CN108828631B - High-precision satellite navigation simulator pseudo code generation method - Google Patents
High-precision satellite navigation simulator pseudo code generation method Download PDFInfo
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- CN108828631B CN108828631B CN201810361128.9A CN201810361128A CN108828631B CN 108828631 B CN108828631 B CN 108828631B CN 201810361128 A CN201810361128 A CN 201810361128A CN 108828631 B CN108828631 B CN 108828631B
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
The invention provides a high-precision satellite navigation simulator pseudo code generation method, which comprises the following specific processes: step one, a jerk accumulator and an acceleration accumulator which are sequentially connected in series are arranged; setting an acceleration accumulator and an initial value of the acceleration accumulator, and setting the cumulant of the acceleration accumulator; and step three, the two accumulators carry out accumulation operation to obtain code NCO frequency control quantity multiplied by a Doppler frequency shift value of a magnification factor, and a pseudo code sequence is generated according to the code NCO frequency control quantity. The method is additionally provided with a real-time pseudo code calculation Doppler module, namely an acceleration accumulator and an acceleration accumulator, on the basis of a traditional code NCO method for generating pseudo codes, and corrects code NCO frequency control words in real time, so that the problem that the traditional code NCO method in a satellite navigation simulator has low accuracy in generating large dynamic pseudo codes can be solved.
Description
Technical Field
The invention relates to a high-precision satellite navigation simulator pseudo code generation method, and belongs to the technical field of satellite navigation.
Background
In practical application of the satellite navigation and positioning device, the navigation satellite and the positioning device are in relative motion, that is, the distance from the satellite to the positioning device varies with time. The variation of the distance with time causes variation of the pseudo code phase, frequency, etc. of the signal. In some important applications in navigation systems, there are also high order variations in the relative motion between the navigation satellites and the positioning device, such as acceleration and jerk. Some application environments require very large relative velocities, accelerations, jerks, etc.: after the vector superposition of the orbit velocity of the navigation satellite and the self motion velocity of the carrier, the relative velocity can reach thousands of meters per second, and the relative acceleration and the jerk can reach tens of G.
However, the frequency error between the pseudo code generated by the existing code NCO control word and the rapidly changing pseudo code which needs to be simulated is larger because the existing code NCO control word can not be updated in real time.
Disclosure of Invention
In view of this, the invention provides a method for generating pseudo code of a high-precision satellite navigation simulator, which aims to solve the problem that a pseudo code NCO control word cannot be updated in real time due to the influence of interface bandwidth when a satellite navigation simulator device generates the pseudo code.
The technical scheme for realizing the invention is as follows:
a high-precision satellite navigation simulator pseudo code generation method comprises the following specific processes:
step one, a jerk accumulator and an acceleration accumulator which are sequentially connected in series are arranged;
setting the initial values of the jerk accumulator and the acceleration accumulator as the results obtained after rounding 3b1+ a1 and a1+ b1 respectively, and setting the cumulant of the jerk accumulator as the result obtained after rounding 2b 1;
wherein the content of the first and second substances,
wherein, ω iscThe pseudo code frequency needed to be simulated for the navigation simulator is c, the light speed is c, fs is a code NCO driving clock, a is the radial relative acceleration between the satellite navigation receiver and the navigation satellite, k is the radial relative acceleration between the satellite navigation receiver and the navigation satellite, N0 is the bit length of a code NCO accumulator, and N1 is the bit number of a proportional amplification factor.
Step three, the two accumulators carry out accumulation operation to obtain the product multiplied by one amplification factor (2)N1) Generating a pseudo code sequence according to the code NCO frequency control quantity of the Doppler frequency shift value.
Furthermore, the invention sets a register 3 and a register 4, wherein the initial value stored in the register 3 is 2 of the frequency control word required to generate the pseudo codeN1And adding the code NCO frequency control quantity of the Doppler frequency shift value multiplied by one amplification factor by using the storage in the register 3, storing the effective bit of the addition result in the register 4, and generating a pseudo code sequence by using the result stored in the register 4.
Advantageous effects
The method adds a real-time pseudo code calculation Doppler module (an acceleration accumulator and an acceleration accumulator) on the basis of the traditional code NCO pseudo code generation method, corrects the code NCO frequency control word in real time, and can solve the problem of low precision of the generation of large dynamic pseudo codes by the traditional code NCO in a satellite navigation simulator.
Drawings
Fig. 1 is a schematic diagram of a method for generating pseudo codes of a high-precision satellite navigation simulator according to the present invention.
Fig. 2 is a schematic diagram of the update data of the upper computer of the simulator.
Detailed Description
The invention is described in detail below with reference to the figures and the specific examples.
As shown in fig. 1, the invention provides a method for generating pseudo codes of a high-precision satellite navigation simulator, which comprises the following specific processes:
step one, a jerk accumulator and an acceleration accumulator which are sequentially connected in series are arranged;
setting the initial values of the jerk accumulator and the acceleration accumulator as the results obtained after rounding 3b1+ a1 and a1+ b1 respectively, and setting the cumulant of the jerk accumulator as the result obtained after rounding 2b 1;
wherein the content of the first and second substances,
wherein, ω iscThe pseudo code frequency needed to be simulated for the navigation simulator is c, the light speed is c, the code NCO driving clock is fs, Ts is the code NCO driving clock period, a is the radial relative acceleration between the satellite navigation receiver and the navigation satellite, k is the radial relative acceleration between the satellite navigation receiver and the navigation satellite, N0 is the bit length of a code NCO accumulator, and N1 is the bit number of a proportional amplification factor.
Step three, the two accumulators carry out accumulation operation to obtain the product multiplied by one amplification factor (2)N1) Generating a pseudo code sequence according to the code NCO frequency control quantity of the Doppler frequency shift value.
The derivation process of the initial value and the cumulant of the accumulator is as follows:
the dynamic parameters of the navigation satellite signals include velocity, acceleration, jerk, and the like.
According to Taylor series expansion:
let x be t, x0Where t is time and v (t) is the relative radial velocity between the satellite navigation receiver and the navigation satellite, given by:
let the acceleration be a, the jerk be k, and the remaining terms be ignored, and obtain the velocity expression from the above equation:
the speed consists of two parts: initial value v (0) and variable
The initial value is embodied in the initial frequency control word, variable
Analog generation in a 2 nd order accumulator is required.
Let the code NCO drive clock fs, cycle Ts, and multiply the speed by
Into frequency, where ωcThe pseudo code frequency to be simulated for the navigation simulator, and c is the speed of light, then the following formula is obtained:
multiplying the above formula by the frequency control word and then by the amplification factor:
where N0 is the code NCO accumulator bit length and N1 is the number of bits of the scale factor. N0 and N1 are set according to the frequency accuracy of the generated pseudo code.
Order:
then: (n) ═ a1n + b1n2
f(n+1)＝a1(n+1)+b1(n+1)2
From the above equation, the following holds:
f(n+1)＝f(n)+2b1n+a1+b1
f2(n)＝2b1n+a1+b1
f2(n+1)＝f2(n)+2b1
the obtained 2 cumulative formulas are respectively:
f(n+1)＝f(n)+f2(n)
f2(n+1)＝f2(n)+2b1
the 2 accumulation formulas respectively correspond to a 2-order accumulator structure in fig. 1, and total 2 accumulators are an acceleration accumulator and an acceleration accumulator.
And adding an acceleration accumulator, wherein initial values of the acceleration accumulator are respectively numbers obtained by rounding 3b1+ a1 and a1+ b 1. The cumulant of the jerk accumulator is a number obtained by rounding 2b1, the cumulant of the jerk accumulator is the output of the jerk accumulator, and the output of the acceleration accumulator is the code NCO frequency control quantity of the Doppler frequency shift value multiplied by a magnification factor.
As shown in fig. 2, the method is performed as follows:
firstly, the simulator upper computer sends initial data which comprises an acceleration accumulator, an acceleration accumulator and a code NCO accumulatorThe initial value of the acceleration accumulator, the accumulated value of the jerk accumulator, the initial value of the register 3 and the initial value of the register 4; wherein the initial value of the code NCO accumulator is the phase in the code chip required to generate the pseudo code, and the initial value stored by the register 3 is the 2 of the frequency control word required to generate the pseudo codeN1Doubling;
secondly, the acceleration accumulator and the register on the acceleration accumulator store and output the result of each accumulation, the result output by the acceleration accumulator is the code NCO frequency control quantity multiplied by a Doppler frequency shift value of a magnification factor, the output of the register 3 and the output of the acceleration accumulator are added by the adder, each clock register 4 latches the effective bit of the sum of the output of the register 3 and the acceleration accumulator, the effective bit is the sum of the output and 2 is removedN1The multiplied result achieves the aim of updating the pseudo code control word in real time;
again, the full overflow of the selection register 5 generates a code generation enable signal, and then the pseudo-code generator generates a pseudo-random code according to the code generation enable signal, all the generated pseudo-random codes constituting a pseudo-random code sequence.
After a period of time interval, the upper computer sends a next group of control data, updates the corresponding register value and repeats the execution process.
The invention adopts a 2-order accumulator to generate the required dynamic pseudo code change, thereby achieving the purpose of accurately controlling the pseudo code. A traditional code NCO pseudo code generating method does not have a jerk accumulator and an acceleration accumulator module in fig. 2, due to the influence of the transmission bandwidth of a satellite navigation simulator, the update rate of code NCO control parameters is in millisecond level, the phase and frequency precision of code NCO output pseudo codes are low, and the application environment of large dynamics cannot be met. The method adds a real-time pseudo code calculation Doppler module (an acceleration accumulator and an acceleration accumulator) on the basis of the traditional code NCO pseudo code generation method, corrects the code NCO frequency control word in real time, and solves the problem that the traditional code NCO generates large dynamic pseudo codes in a satellite navigation simulator, and the precision is low.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A high-precision satellite navigation simulator pseudo code generation method is characterized by comprising the following specific processes:
step one, a jerk accumulator and an acceleration accumulator which are sequentially connected in series are arranged;
setting the initial values of the jerk accumulator and the acceleration accumulator as the results obtained after rounding 3b1+ a1 and a1+ b1 respectively, and setting the cumulant of the jerk accumulator as the result obtained after rounding 2b 1;
wherein the content of the first and second substances,
wherein, ω iscThe method comprises the following steps that pseudo code frequency needing to be simulated for a navigation simulator is achieved, c is light speed, fs is a code NCO clock, Ts is a code NCO clock period, a is radial relative acceleration between a satellite navigation receiver and a navigation satellite, k is radial relative acceleration between the satellite navigation receiver and the navigation satellite, N0 is bit length of a code NCO accumulator, and N1 is the bit number of a proportional amplification factor;
and step three, the two accumulators carry out accumulation operation to obtain code NCO frequency control quantity multiplied by a Doppler frequency shift value of a magnification factor, and a pseudo code sequence is generated according to the code NCO frequency control quantity.
2. The method for generating pseudo code of high-precision satellite navigation simulator according to claim 1, further comprising setting a register (3) and a register (4), wherein the initial value stored in the register (3) is 2 of the frequency control word required to generate pseudo codeN1Using the memory in the register (3)The code NCO frequency control quantity of the Doppler frequency shift value multiplied by an amplification factor is added, the effective bit of the addition result is stored in a register (4), and the result stored in the register (4) is used for generating a pseudo code sequence.
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| CN101509968A (en) * | 2009-03-19 | 2009-08-19 | 北京理工大学 | High dynamic high precision intermediate frequency simulation satellite signal generating method |
| CN102288974A (en) * | 2011-05-10 | 2011-12-21 | 航天恒星科技有限公司 | System for generating satellite navigation occultation signal |
| CN106405586A (en) * | 2016-10-18 | 2017-02-15 | 北京理工雷科电子信息技术有限公司 | Satellite navigation simulator and time-synchronization high-fidelity navigation signal reproducing method |
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| CN101509968A (en) * | 2009-03-19 | 2009-08-19 | 北京理工大学 | High dynamic high precision intermediate frequency simulation satellite signal generating method |
| CN102288974A (en) * | 2011-05-10 | 2011-12-21 | 航天恒星科技有限公司 | System for generating satellite navigation occultation signal |
| CN106405586A (en) * | 2016-10-18 | 2017-02-15 | 北京理工雷科电子信息技术有限公司 | Satellite navigation simulator and time-synchronization high-fidelity navigation signal reproducing method |
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| GPS卫星信号多普勒频移设计与实现;侯银涛 等;《电脑与信息技术》;20110815;第19卷(第4期);第1213-1216页 * |
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