CN117192580B - Satellite-borne Galileo dual-frequency atmosphere occultation signal capturing method - Google Patents
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Abstract
The invention provides a satellite-borne Galileo dual-frequency atmosphere occultation signal capturing method, which is used for realizing the rapid capturing of Galileo atmospheric occultation signals, and the capturing time of Galileo E5b and Galileo E1 signals is shortened to be within 6 s; the invention utilizes the characteristics of Galileo E5b and E1 signals and the mature signal capturing technology advantages, adopts a synchronous and auxiliary mode, completes the capturing of Galileo double-frequency signals, and has high capturing speed and high compatibility with the original platform. Thereby laying a foundation for further processing of the subsequent atmospheric occultation signal and improving the performance of Galileo atmospheric occultation detection.
Description
Technical Field
The invention belongs to the technical field of occultation signal capturing, and particularly relates to a satellite-borne Galileo double-frequency atmosphere occultation signal capturing method.
Background
In atmospheric occultation detection, the number of neutral atmospheric events and ionosphere events detected and generated depends on the number of satellite navigation systems used to occultation detect the load. The detection capacity of the occultation detection load using the four-system (GPS, BD, glonass, galileo) is 1.3-1.4 times of that of the occultation detection load using the three-system (GPS, BD, glonass). In view of the gradual perfection of Galileo satellite navigation systems, it is necessary to add the function of performing atmospheric occultation detection by using Galileo navigation signals on the basis of the current occultation detection load, so as to enrich the variety of occultation detection, increase the number of occultation products and promote the overall performance of atmospheric occultation detection.
The application provides a Galileo atmospheric occultation signal capturing system and method with less hardware change and software expansion on the basis of a three-system occultation detection load platform which is mature at present.
Disclosure of Invention
In view of the above, the invention aims to provide a satellite-borne Galileo dual-frequency atmospheric occultation signal capturing method to solve the defects in the prior art.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the star-carried Galileo dual-frequency atmosphere occultation signal capturing method comprises a capturing system, wherein the capturing system comprises a occultation antenna, a radio frequency front end, an FPGA and an ARM, the input end of the radio frequency front end is communicated with the occultation antenna, the output end of the radio frequency front end is communicated with the FPGA, and the FPGA is in bidirectional communication with the ARM;
the FPGA is used for realizing parallel FFT (fast Fourier transform) quick acquisition and local signal generation and correlation of signals processed by the radio frequency front end, and the ARM is used for completing signal acquisition and tracking by matching with the FPGA;
the FPGA comprises a local signal generation module, a parallel FFT (fast Fourier transform) quick capture module and a signal correlation module;
the ARM comprises an E5b capture scheduling module, an E5b loop tracking module, a bit synchronization frame synchronization and text decoding module, an E1 fine searching module and an E1 loop tracking module;
a method of capturing comprising the steps of:
s1, a radio frequency signal enters a radio frequency front end through a occultation antenna to be processed to obtain a digital intermediate frequency signal, and the digital intermediate frequency signal is transmitted to an FPGA;
s2, an E5b capturing and scheduling module configures a local signal generation mode in the FPGA into a Galileo mode, and configures different initial phases for E5b signals and E1 signals of the local signal generation module so as to generate Galileo local signals of each navigation satellite;
s3, the FPGA calls a parallel FFT fast capturing module to carry out spectrum analysis on the digital intermediate frequency signals to obtain carrier Doppler and rough code phases, and the carrier Doppler and rough code phases and accumulated quantity generated by an E5b correlator are transmitted to an E5b loop tracking module of the ARM through an E5b capturing scheduling module of the ARM;
s4, an E5b loop tracking module of ARM is used for carrying out loop accurate tracking on the E5b signal based on the rough estimation result of the step S3 to obtain bit information of the E5b signal, further carrying out text decoding through a bit synchronization frame synchronization and text decoding module to complete capturing and tracking on the E5b signal, and simultaneously entering the step S5 and the step S7;
s5, ARM sends a synchronizing signal to a local signal generating module, after receiving the synchronizing signal, FPGA synchronizes the Z value and the CodeCycle value of the E5b signal decoded by the telegram in the step S4 to the corresponding E1 signal, the position of an E1 signal chip is roughly captured according to the principle that the transmitting time of the E5b signal is the same as that of the E1 signal, and the carrier Doppler of the E1 signal is obtained by Doppler conversion of the E5b signal;
s6, after the step S5 is completed, ARM controls an E1 signal correlator to further complete tracking and measurement of an E1 signal, and meanwhile, a measurement quantity of the E1 signal is generated;
s7, combining the result data of the step S4 and the result data of the step S6 to obtain the measurement quantity of the Galileo atmosphere occultation double-frequency signal; and (5) double-frequency capturing of the Galileo atmospheric occultation signal is completed.
Further, in step S1, the radio frequency signal enters the radio frequency front end through the occultation antenna to perform down conversion, filtering and AD conversion, so as to obtain a digital intermediate frequency signal.
Further, in step S3, the doppler estimation accuracy is better than 500Hz, and the estimation accuracy of the code phase is better than half a chip.
Further, in step S4, ARM processing the E5b signal includes:
s41, carrying out Doppler and code phase accurate tracking of an E5b signal through an E5b loop tracking module to obtain a carrier wave and a pseudo-range measurement quantity of the E5b signal which are accurately tracked, and entering step S42;
s42, ARM sequentially completes bit synchronization, frame synchronization and text decoding on the E5b signal through a bit synchronization frame synchronization and text decoding module; so far, obtaining a complete text of the E5b signal, further obtaining the transmitting time of the E5b signal and the E1 signal, and calculating the chip position of the E1 signal;
s43, ARM sends a synchronizing signal to a local signal generating module of the FPGA, and after the FPGA receives the synchronizing signal, the Z value and the CodeCycle value of the E5b signal in the step S42 are synchronized to the corresponding E1 signal.
Further, in step S42, the doppler tracking accuracy is better than 2Hz, and the tracking accuracy of the code phase is better than 0.1 chip.
Further, in step S43, the emission time formula of the E5b signal is:
t trans =CodePhase+CodeChip*0.001/10230+CodeCycle*0.001+Z*1.5；
wherein CodePhase, codeChip is derived from tracking of the E5b signal, codeCycle and Z count are derived from the text of the E5b signal, the emission time of the E1 signal is identical to the E5b signal, and the Z count, codeCycle and CodeChip chip positions of the E1 signal can be roughly calculated from the emission time of the E5b signal.
Further, in step S6, the ARM controls the E1 signal correlator, and the capturing and tracking of the E1 signal includes:
and carrying out fine search and tracking on the E1 signal by an E1 fine search module near the E1 CodeChip obtained through calculation, completing tracking and measurement on the E1 signal, and simultaneously generating the measurement quantity of the E1 atmospheric occultation signal.
Compared with the prior art, the satellite-borne Galileo dual-frequency atmosphere occultation signal capturing method has the following advantages:
according to the satellite-borne Galileo dual-frequency atmosphere occultation signal capturing method, galileo atmospheric occultation signals are rapidly captured, and the capturing time of Galileo E5b and Galileo E1 signals is shortened to be within 6 s; the invention utilizes the characteristics of Galileo E5b and E1 signals and the mature signal capturing technology advantages, adopts a synchronous and auxiliary mode, completes the capturing of Galileo double-frequency signals, and has high capturing speed and high compatibility with the original platform. Thereby laying a foundation for further processing of the subsequent atmospheric occultation signal and improving the performance of Galileo atmospheric occultation detection.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 is a schematic diagram of a Galileo occultation double-frequency signal capturing flow according to an embodiment of the present invention;
fig. 2 is a statistical diagram of Galileo signal capturing time according to an embodiment of the present invention;
FIG. 3 is a diagram of capturing and tracking a star map of an E5b signal of a measured Galileo navigation satellite according to an embodiment of the present invention;
fig. 4 is a schematic diagram of capturing and tracking a star sky by using an E1 signal of a measured Galileo navigation satellite according to an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to fig. 4, the method for capturing the satellite-borne galileo dual-frequency atmospheric occultation signal comprises a capturing system, wherein the capturing system mainly comprises a radio frequency front end, an FPGA and an ARM, the radio frequency front end is a general technology, the radio frequency front end is mainly used for performing down-conversion, filtering and AD conversion, the FPGA realizes parallel fast FFT capturing (general technology) and local signal generation and correlation, and the capturing system is matched with the ARM to complete capturing of the dual-frequency signal.
The occultation detection load mainly comprises a direct channel and an atmospheric occultation channel. The direct channel completes basic navigation function, and the atmospheric occultation channel utilizes navigation signals with low elevation angle to measure atmospheric occultation signals.
The application mainly describes a satellite-borne Galileo dual-frequency atmosphere occultation signal capturing method. For atmospheric occultation detection, dual frequency measurements of navigation signals at low elevation angles are required.
The industry generally recommends selecting E1 and E5b for dual frequency measurements. E1 with the same frequency as L1 is usually selected as a first frequency point, and a common fast-acquisition algorithm inevitably carries out parallel FFT calculation on E1 signals modulated by CBOC, so that the complexity of the parallel fast-acquisition algorithm in the FPGA is increased.
Thanks to the modulation mode (AltBOC modulation, which can be respectively and independently regarded as BPSK modulation) of the E5-a/b signal and the local code generation mode consistent with the GPS, E5b is selected as a first frequency point for capturing in the implementation mode. The parallel FFT fast acquisition can completely inherit the parallel fast acquisition of mature systems such as GPS and the like, and only different initial phase values are calculated and configured for registers generated by local codes in the FPGA.
The principle that the same navigation star generates E5b signals and E1 signals with the same emission time is utilized to realize the synchronization and guidance of Z counting and CodeCycle, and then small-range search near the chip can finish the fine tracking of the E1 signals, and meanwhile, E5b Doppler obtained by tracking is converted into Doppler of the E1 signals. The guiding mode from the E5b signal to the E1 signal avoids searching in the range of 4092 chips of the E1 signal, and the double-frequency atmospheric occultation signal capturing time is greatly saved.
The atmospheric occultation signal capturing process comprises the following steps:
step one, a radio frequency signal enters a radio frequency front end of an atmospheric occultation detection load through an atmospheric occultation antenna to be subjected to down-conversion, filtering and AD conversion to obtain a digital intermediate frequency signal;
step two, an E5b capture scheduling module of ARM configures a local signal generation mode in the FPGA into a Galileo mode (different initial phase values are required to be calculated and configured for a register generated by a local code in the FPGA);
and thirdly, the FPGA calls a parallel FFT fast capturing module to perform spectrum analysis of the digital intermediate frequency signal to obtain roughly estimated Doppler and code phase of the E5b signal. The Doppler estimation accuracy is better than 500Hz, and the estimation accuracy of the code phase is better than half a chip.
And fourthly, the E5b loop tracking module of the ARM is based on the rough estimation result of the third step, and the accurate tracking of Doppler and code phase of the E5b signal is firstly carried out. The Doppler tracking accuracy is better than 2Hz, and the tracking accuracy of the code phase is better than 0.1 chip. And then the channel carries out tracking and demodulation of the E5b signal, and bit synchronization, frame synchronization and text decoding are completed in sequence. So far, the complete text of the E5b signal can be obtained, and then the emission time of the E5b signal can be obtained. The formula is as follows:
t trans =CodePhase+CodeChip*0.001/10230+CodeCycle*0.001+Z*1.5；
in the above equation CodePhase, codeChip is derived from the tracking of the E5b signal, codeCycle and Z counts are derived from the E5b signal, where "0.001/10230" means dividing 0.001s (i.e., 1 millisecond of code period) into 10230 chips.
Step five, the signals based on Galileo E1 and E5b are transmitted simultaneously, so the Z value and the CodeCycle value of the Galileo E1 signal are the same as those of the Galileo E5b signal in step four. After the Galileo E5b signal is stable, ARM sends a synchronizing signal to the FPGA correlator, and after the FPGA receives the synchronizing signal, the Z value and the CodeCycle value of the Galileo E5b signal are synchronized to the corresponding Galileo E1 signal. The E5b guiding mode for the E1 signal can enable the ARM to slide in a small chip range near the generated E1 local code, so that the E1 chip position can be accurately captured, and the capturing time is greatly shortened.
And step six, after the step five is completed, the ARM controls the FPGA correlator to rapidly complete capturing and tracking of the Galileo E1 signal, and the measurement quantity of the Galileo atmosphere occultation double-frequency signal is obtained. The double-frequency capturing of the Galileo atmosphere occultation signal is completed.
The invention has the advantages that:
the rapid capturing of the Galileo atmospheric occultation signals is realized, and the capturing time of the Galileo E5b and Galileo E1 signals is shortened to be within 6 s.
Under the condition of satellite borne, the duration of the primary atmosphere satellite-masking time is 60-80 seconds. The atmospheric occultation detection load must complete the capture and tracking of the atmospheric occultation double-frequency signal in a short time as possible. The invention utilizes the characteristics of Galileo E5b and Galileo E1 signals and the mature signal capturing technology advantages, adopts a synchronous and auxiliary mode to complete the capturing of Galileo double-frequency signals, and has high capturing speed and high compatibility with the original platform. Thereby laying a foundation for further processing of the subsequent atmospheric occultation signal and improving the performance of Galileo atmospheric occultation detection.
Example 1
The invention is applied to occultation products, and can respectively complete the rapid capturing of E5b and E1 double-frequency atmosphere occultation signals within 4.5s and 1.5s under the condition that a certain satellite signal is visible through multiple experiments and statistics. The capturing speed of E5b depends on the number of parallel Doppler and chips calculated at one time by a parallel FFT algorithm, and the size of the parallel computing array can be expanded according to FPGA resources, so that the capturing speed is further improved; e5b guides E1 signal, which makes E1 signal complete capturing in 1.5s (Z count jump period) and is irrelevant to code length and resource. Fig. 2 is a graph of laboratory static real-time antenna measurements (i.e., galileo signal acquisition time statistics).
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. A satellite-borne Galileo double-frequency atmosphere occultation signal capturing method is characterized by comprising the following steps of: the system comprises a capturing system, wherein the capturing system comprises a occultation antenna, a radio frequency front end, an FPGA and an ARM, the input end of the radio frequency front end is communicated with the occultation antenna, the output end of the radio frequency front end is communicated with the FPGA, and the FPGA is in bidirectional communication with the ARM;
the FPGA is used for realizing parallel FFT (fast Fourier transform) quick acquisition and local signal generation and correlation of signals processed by the radio frequency front end, and the ARM is used for completing signal acquisition and tracking by matching with the FPGA;
the FPGA comprises a local signal generation module, a parallel FFT (fast Fourier transform) quick capture module and a signal correlation module;
the ARM comprises an E5b capture scheduling module, an E5b loop tracking module, a bit synchronization frame synchronization and text decoding module, an E1 fine searching module and an E1 loop tracking module;
a method of capturing comprising the steps of:
s1, a radio frequency signal enters a radio frequency front end through a occultation antenna to be processed to obtain a digital intermediate frequency signal, and the digital intermediate frequency signal is transmitted to an FPGA;
s2, an E5b capturing and scheduling module configures a local signal generation mode in the FPGA into a Galileo mode, and configures different initial phases for E5b signals and E1 signals of the local signal generation module so as to generate Galileo local signals of each navigation satellite;
s3, the FPGA calls a parallel FFT fast capturing module to carry out spectrum analysis on the digital intermediate frequency signals to obtain carrier Doppler and rough code phases, and the carrier Doppler and rough code phases and accumulated quantity generated by an E5b correlator are transmitted to an E5b loop tracking module of the ARM through an E5b capturing scheduling module of the ARM;
s4, an E5b loop tracking module of ARM is used for carrying out loop accurate tracking on the E5b signal based on the rough estimation result of the step S3 to obtain bit information of the E5b signal, further carrying out text decoding through a bit synchronization frame synchronization and text decoding module to complete capturing and tracking on the E5b signal, and simultaneously entering the step S5 and the step S7;
s5, ARM sends a synchronizing signal to a local signal generating module, after receiving the synchronizing signal, FPGA synchronizes the Z value and the CodeCycle value of the E5b signal decoded by the telegram in the step S4 to the corresponding E1 signal, the position of an E1 signal chip is roughly captured according to the principle that the transmitting time of the E5b signal is the same as that of the E1 signal, and the carrier Doppler of the E1 signal is obtained by Doppler conversion of the E5b signal;
s6, after the step S5 is completed, ARM controls an E1 signal correlator to further complete tracking and measurement of an E1 signal, and meanwhile, a measurement quantity of the E1 signal is generated;
s7, combining the result data of the step S4 and the result data of the step S6 to obtain the measurement quantity of the Galileo atmosphere occultation double-frequency signal; and (5) double-frequency capturing of the Galileo atmospheric occultation signal is completed.
2. The method for capturing the satellite-borne galileo dual-frequency atmospheric occultation signal according to claim 1, wherein the method comprises the following steps of: in step S1, the radio frequency signal enters the radio frequency front end through the occultation antenna to perform down conversion, filtering and AD conversion, so as to obtain a digital intermediate frequency signal.
3. The method for capturing the satellite-borne galileo dual-frequency atmospheric occultation signal according to claim 1, wherein the method comprises the following steps of: in step S3, the doppler estimation accuracy is better than 500Hz, and the estimation accuracy of the code phase is better than half a chip.
4. The method for capturing the satellite-borne galileo dual-frequency atmospheric occultation signal according to claim 1, wherein the method comprises the following steps of: in step S4, ARM processing the E5b signal includes:
s41, carrying out Doppler and code phase accurate tracking of an E5b signal through an E5b loop tracking module to obtain a carrier wave and a pseudo-range measurement quantity of the E5b signal which are accurately tracked, and entering step S42;
s42, ARM sequentially completes bit synchronization, frame synchronization and text decoding on the E5b signal through a bit synchronization frame synchronization and text decoding module; so far, obtaining a complete text of the E5b signal, further obtaining the transmitting time of the E5b signal and the E1 signal, and calculating the chip position of the E1 signal;
s43, ARM sends a synchronizing signal to a local signal generating module of the FPGA, and after the FPGA receives the synchronizing signal, the Z value and the CodeCycle value of the E5b signal in the step S42 are synchronized to the corresponding E1 signal.
5. The method for capturing the satellite-borne Galileo dual-frequency atmospheric occultation signal according to claim 4, wherein: in step S42, the Doppler tracking accuracy is better than 2Hz, and the tracking accuracy of the code phase is better than 0.1 chip.
6. The method for capturing the satellite-borne Galileo dual-frequency atmospheric occultation signal according to claim 4, wherein: in step S43, the emission time formula of the E5b signal is:
t trans =CodePhase+CodeChip*0.001/10230+CodeCycle*0.001+Z*1.5；
wherein CodePhase, codeChip is derived from tracking of the E5b signal, codeCycle and Z count are derived from the text of the E5b signal, the emission time of the E1 signal is identical to the E5b signal, and the Z count, codeCycle and CodeChip chip positions of the E1 signal can be roughly calculated from the emission time of the E5b signal.
7. The method for capturing the satellite-borne galileo dual-frequency atmospheric occultation signal according to claim 1, wherein the method comprises the following steps of: in step S6, the ARM controls the E1 signal correlator to further complete tracking and measurement of the E1 signal, and simultaneously generates a measurement quantity of the E1 signal, which specifically includes:
and carrying out fine search and tracking on the E1 signal by an E1 fine search module, and completing fine search and loop tracking on the E1 signal to generate carrier waves and pseudo-range measurement quantities of the E1 signal.
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