method for satellite positioning receiver |
| CN112698366B (en) * | 2020-11-26 | 2024-01-26 | 成都国星通信有限公司 | Frame synchronization method for satellite positioning receiver |
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