CN112987047B - Satellite navigation signal capturing system and method based on time division multiplexing technology - Google Patents
Satellite navigation signal capturing system and method based on time division multiplexing technology 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
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- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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Abstract
The invention discloses a satellite navigation signal capturing system and method based on a time division multiplexing technology. The system includes: the data cache module is used for writing the sampling data into the data cache unit in real time; the pseudo code caching module is used for circularly writing the code pieces with the multiple pseudo code rate into the pseudo code caching unit; the pseudo code generating module is used for generating and storing the pseudo code chips with the set multiple rate required by capturing; the relevant control module is used for splitting each segment into a plurality of groups, reading the data cache and the pseudo code cache, and controlling the relevant operation module to carry out relevant operation on each group; and the correlation operation module is used for finishing the correlation operation of each group in real time and in parallel. The method has the advantages of low resource utilization rate, strong signal adaptability and flexible parameter setting, and can finish the capture of other navigation signals only by setting different parameters.
Description
Technical Field
The present invention relates to the field of navigation technologies, and in particular, to a satellite navigation signal capturing system and method based on time division multiplexing technology.
Background
The acquisition process of the navigation signal comprises the processes of data and pseudo code correlation, time-frequency conversion, post accumulation, result judgment and the like. The common capture algorithm comprises a parallel frequency search algorithm, a parallel code phase search algorithm and a time-frequency combined search algorithm, the principles of the three algorithms are consistent, and the three algorithms are all related operation is carried out on sampling data with a certain length and a local pseudo code. The time-frequency combination-based segmented coherent algorithm is widely used in practical application due to its excellent performance, and the basic flow of implementation is shown in fig. 1. The segment correlation unit completes correlation accumulation of the baseband signal and the local pseudo code, and is the most core and basic unit of the acquisition module. The logic resources required for the acquisition module and the performance that can be achieved depend on the performance of the segment correlation unit.
Assuming that the input baseband signal is r [ k ], the local pseudo code is c [ k ], the number of data points of the segment correlation is N, and the required accumulation length is N, the result of the segment correlation can be expressed as:
wherein the content of the first and second substances,
and (3) representing a relevant accumulated value in a segment, wherein the segment correlation is carried out in a mode of moving sampling data, and it can be seen that 1 segment of pseudo code chips and 2 segments of data sampling points are required to be used for completing one segment correlation operation. The operation structure commonly used in the correlation operation unit has a multi-level addition tree structure, as shown in fig. 2. The structure based on the multilevel correlation tree is composed of a data cache, a pseudo code cache, correlators and a multilevel addition tree, wherein the data cache and the pseudo code cache need to use a large amount of register resources, the correlators and the adders need to use DSP resources, meanwhile, the correlation integrals of a plurality of segments need to be operated in parallel, namely, a plurality of segment accumulation units need to be configured, a large amount of registers and DSP resources need to be used, and the increase of hardware resources can cause performance problems such as obvious increase of power consumption.
Disclosure of Invention
The invention aims to provide a satellite navigation signal acquisition system and a satellite navigation signal acquisition method based on a time division multiplexing technology, so as to overcome the defects in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the satellite navigation signal acquisition system based on the time division multiplexing technology comprises:
the data cache module is used for writing the sampling data into the data cache unit in real time;
the pseudo code caching module is used for circularly writing the code pieces with the multiple pseudo code rate into the pseudo code caching unit;
the pseudo code generating module is used for generating and storing the pseudo code chips with the set multiple rate required by capturing;
the relevant control module is used for splitting each segment into a plurality of groups, reading the data cache and the pseudo code cache, and controlling the relevant operation module to carry out relevant operation on each group;
the correlation operation module is used for finishing the correlation operation of each group in real time and in parallel;
the data cache module and the pseudo code cache module are connected with the related control module, the pseudo code generation module is connected with the pseudo code cache module, and the data cache module and the pseudo code cache module are further connected with the related operation module.
Further, the data cache module comprises a data cache write-in controller and a data cache unit which are connected with each other, the data cache write-in controller is used for caching the low-speed sampling data into a plurality of data segments of the data cache unit in a real-time, segmented and circulating manner, and each data segment sends out a write completion pulse after being fully written.
Further, the pseudo code cache module comprises a pseudo code cache write-in controller and pseudo code cache units, wherein the pseudo code cache write-in controller is used for circularly writing the pseudo code chips in the pseudo code generation module into the plurality of pseudo code cache units under the driving of the write completion pulse.
Furthermore, the pseudo code generation module comprises a pseudo code generation controller and a pseudo code chip unit which are connected with each other, wherein the pseudo code generation controller is used for generating a pseudo code chip of a whole period required by capturing, the chip sampling rate is a set multiple of the code rate, and the chip sampling rate is stored in the pseudo code chip unit.
Further, the correlation control module is used for splitting the correlation value of each segment into a plurality of packet correlation values under the driving of the capture start command and the write completion pulse, and controlling the correlation operation module to complete the correlation operation of a plurality of packets in a time division multiplexing manner.
Furthermore, the correlation operation module comprises a plurality of delay units and accumulators, the plurality of delay units and accumulators form a pipeline architecture, correlation operation of each group is completed in real time under the control of the correlation control module, and correlation values are output in sequence.
The invention also provides a method for the satellite navigation signal acquisition system based on the time division multiplexing technology, which comprises the following steps:
s1, after receiving the capture start command, the data cache module waits for a set pulse and writes the low-rate sampling data into the data cache unit in real time;
s2, a pseudo code generating controller in the pseudo code generating module generates a pseudo code chip of a whole period, the sampling rate of the chip is a set multiple of the code rate, and the chip is stored in a pseudo code chip unit;
s3, after receiving the capture start command, the pseudo code cache module reads the pseudo code chips of the set segments from the pseudo code generation module, writes the pseudo code chips into the previously set data segments, and cyclically writes the pseudo code chips into the set pseudo code segment cache units after the write completion pulse;
s4, after receiving the capture start command and waiting for setting a plurality of write completion pulses, the related control module splits each segment into a plurality of groups, reads data and pseudo codes from the data cache module and the pseudo code cache module, and sends the data and the pseudo codes to the related operation unit;
and S5, the correlation operation unit completes the correlation operation of each group in real time, and each accumulation unit outputs the correlation result in sequence after the correlation is completed.
Further, the writing of the low-rate sample data into the data buffer unit in real time in step S1 specifically includes: and caching the sampled data into a plurality of data segments of the data cache unit in real time, in a segmented and circulating manner, and sending a write completion pulse after each data segment is fully written.
Compared with the prior art, the invention has the advantages that: the invention adopts the time division multiplexing technology of high-speed cache and high-speed correlation operation to divide the code phase of the pseudo code into a plurality of code segments, divides the correlation accumulated value of each code segment into a plurality of groups, carries out real-time segmented cache by a data cache module and a pseudo code cache module, and simultaneously operates the groups in the code segments by a correlation control module and a correlation operation module by adopting the time division multiplexing technology. The acquisition result obtained by the method is completely consistent with that obtained by the traditional method, and compared with the traditional segmentation correlation method based on the addition tree architecture, the method is based on the time division multiplexing technology of cache and high-speed correlation operation, and has low resource utilization rate; the invention has strong signal adaptability and flexible parameter setting, and can complete the capture of other navigation signals only by setting different parameters.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a basic flow chart of a time-frequency combination-based acquisition algorithm.
Fig. 2 is a basic block diagram of a segment correlation architecture based on an additive tree architecture.
FIG. 3 is a schematic diagram of a satellite navigation signal acquisition system based on time division multiplexing technology according to the present invention.
FIG. 4 is a block diagram of a data caching module according to the present invention.
FIG. 5 is a block diagram of a pseudo code caching module according to the present invention.
FIG. 6 is a block diagram of a flow of a related control module of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
Referring to fig. 3, the embodiment discloses a satellite navigation signal capturing system based on time division multiplexing technology, including: the system comprises a data caching module 1, a pseudo code caching module 2, a pseudo code generating module 3, a correlation control module 4 and a correlation operation module 5; the data caching module 1 is used for caching low-rate data into 4 data segments of the data caching unit in a real-time, segmented and circulating manner, and sending a write completion pulse after each data caching segment is full; the pseudo code cache module 2 is used for circularly writing the pseudo code chips in the pseudo code generation module into 4 pseudo code segment cache units under the driving of a capture start command and a write completion pulse; the pseudo code generating module 3 generates a pseudo code chip of a whole period required by capturing at a high speed, the sampling rate of the chip is 2 times of the code rate, and the chip is rapidly stored in a local RAM; the correlation control module 4 is driven by the capture start command and the write completion pulse to split the correlation value of each segment into a plurality of group correlation values and control the correlation operation module to complete the correlation operation of a plurality of groups in a time division multiplexing manner; and the correlation operation module 5 adopts a pipeline architecture formed by delay units under the control of the correlation control module to complete the correlation operation of each group in real time and output correlation values in sequence.
In this embodiment, the data caching module 1 includes a data caching write controller 10 and a data caching unit 11 that are connected to each other, where the data caching write controller 10 is configured to cache low-rate sampling data in multiple data segments of the data caching unit 11 in a real-time, segmented, and cyclic manner, and each data segment is full and then sends a write completion pulse.
In this embodiment, the pseudo code cache module 2 includes a pseudo code cache write controller 20 and pseudo code cache units 21, where the pseudo code cache write controller 20 is configured to cyclically write the pseudo code chips in the pseudo code generating module 3 into the pseudo code cache units 21 under the driving of the write completion pulse.
In this embodiment, the pseudo code generating module 3 includes a pseudo code generating controller 30 and a pseudo code chip unit 31 that are connected to each other, where the pseudo code generating controller 30 is configured to generate a pseudo code chip of a whole period required for capturing, and a chip sampling rate is a set multiple of a code rate and is stored in the pseudo code chip unit 31.
In this embodiment, the correlation control module 4 is configured to split the correlation value of each segment into a plurality of packet correlation values under the driving of the capture start command and the write completion pulse, and control the correlation operation module 5 to complete the correlation operation of the plurality of packets in a time division multiplexing manner.
In this embodiment, the correlation operation module 5 includes a plurality of delay units 50 and accumulators 51, the plurality of delay units 50 and accumulators 51 form a pipeline architecture, and complete the correlation operation of each packet in real time under the control of the correlation control module 4, and sequentially output correlation values.
Taking the BDS B3I signal as an example, the pseudo code rate of the B3I signal is 10.23Mbps, the pseudo code period is 1ms, the number of chips of 1 pseudo code period is 10230, and the sampling rate is set to 2 times the pseudo code rate, i.e., 20.46Msps, so that the number of sampling points in 1 pseudo code period is 20460, and the integral power multiple of 2 is 20480 samples. The time-frequency combined segment correlation capturing method is adopted, the number of segments is set to be M =10, the number of points in each segment is N =20480/10=2048, namely the number of points of a phase required to be correlated in each segment is 2048, if the operation is carried out in a fully parallel mode, 2048 parallel accumulators are required, the correlation operation module is configured with 256 accumulators in a time division multiplexing mode, 256 correlation values are operated at the same time, time division multiplexing is carried out for 8 times, and the operation of 2048 segment correlation values is completed.
The real-time analysis is processed, and the time length required for the write-in controller to write 2048 data samples is
The correlation read controller needs 2304 clock cycles per correlation, 8 cycles, in total
One clock cycle. The minimum required processing clock frequency is
The working clock frequency is selected to be 200 MHz. Selecting a XILINX FPGA device, BRAM, as the high speedThe cache and the DSP are used as a high-speed accumulation unit, and the device can stably operate at the clock frequency of 200 MHz.
The invention also provides a satellite navigation signal capturing method based on the time division multiplexing technology, which comprises the following steps:
step S1, the operation flow of the data cache module 1 is shown in fig. 4:
state 1: waiting for a capture start command, setting a write blk pointer to be 0 after the capture command starts, and entering a state 2;
state 2: waiting for a 50pps pulse signal and then entering state 3;
state 3: when the data is valid, writing the data into the current blk, sending a write completion pulse after the blk is completely written, and then entering a state 4;
and 4: the current blk pointer is cycled to the next blk and then back to state 3.
Step S2, the pseudo code generation controller in the pseudo code generation module 3 generates a pseudo code chip of a whole period, the sampling rate of which is 2 times of the pseudo code rate, and stores the pseudo code chip in the pseudo code chip unit.
Step S3, the operation flow of the pseudo code cache module 2 is as shown in fig. 5:
state 1: waiting for a capture start command, setting a write blk pointer to be 0 after the capture command starts, and entering a state 2;
state 2: write pseudo-code to blk0 and blk1, point the current blk pointer to blk3, and then enter state 3;
state 3: when the write completion pulse is active, enter state 4;
and 4: writing the pseudo code to the current blk, and entering a state 5;
and state 5: the blk pointer points to the next blk and then returns to state 3;
the operation flow of step S4 and the relevant control module 4 is shown in fig. 6:
state 1: waiting for an acquisition start command, initializing parameters after the acquisition command is started, setting the initial address of the data blk to 0, setting the initial address of the pseudo code blk to 0, and entering a state 2.
State 2: 2048+256=2304 data and pseudo code sampling points are continuously read and sent to a delay accumulation module, and after 2048 periods of accumulation, the delay accumulation module sequentially outputs 256 correlation values.
State 3: and accumulating 256 initial addresses of the data buf, keeping the initial addresses of the pseudo codes buf unchanged, returning to the state 2, and circulating 8 times to enter the state 4.
And 4: waiting for the write completion pulse of the data blk, then the data blk pointer and the dummy code blk pointer move to the next blk, and enter state 2.
Step S5, the correlation operation module 5 starts to perform accumulation operation under the control of the correlation control module, after 2048 phase periods are accumulated, the accumulated result is latched, and the accumulators are cleared to zero at the same time, and 256 accumulators sequentially output 256 latched results.
The invention adopts the time division multiplexing technology of high-speed cache and high-speed correlation operation to divide the code phase of the pseudo code into a plurality of code segments, divides the correlation accumulated value of each code segment into a plurality of groups, carries out real-time segmented cache by a data cache module and a pseudo code cache module, and simultaneously operates the groups in the code segments by a correlation control module and a correlation operation module by adopting the time division multiplexing technology. The acquisition result obtained by the method is completely consistent with that obtained by the traditional method, and compared with the traditional segmentation correlation method based on the addition tree architecture, the method is based on the time division multiplexing technology of cache and high-speed correlation operation, and has low resource utilization rate; the invention has strong signal adaptability and flexible parameter setting, and can complete the capture of other navigation signals only by setting different parameters.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, various changes or modifications may be made by the patentees within the scope of the appended claims, and within the scope of the invention, as long as they do not exceed the scope of the invention described in the claims.
Claims (7)
1. A satellite navigation signal acquisition system based on time division multiplexing technology is characterized by comprising:
the data cache module is used for writing the sampling data into the data cache unit in real time;
the pseudo code caching module is used for circularly writing the code pieces with the multiple pseudo code rate into the pseudo code caching unit;
the pseudo code generating module is used for generating and storing the pseudo code chips with the set multiple rate required by capturing;
the relevant control module is used for splitting each segment into a plurality of groups, reading the data cache and the pseudo code cache, and controlling the relevant operation module to carry out relevant operation on each group; the related control module is used for splitting the related value of each segment into a plurality of grouped related values under the driving of a capture start command and a write completion pulse, and controlling the related operation module to complete the related operation of a plurality of groups in a time division multiplexing manner;
the correlation operation module is used for finishing the correlation operation of each group in real time and in parallel;
the data cache module and the pseudo code cache module are connected with the related control module, the pseudo code generation module is connected with the pseudo code cache module, and the data cache module and the pseudo code cache module are further connected with the related operation module.
2. The time division multiplexing-based satellite navigation signal acquisition system according to claim 1, wherein the data buffer module comprises a data buffer write controller and a data buffer unit, which are connected with each other, the data buffer write controller is configured to buffer low-rate sampled data into a plurality of data segments of the data buffer unit in a real-time, segmented, and cyclic manner, and each data segment is full and then sends out a write completion pulse.
3. The time division multiplexing-based satellite navigation signal acquisition system according to claim 1, wherein the pseudo code buffer module comprises a pseudo code buffer write controller and pseudo code buffer units, and the pseudo code buffer write controller is configured to cyclically write the pseudo code chips in the pseudo code generation module into the plurality of pseudo code buffer units under the driving of a write completion pulse.
4. The time division multiplexing-based satellite navigation signal acquisition system of claim 1, wherein the pseudo code generation module comprises a pseudo code generation controller and a pseudo code chip unit connected with each other, the pseudo code generation controller is configured to generate a whole period of pseudo code chips required for acquisition, and the chip sampling rate is a set multiple of the code rate and is stored in the pseudo code chip unit.
5. The time division multiplexing-based satellite navigation signal acquisition system of claim 1, wherein the correlation operation module comprises a plurality of delay units and accumulators, the plurality of delay units and accumulators form a pipeline architecture, the correlation operation of each packet is completed in real time under the control of the correlation control module, and the correlation values are sequentially output.
6. A method of a satellite navigation signal acquisition system based on time division multiplexing according to any of claims 1 to 5, characterized in that it comprises the following steps:
s1, after receiving the capture start command, the data cache module waits for a set pulse and writes the low-rate sampling data into the data cache unit in real time;
s2, a pseudo code generating controller in the pseudo code generating module generates a pseudo code chip of a whole period, the sampling rate of the chip is a set multiple of the code rate, and the chip is stored in a pseudo code chip unit;
s3, after receiving the capture start command, the pseudo code cache module reads the pseudo code chips of the set segments from the pseudo code generation module, writes the pseudo code chips into the previously set data segments, and cyclically writes the pseudo code chips into the set pseudo code segment cache units after the write completion pulse;
s4, after receiving the capture start command and waiting for setting a plurality of write completion pulses, the related control module splits each segment into a plurality of groups, reads data and pseudo codes from the data cache module and the pseudo code cache module, and sends the data and the pseudo codes to the related operation unit;
and S5, the correlation operation unit completes the correlation operation of each group in real time, and each accumulation unit outputs the correlation result in sequence after the correlation is completed.
7. The method according to claim 6, wherein the step S1 of writing the low-rate sample data into the data buffer unit in real time specifically includes: and caching the sampled data into a plurality of data segments of the data cache unit in real time, in a segmented and circulating manner, and sending a write completion pulse after each data segment is fully written.
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| CN113253315B (en) * | 2021-07-07 | 2021-10-22 | 湖南跨线桥航天科技有限公司 | Navigation signal correlation peak monitoring device and method based on time division multiplexing technology |
| CN113759396B (en) * | 2021-11-09 | 2022-02-18 | 湖南跨线桥航天科技有限公司 | Satellite navigation signal capturing device and method with low operand characteristic |
| CN113820731B (en) * | 2021-11-24 | 2022-06-10 | 湖南跨线桥航天科技有限公司 | Method and system for capturing non-periodic long code signal of satellite navigation receiver |
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