CN102087361B - Method and device for acquiring satellite navigation signal - Google Patents

Method and device for acquiring satellite navigation signal Download PDF

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CN102087361B
CN102087361B CN 200910241405 CN200910241405A CN102087361B CN 102087361 B CN102087361 B CN 102087361B CN 200910241405 CN200910241405 CN 200910241405 CN 200910241405 A CN200910241405 A CN 200910241405A CN 102087361 B CN102087361 B CN 102087361B
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coherent accumulation
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CN102087361A (en
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邓中亮
邹德君
刘华东
杨磊
黄建明
韩可
徐连明
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北京邮电大学
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Abstract

本发明公开了一种卫星导航信号的捕获方法和装置,属于通信技术领域。 The present invention discloses a method and apparatus for capturing satellite navigation signals, belonging to the field of communications technologies. 所述方法包括:获得包含C/A码的同相分量及正交分量;将获得的C/A码同相分量及正交分量分别和本地C/A码进行相关运算;对相关运算的结果进行FFT变换;对FFT变换的结果进行差分相干累加;根据差分相干累加的结果进行判决,若大于门限值则捕获卫星信号成功;否则捕获卫星信号失败。 The method comprising: obtaining a phase component and quadrature component comprising C / A code; obtained C / A code phase component and the quadrature component respectively and the local C / A code correlation operation; the result of the correlation calculation performs FFT transformation; the results of the FFT differential coherent accumulation; performing judgment based on the result of the coherent accumulation difference, if the threshold value is greater than a satellite signal capture is successful; otherwise acquire satellite signals fails. 本发明提供的方法解决了对于符号跳变率非常高的导航信号,不能进行长时间的积分累加的问题,并采用了差分相干累加的方法,提高了信噪比,实现了卫星信号的成功捕获。 The method of the present invention provides a solution for very high symbol rate hopping navigation signals, the problem can not be accumulated integration time, and a method using a differential coherent accumulation, improving the signal to noise ratio, to achieve a successful acquisition of satellite signals .

Description

一种卫星导航信号的捕获方法和装置 A method and apparatus for capturing satellite navigation signals

技术领域 FIELD

[0001] 本发明涉及通信技术领域,特别涉及一种卫星导航信号的捕获方法和装置。 [0001] The present invention relates to communication technology, and particularly relates to a method and apparatus for capturing the satellite navigation signals.

背景技术 Background technique

[0002] 捕获技术是GPS (Global Positioning System,全球定位系统)接收机信号处理中的关键部分。 [0002] capture technology is a critical part of GPS (Global Positioning System, Global Positioning System) receiver signal processing. 其捕获方法的好坏是评定接收机的主要标准之一。 The quality of its acquisition method is one of the main criteria for assessment of the receiver.

[0003] 常用的两种高灵敏度GPS信号捕获方法是相干积分和非相干积分。 [0003] Two common high-sensitivity GPS signal acquisition method is a coherent integration and noncoherent integration. 其中,相干积分是指对不同周期的接收C/Α码信号和本地C/Α码信号的相关值进行对应叠加,可以更多地抵消噪声、增强信号,提高信噪比。 Wherein the receiving means is the coherent integration period for different C / Α code signal and the local C / Α correlation values ​​corresponding to the code signal is superimposed, it can be more than offset noise, enhance signal to improve the signal to noise ratio. 但相干积分的长度受到多普勒频移和导航数据位跳变的限制。 However, the length of coherent integration is limited Doppler shift and navigation data bit transitions. 对于GPS信号,每20ms就可能会有一次数据位跳变,因此如果相干积分时间超过20ms能量就会有损失,反而会降低信噪比。 For the GPS signal every 20ms might have a data bit transition, so if more than 20ms coherent integration time there will be loss of energy, but will reduce the signal to noise ratio. 而非相干积分是将每周期的相关结果取模之后再进行累加,这样信号强度叠加的同时噪声强度也相应的进行了累加,使得信噪比的提高不明显。 It is not coherent integration of the correlation results and then weekly after accumulating modulo, so that while the signal strength of the superposed noise strength corresponding been accumulated, so that the noise ratio is not obvious.

[0004] 因此为了提高接收机的灵敏度首选的方案是尽可能增加相干累加时间,但是由于导航信号调制导航数据,相干累加时间受到数据比特跳变的限制,因此如何在无任何辅助信息的条件下避免数据位跳变对相干累加产生影响,成为高灵敏度接收机研究的热点,目前广泛使用的是多重数据位循环相关(Circular Correlation with Multiple Data Bits,CCMDB)捕获算法(如图1所示)。 [0004] Therefore, in order to improve the sensitivity of the receiver of the preferred embodiment is to increase the coherent accumulation time as possible, but since the navigation data modulated navigation signal, the coherent accumulation time is limited by limiting the data bit transitions, so how without any side information conditions avoid data bit transition effect on the coherent accumulation, the high sensitivity of the receiver has become a hot research, it is widely used multi-bit cyclical-related data (circular correlation with multiple data bits, CCMDB) acquisition algorithm (Figure 1). 其中,在每个相干积分间隔中,估计最可靠的数据位组合;然后,在将相干累加合并为非相干累加之前,利用它来去掉数据位的符号影响。 Wherein, in each of the coherent integration interval, the most reliable data estimate the bit combinations; then, in the non-coherent accumulation combined prior to coherent accumulation, use it to remove the influence symbol data bits. 假定每种数据位的组合是概率相等,最坏情况下的平均等效积分时间如公式(1)所示: Assumed for each data bit combination is equal probability, as shown in an equivalent average worst-case time integral equation (1):

Figure CN102087361BD00041

[0006] 其中,&V4为等效积分时间、Nt为积分的次数、ε为发生跳变的次数、Ί\为总的积分时间,由于仅搜索Nb个边沿引起的积分损失如公式(2)所示: [0006] wherein, & V4 equivalent integral time, Nt of number of times of integration, [epsilon] is the number of hops of, Ί \ is the total integration time, because the search only integral loss Nb one edge caused by equation (2) It shows:

[0007] [0007]

Figure CN102087361BD00042

[0008] 因此就GPS的C/Α码而言,当Nb为4时,将其带入公式(1)和公式(2),最终能计算出积分损失为10%。 [0008] The thus C / Α the GPS code, when Nb is 4, bringing it into the equation (1) and formula (2), the integral can be calculated final loss was 10%. 但是对于符号跳变率非常高的导航信号,Nb的选择会受到一定的限制,因此上述方法的积分损失就会变大。 But for very high symbol rate hopping navigation signals, Nb selection subject to certain restrictions, thus integrating the above method the loss becomes large.

[0009] 发明人在实现本发明的过程中发现,现有技术至少存在以下缺点:对于符号跳变率非常高的导航信号,不能进行长时间的积分累加,无法较好的提高信噪比,不能较好的实现对弱信号的捕获。 [0009] In the process of implementing the present invention found that the prior art at least has the following disadvantages: for very high symbol rate hopping navigation signals, accumulated points can not be long, preferably not improve the SNR, We can not achieve a better capture weak signals.

发明内容 SUMMARY

[0010] 为了延长积分累加的时间,提高接收信号的信噪比,实现对弱信号的成功捕获,本发明实施例提供了一种卫星导航信号的捕获方法,所述技术方案如下: [0010] In order to prolong the integral accumulated time, improve the SNR of the received signal, a successful capture of a weak signal, the present invention provides a method for capturing satellite navigation signals, the following technical solutions:

[0011] 一方面,本发明实施例提供了一种卫星导航信号的捕获方法,所述方法包括: [0011] In one aspect, embodiments of the present invention provides a method for capturing satellite navigation signals, said method comprising:

[0012] 获得包含C/Α码的同相分量及正交分量; [0012] The obtained in-phase component and a quadrature component comprising a C / Α code;

[0013] 将获得的C/Α码同相分量及正交分量分别和本地C/Α码进行相关运算; [0013] The obtained C / Α code phase component and the quadrature component respectively and the local C / Α code correlation operation;

[0014] 对相关运算的结果进行FFT变换; [0014] The result of performing an FFT correlation calculation;

[0015] 对FFT变换的结果进行差分相干累加; [0015] The result of the FFT transform differentially coherent accumulation;

[0016] 根据差分相干累加的结果进行判决,若大于门限值则捕获卫星信号成功;否则捕获卫星信号失败; [0016] differential coherent accumulation based on the results of the judgment, if it is greater than the threshold satellite signal capture is successful; otherwise fails to capture the satellite signal;

[0017] 其中,所述将获得的C/Α码同相分量及正交分量分别和本地C/Α码进行相关运算的步骤具体包括: Step [0017] wherein, the obtained C / Α code phase component and the quadrature component respectively and the local C / Α correlation calculation code comprises:

[0018] 步骤A:将2L毫秒的接收数据以2毫秒为单位进行分段; [0018] Step A: A 2L receiving data at 2 msec msec segment units;

[0019] 步骤B:获得本地产生的L毫秒的复制码,在每一毫秒的复制码后添加1毫秒零; [0019] Step B: L msec obtained locally generated replica code, adding 1 ms after each zero millisecond replica code;

[0020] 步骤C:将步骤A中的接收数据和步骤B中获得的数据进行相关运算,获取相关运算后每一段的第1毫秒对应的数据; [0020] Step C: receiving the data and the data of Step A in Step B was subjected to correlation calculation, obtaining data corresponding to the first millisecond after the correlation calculation for each segment;

[0021] 步骤D:判断所述每一段的第1毫秒对应的数据中绝对值最大的数据是否小于0,若小于0则进行符号反相修正;否则执行步骤E ; [0021] Step D: determining whether the data corresponding to each segment in the first millisecond whether the maximum absolute value of data is less than 0, less than 0 if sign inversion correction is performed; if not, step E;

[0022] 步骤E:将L段1毫秒数据对应相加,将相加后得到的1毫秒数据输出。 [0022] Step E: L 1 millisecond segment data corresponding to the sum, 1 millisecond after the data obtained by adding the outputs.

[0023] 所述判断所述每一段的第1毫秒对应的数据中绝对值最大的数据是否小于0,若小于0则进行符号反相修正的步骤具体包括:将该段数据中的每一个数值乘-1。 [0023] The determination of each segment of the data corresponding to the first data millisecond maximum absolute value is less than 0, less than 0 if sign inversion correction step comprises: for each value of the data segment multiplied by -1.

[0024] 所述对FFT变换的结果进行差分相干累加的步骤具体包括: Step [0024] The result of the FFT transform performed on the coherent accumulation difference comprises:

[0025] 将第η次的正交分量、同相分量分别和第η-l次的正交分量、同相分量进行差分相干累加。 [0025] [eta] of the quadrature component times, respectively, and the quadrature component of η-l times, the coherent accumulation differential inphase phase component.

[0026] 所述根据差分相干累加的结果进行判决,若大于门限值则捕获卫星信号成功;否则捕获卫星信号失败的步骤之后还包括: [0026] The differential coherent accumulation based on the results of the judgment, if it is greater than the threshold satellite signal capture is successful; otherwise, after the step of capturing the satellite signal failure further comprises:

[0027] 若大于门限值则捕获卫星信号成功之后,将C/Α码的码相位和载波频率输出;相应地, [0027] If greater than the threshold after the successful acquisition of satellite signals, the code phase of the C / Α code and carrier frequency output; accordingly,

[0028] 若小于预设门限值则捕获信号失败之后,调整本地码的相位、载波频率,重新进行搜索。 [0028] Then, if capture is less than the predetermined threshold signal fails to adjust the phase of the local code, a carrier frequency, the search again.

[0029] 再一方面,本发明实施例提供了一种卫星导航信号的捕获装置,所述装置包括: [0029] In another aspect, the present invention provides a device for capturing satellite navigation signals, said apparatus comprising:

[0030] 获得模块,所述获得模块用于获得包含C/Α码的同相分量及正交分量; [0030] obtaining module, the obtaining module for obtaining the in-phase component and a quadrature component comprising a C / Α code;

[0031] 运算模块,所述运算模块用于将所述获得模块获得的C/Α码同相分量及正交分量分别和本地C/Α码进行相关运算; [0031] The calculation module, the arithmetic means for obtaining said module obtained C / Α code phase component and the quadrature component respectively and the local C / Α code correlation operation;

[0032] FFT变换模块,所述FFT变换模块用于对相关运算的结果进行FFT变换; [0032] FFT transformation module, the result of the FFT module for performing an FFT correlation calculation;

[0033] 差分相干累加模块,所述差分相干累加模块用于对所述FFT变换模块变换后的结果进行差分相干累加; [0033] differential coherent accumulation module, the means for differential coherent accumulation results of the FFT transform module transforms the differential coherent accumulation;

[0034] 判决模块,所述判决模块用于根据差分相干累加的结果进行判决,若大于门限值则捕获卫星信号成功;否则捕获卫星信号失败; [0034] The decision module, said decision module is used for the decision based on the results of the coherent accumulation difference, if the threshold value is greater than a satellite signal capture is successful; otherwise fails to capture the satellite signal;

[0035] 其中,所述运算模块具体包括: [0035] wherein said operation module comprises:

[0036] 分段单元,所述分段单元用于将2L毫秒的接收数据以2毫秒为单位进行分段;[0037] 添加单元,所述添加单元用于获得本地产生的L毫秒的复制码,在每一毫秒的复制码后添加1毫秒零; [0036] The segmentation unit, a segmentation unit for receiving the data 2L msec to 2 msec segment units; [0037] adding unit adding the replica code L millisecond unit for obtaining a locally generated after each addition of 1 millisecond replica code millisecond zero;

[0038] 获取单元,所述获取单元用于将所述分段单元中的接收数据和所述添加单元中获得的数据进行相关运算,获取相关运算后每一段的第1毫秒对应的数据; [0038] acquiring unit, the acquisition unit for receiving data and the addition unit in the first millisecond data corresponding to each piece of unit data obtained in the correlation operation, the correlation calculation segment acquisition;

[0039] 判断单元,所述判断单元用于判断所述获取单元获得的每一段的第1毫秒对应的数据中绝对值最大的数据是否小于0,若小于0则进行符号反相修正;否则执行第一输出单元; [0039] determination unit, a determination unit configured to determine whether the acquired data corresponding to each segment of the first unit obtains the absolute value of the largest millisecond data is less than 0, less than 0 if sign inversion correction is performed; if not a first output unit;

[0040] 第一输出单元,所述第一输出单元用于将L段1毫秒数据对应相加,将相加后得到的1晕秒数据输出。 [0040] The first output unit, the output unit for the first period L corresponding to 1 millisecond data are added, a halo second output data obtained after the addition.

[0041] 所述判断单元还包括:计算子单元,所述计算子单元用于将该段数据中的每一个数值乘-1。 [0041] The determination unit further comprises: calculating subunit, the subunit for calculating a value for each of the segment data by -1.

[0042] 所述差分相干累加模块具体用于将第η次的正交分量、同相分量分别和第η-l次的正交分量、同相分量进行差分相干累加。 [0042] The differential coherent accumulation module is configured to quadrature component of [eta] times, respectively, and the quadrature component of η-l times, the coherent accumulation differential inphase phase component.

[0043] 所述判决模块具体包括: [0043] The judging module comprises:

[0044] 判决单元,所述判决单元用于根据差分相干累加的结果进行判决,若大于门限值则表示捕获卫星信号成功;否则表示捕获卫星信号失败; [0044] The decision unit, the decision unit for the decision based on the results of the coherent accumulation difference, if the threshold value is greater than said satellite signal capture is successful; otherwise, it indicates a failure to capture the satellite signal;

[0045] 第二输出单元,所述第二输出单元用于将C/Α码的码相位和载波频率输出;调整单元,所述调整单元用于调整本地码的相位、载波频率。 [0045] The second output unit, the output unit for the second phase of the code C / Α code and carrier frequency output; adjusting means, the adjustment means for adjusting the phase of the local code and the carrier frequency.

[0046] 本发明实施例提供的技术方案的有益效果是: [0046] Advantageous effects of the technical solutions provided in the embodiments of the present invention is:

[0047] 通过增加C/Α码的同相分量及正交分量分别和本地C/Α码进行相关运算的时间,对相关运算的结果进行FFT变换,对FFT变换的结果进行了差分相干累加,并根据差分相干累加的结果进行判决的方法,解决了对于符号跳变率非常高的导航信号,不能进行长时间的积分累加的问题,并采用了差分相干累加的方法,提高了信噪比,实现了卫星信号的成功捕获。 [0047] and the local C / Α code by increasing C / Α code in-phase component and a quadrature component respectively time correlation calculation result of the correlation calculation performing an FFT on the result of the FFT transform performed differential coherent accumulation, and method of decision according to the results of the differential coherent accumulation to solve the symbol for the transition rate is very high navigation signals, the problem can not be long accumulation of points, and a method using a differential coherent accumulation to improve the signal to noise ratio and achieve the success of the satellite signal capture.

附图说明 BRIEF DESCRIPTION

[0048] 为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。 [0048] In order to more clearly illustrate the technical solutions in the embodiments or the prior art embodiment of the present invention, briefly introduced hereinafter, embodiments are described below in the accompanying drawings or described in the prior art needed to be used in describing the embodiments the drawings are only some embodiments of the present invention, those of ordinary skill in the art is concerned, without creative efforts, can derive from these drawings other drawings.

[0049] 图1是现有技术提供的一种卫星导航信号的捕获方法的示意图; [0049] FIG. 1 is a schematic diagram of a method for capturing satellite navigation signals provided by the prior art;

[0050] 图2是本发明实施例1提供的一种卫星导航信号的捕获方法的示意图; [0050] FIG. 2 is a schematic diagram of a method for capturing satellite navigation signals according to an embodiment of the present invention is provided;

[0051] 图3是本发明实施例1提供的一种卫星导航信号的捕获方法的流程图; [0051] FIG. 3 is a flowchart of a method to capture a satellite navigation signals according to an embodiment of the present invention is provided;

[0052] 图4是本发明实施例1提供的相关计算方法的示意图; [0052] FIG. 4 is a schematic diagram of a correlation calculation method according to an embodiment of the present invention;

[0053] 图5是本发明实施例1提供的相关计算方法的流程图; [0053] FIG. 5 is a flowchart showing a calculation method according to an embodiment of the present invention;

[0054] 图6是本发明实施例2提供的一种卫星导航信号的捕获装置的流程图。 [0054] FIG. 6 is a flowchart of a capturing device according to the second satellite navigation signal provided by the embodiment of the present invention.

具体实施方式 Detailed ways

[0055] 为使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明实施方式作进一步地详细描述。 [0055] To make the objectives, technical solutions, and advantages of the present invention will become apparent in conjunction with the accompanying drawings of the following embodiments of the present invention will be described in further detail.

[0056] 实施例1 [0056] Example 1

[0057] 参见图2和图3,本发明实施例提供了一种卫星导航信号捕获的方法,具体流程详见下文描述: [0057] Referring to FIGS. 2 and 3, the embodiment of the present invention provides a method of capturing the satellite navigation signals, the specific process detailed description:

[0058] 步骤101:将GPS接收机接收到的模拟信号进行下变频,得到中频信号。 [0058] Step 101: The GPS receiver receives the analog signal to downconvert the intermediate frequency signal obtained.

[0059] 其中,GPS接收机接收到的模拟信号包括:载波信号、电文、C/Α码。 [0059] wherein, GPS receiver receives the analog signal comprises: a carrier signal, the message, C / Α code. 例如:GPS接收机接收到的模拟信号为16MHz,经下变频处理,得到4MHz的中频信号。 For example: GPS receiver the received analog signal is 16MHz, downconverted to give intermediate frequency signal of 4MHz.

[0060] 步骤102:将步骤101得到的中频信号经过模/数转换器转化为中频数字信号。 [0060] Step 102: Step 101 the intermediate frequency signal obtained through the A / D converter into a digital IF signal.

[0061] 步骤103:以中频数字信号的频率为载波频率,将中频数字信号分别和本地载波的同相分量、正交分量相乘,剥离载波,并获得包含C/Α码的I路同相分量和Q路正交分量。 [0061] Step 103: The intermediate frequency digital signal to the carrier frequency, the phase component of intermediate digital signals and the local carrier, the quadrature component is multiplied, release carrier, and obtains the in-phase component I path comprising C / Α code and Q quadrature components.

[0062] 其中,中频数字信号和本地载波的同相分量SIN、正交分量COS相乘的目的是得到电文和C/Α码,剥离载波。 [0062] wherein, the digital IF signal and the local carrier wave in-phase component SIN, COS multiplying the quadrature component of the text object is to obtain and C / Α code, release carrier.

[0063] 步骤104:码NC0产生本地的C/Α码。 [0063] Step 104: generating a local code NC0 C / Α code.

[0064] 步骤105:将本地的C/Α码和步骤103中获得的C/Α码的I路同相分量及Q路正交分量分别进行相关运算。 [0064] Step 105: the I path of the local C / Α codes obtained in step 103 and C / Α code phase component and quadrature component Q correlation operations respectively.

[0065] 其中,采用相干累加的方法进行相关运算,例如:进行20毫秒的相干累加,将20毫秒分为20段,每段为1毫秒,在每段中将本地的C/Α码分别和步骤103中得到的C/Α码的I路同相分量和Q路正交分量对应相位的数据进行相加,即共得到20段1毫秒的数据。 [0065] wherein the method performs coherent accumulation of correlation calculation, for example: perform coherent accumulation of 20 ms, 20 ms is divided into 20 segments, each of 1 ms, C of each segment in the local / Α codes, respectively, and in step 103 the I obtained C / Α code in-phase component and Q the quadrature component corresponding to the phase data are added, a 20 ms data segments i.e. were obtained. 其中,本发明实施例以20毫秒为例进`行说明,具体实现时,本发明实施例对此不做限制。 Wherein the embodiments of the present invention to 20 milliseconds into `be described as an example, specific implementation, embodiments of the present invention is not limited in the embodiment.

[0066] 步骤106:对步骤105中相关运算的结果进行FFT变换,从时域变换到频域。 [0066] Step 106: In step 105 the result of the correlation calculation performing an FFT from the time domain to the frequency domain.

[0067] 步骤107:根据FFT变换的结果将第η次的正交分量、同相分量分别和第η_1次的正交分量、同相分量进行差分相干累加。 [0067] Step 107: The result of the FFT transform of the quadrature component η times, respectively, and the quadrature component of η_1 times, coherent accumulation differential inphase phase component.

[0068] 其中,即将第η次的Μ段20毫秒的正交分量和第η_1次的Μ段20毫秒的正交分量进行差分相干累加,将第η次的Μ段20晕秒的同相分量和第η-l次Μ段的20晕秒的同相分量进行差分相干累加,目的是为了消除噪声,增强信号,以提高信噪比,其中,η为捕获的次数。 [0068] wherein η is about twice of the quadrature component Μ section 20 milliseconds and Μ paragraph η_1 times 20 milliseconds quadrature component differential coherent accumulation, the first segment Μ η times halo-phase component 20 and the second halo-phase component 20 seconds of η-l times Μ differential coherent accumulation period, the purpose of eliminating noise, enhance signal to noise ratio, wherein, [eta] is the number of capture. 本发明实施例以Μ段20毫秒的数据为例进行说明,若Μ取值为5,则进行100毫秒的差分相干累加,具体实现时,本发明实施例对此不做限制。 In embodiments of the present invention 20 milliseconds Μ data segment as an example, if the value of Μ 5, 100 msec for the differential coherent accumulation, specific implementation, embodiments of the present invention is not limited in the embodiment.

[0069] 步骤108:将差分相干累加后的结果和预设门限值进行判决。 [0069] Step 108: The difference after coherent accumulation result and the preset threshold value for judgment.

[0070] 其中,具体包括:根据差分相干累加后的同相分量和正交分量得到|I| + |Q|或 [0070] which comprises: obtain the in-phase and quadrature components of the differentially coherent accumulation | I | + | Q | or

^I2+Q2,根据计算结果找到幅值最大的点IpQi和幅值次大的点I2、Q2,找到后计算 ^ I2 + Q2, find the point of maximum amplitude and the amplitude of the second largest IpQi point I2, Q2 according to the results, after finding calculation

(Ii I +1 Qi)/(I21 +1Q21) ^(I^+Q^/^+Q,2),将计算结果和预设门限值进行判决,若计 (Ii I +1 Qi) / (I21 + 1Q21) ^ (I ^ + Q ^ / ^ + Q, 2), the calculation result and the preset threshold value by the judgment, if the counter

算结果大于预设门限值则表示捕获卫星信号成功,执行步骤109 ;否则捕获信号失败,执行步骤110。 Greater than a predetermined threshold value calculation result indicates the successful acquisition of satellite signals, step 109; otherwise capturing signal fails, step 110 is executed.

[0071] 其中,本发明实施例设置的预设门限值为2.5,具体实现时,根据固定经验值或噪声大小的不同,预设门限值也不同,本发明实施例对此不做限制。 [0071] The preset threshold of the embodiment of the present invention is provided in Example 2.5, the specific implementation, depending on the experience or the fixed size of a noise, the preset threshold is different, embodiments are not limited in embodiments of the present invention .

[0072] 步骤109:将C/Α码的码相位和载波频率输出。 [0072] Step 109: the code phase C / Α code and carrier frequency output.

[0073] 步骤110:调整本地码的相位,重新执行步骤103-步骤108,直到捕获成功。 [0073] Step 110: adjusting the phase of the local code, perform steps steps 103- 108 until successful capture.

[0074] 其中,移动0.5个码相位,重新进行捕获,若还没有捕获成功再移动0.5个相位,可以移动1023/0.5 = 2046次,(其中,1023为C/Α码的码长)当搜索2046次后都没有捕获到信号,则,换一个载波频率即将本地载波频率移动±500Hz,可以正负加减10次,即共可以移动21次,重复执行上述过程,直到信号捕获成功。 [0074] wherein the mobile 0.5 code phases, re-captured, if not already captured successfully then move 0.5 phase, can be moved 1023 / 0.5 = 2046 times (where 1023 is the C / Α code length) When the search after 2046 times without captured signal, is, for a carrier frequency of the local carrier frequency shift is about ± 500Hz, subtraction can be plus or minus 10, i.e., can be moved a total of 21 times, the above-described procedure is repeatedly performed until a successful signal acquisition. 如果所有的码相位和载波频率全部搜索完毕仍然没有捕获到信号,则这个周期捕获信号失败。 If all the code phase and carrier frequency search is completed all still does not capture the signal, the signal fails to capture this cycle.

[0075] 其中,步骤105中的相关运算还可以采取其他的运算方式,参见图4和图5,详见下文描述: [0075] wherein the correlation calculation step 105 may also take other calculation method, see FIG. 4 and FIG. 5, the following detailed description:

[0076] 步骤201:将2L毫秒的接收数据以2毫秒为单位进行分段,分成L段。 [0076] Step 201: the data received 2L msec to 2 msec as a unit segment, divided into L segments.

[0077] 其中,以20毫秒的接收数据为例,即将其分成10段。 [0077] wherein, to receive data for example 20 ms, i.e. divided into 10 sections.

[0078] 步骤202:获得本地产生的L毫秒的复制码。 [0078] Step 202: obtaining L milliseconds locally generated replica code.

[0079] 步骤203:在每一毫秒的复制码后添加1毫秒零。 [0079] Step 203: Add 1 ms after each zero millisecond replica code.

[0080] 其中,通过补零器来添加1毫秒零,每一毫秒的复制码通过补零器补零后,即变成2毫秒数据,本地总共得到L段的2毫秒数据。 [0080] wherein, by adding one zero-padder for zero millisecond, every one millisecond after zero padding replica code by zero padding, i.e. data becomes 2 ms, 2 ms to give a total of the local data of the L segments.

[0081] 步骤204:将L段的2毫秒的接收数据和步骤203中得到的L段的2毫秒补零后 2 milliseconds later the stage zero-padded L 2 msec and the data receiving section 203 in Step L obtained: [0081] Step 204

的数据一一对应进行相关运算。 Correspondence data correlation operation.

[0082] 例如:L的取值为4,即1、2、3、4,第1段的2毫秒的接收数据和第1段的2毫秒补零后的数据进行相关运算•'第2段的2毫秒的接收数据和第2段的2毫秒补零后的数据进行相关运算;第3段的2毫秒的接收数据和第3段的2毫秒补零后的数据进行相关运算;第4段的2毫秒的接收数据和第4段的2毫秒补零后的数据进行相关运算 [0082] For example: L values ​​is 4, i.e. 1, 2, 2 msec received data segment 1 and data 2 ms zero padding paragraph 1 correlation calculation • 'paragraph 2 receiving data of 2 milliseconds and the data after 2 msec zero padding paragraph 2 performs a correlation operation; data after receiving the data 2 msec paragraph 3, and 2 ms zero padding paragraph 3 performs a correlation operation; paragraph 4 of 2 msec and the data receiving data after 2 msec zero padding paragraph 4 performs a correlation operation

[0083] 步骤205:获取相关运·算后每一段的第1毫秒对应的数据。 [0083] Step 205: acquiring the first 1 millisecond of each segment corresponding to the relevant data-count operation.

[0084] 即可以得到L段的第一毫秒对应的数据。 [0084] which can obtain data corresponding to the first L millisecond segments.

[0085] 步骤206:判断每段数据中绝对值最大的数据是否小于0,若小于0执行步骤207,进行符号反相修正;否则执行步骤208。 [0085] Step 206: determining whether the maximum absolute value of each piece of data in the data is less than 0, 0 if the step is less than 207, a sign inversion correction; otherwise, step 208 is executed.

[0086] 其中,每段数据中若绝对值最大的数据为负,则表示该段数据的符号为负;每段数据中若绝对值最大的数据为正,则表示该段数据的符号为正。 [0086] wherein each piece of data in the data if the maximum absolute value is negative, then the sign of the data segment is negative; each piece of data in the data if the maximum absolute value is positive, the sign of the data segment is represented as a positive . 例如第3段对应的数据为 For example, paragraph 3 of the corresponding data

3、-4,则绝对值最大的数据为-4,由于-4 < 0,则执行步骤207。 3, -4, data of the maximum absolute value of -4, since -4 <0, step 207 is executed.

[0087] 步骤207:进行符号反相修正,将该段数据中的每一个数值乘-1。 [0087] Step 207: perform sign inversion correction, the data in each segment value is multiplied by -1.

[0088] 将该段数据中的每一个数值乘-1的主要目的是消除符号跳变,例如:共有四段数据,每一段中有3个数据,第1段为1、2、3、10即符号为正,第2段为1、-2,3,20即符号为正,第3段为4、5、6、15即符号为正,第4段为4、-5、-6、-25即符号为负,即第1段数据、第2段数据和第3段数据之间不存在符号跳变,第3段和第4段数据之间存在符号跳变。 [0088] The data segment in each numerical main purpose is to eliminate the symbols by -1 hopping, for example: a total of four data, each segment has three data, 1,2,3,10 paragraph 1 i.e., the sign is positive, paragraph 2 to 1, i.e. -2,3,20 sign is positive, i.e., paragraph 3 of 4,5,6,15 sign is positive, paragraph 4 4, -5, -6, -25 i.e., the sign is negative, the symbol transition exists between the first data segment i.e., the second data segment and the third data segment, between paragraphs 3 and 4 of paragraph data symbol hopping. 即只需要将第4段数据中的每一个值乘-1,这样第4段数据的符号为正,因此消除了第3段和第4段数据之间的符号跳变。 I.e., only the data segments 4 in each value by -1, so that the symbol data paragraph 4 is positive, thus eliminating the symbol transition between paragraphs 3 and 4 data paragraph.

[0089] 步骤208:将L段1毫秒数据对应相加。 [0089] Step 208: the 1 millisecond period L corresponding to the sum data.

[0090] 即将第1段数据中的第1位数据、第2段数据中的第1位数据、第3段数据中的第1位数据、第4段数据中的第1位数据相加;同理将第1段数据中的第2位数据、第2段数据中的第2位数据、第3段数据中的第2位数据、第4段数据中的第2位数据相加,即增加了每一位的信号增益。 [0090] 1 bit data will be in the first data segment, the data segment in the second data bit 1, paragraph 3 bit data data 1, paragraph 4 bit data of the first data are added; Similarly to the first data segment in the first 2-bit data, the second data segment in the first 2-bit data, third data segment in the first 2-bit data, 2-bit data of the fourth data segment is added, i.e., increased signal gain of each bit.

[0091] 步骤209:将相加后得到的1毫秒数据输出。 [0091] Step 209: The obtained 1 millisecond after adding the data output.

[0092] 上述步骤相当于将相关积分时间延长至L毫秒,将L毫秒时间长的数据对应相位进行累加,变成了1毫秒的数据,这样增大了信号的增益,信号的增益为lOlgL。 [0092] This is equivalent to extend the integration time associated milliseconds to L, the length L millisecond time data corresponding to the accumulated phase, into a 1 millisecond data, this increases the gain signal, the gain signal is lOlgL.

[0093] 其中,接收机的各种损耗估计如下:系统噪声系数约2dB、数据边界未对齐约 [0093] wherein the receiver various losses estimated as follows: The system noise figure of about 2dB, about the data boundaries unaligned

0.9dB、PN码未完全对齐约2.5dB、多普勒频移带来的衰减为ldB、若进行2毫秒的相干累加,则信噪比变为2dB,减掉损耗,信噪比变为SNRl = -4.4dB(即,2-2-0.9-2.5-1 = -4.4)。 0.9dB, PN code is not perfectly aligned about 2.5dB, attenuation caused by the Doppler shift is ldB, if the coherent accumulation for 2 milliseconds, the signal to noise ratio becomes 2dB, lose loss, SNR becomes SNRl = -4.4dB (i.e., 2-2-0.9-2.5-1 = -4.4).

[0094] 其中,若采用步骤201-步骤209中的方法,先进行L段1毫秒相干累加,则信噪比变为lOlgL,减掉上述列出的损耗6.4dB,这时的信噪比变为SN& = 101gL-6.4dB。 [0094] wherein, if in step 209 the method uses step 201- first segment L 1 millisecond for coherent accumulation, the signal to noise ratio becomes lOlgL, minus 6.4 dB loss listed above, The SNR becomes to SN & = 101gL-6.4dB.

[0095] 其中,若在进行L段1毫秒相干累加的基础上再进行N段L毫秒差分相干累力口,则总的信噪比变为:SNRtotal = -6.4+101gL+101gN+Loss(-6.4+101gL),其中,Loss (-6.4+101gL)为差分相干累加的损耗,合理设置N和L的值,例如将L设置为20晕秒,N设置为4或5,就可以使信噪比提高至15dB左右,可以成功捕获卫星信号。 [0095] wherein, if the base 1 millisecond coherent accumulation is performed on the L section of the differential N then L ms period opening coherent tired force, then the total signal to noise ratio becomes: SNRtotal = -6.4 + 101gL + 101gN + Loss (- 6.4 + 101gL), wherein, loss (-6.4 + 101gL) differential coherent accumulation loss, a reasonable set of values ​​N and L, for example L is set to 20 seconds, halo, N is set to 4 or 5, it is possible to signal to noise ratio increased to about 15dB, can successfully capture the satellite signal.

[0096] 综上所述,通过上述方法解决了符号跳变率非常高的导航信号,由于其积分时间受到限制,不能进行长时间的积分累加的问题,该方案实现了对上述信号进行长时间积分累加,从而提高接收信号的信噪比,实现了对弱信号的成功捕获。 [0096] In summary, the method described above is solved by the symbol hopping rate is very high navigation signals, the integration time is limited because it can not be the problem of the long integration accumulation, the program to achieve the above-mentioned signals for a long time Points accumulated, thereby improving the signal to noise ratio of the received signal, to achieve a successful capture weak signals.

[0097] 实施例2 [0097] Example 2

[0098] 参见图6,本发明实施例提供了一种卫星导航信号捕获的装置,该捕获装置主要包括: [0098] Referring to Figure 6, embodiments of the present invention provides a device for satellite navigation signals captured, the capturing means includes:

[0099] 获得模块201,用于获得包含C/Α码的同相分量及正交分量; [0099] obtaining module 201, for obtaining the in-phase component and a quadrature component comprising a C / Α code;

[0100] 运算模块202,用于将获得模块201获得的C/Α码同相分量及正交分量分别和本地C/Α码进行相关运算; [0100] computing module 202, the module 201 for obtaining the obtained C / Α code-phase component and a quadrature component, respectively, and a local C / Α code correlation operation;

[0101] FFT变换模块203,用于对相关运算的结果进行FFT变换; [0101] FFT transformation module 203, a correlation calculation result of performing an FFT;

[0102] 差分相干累加模块204,用于对FFT变换模块203变换后的结果进行差分相干累加;具体用于将第η次的正交分量、同相分量分别和第η-l次的正交分量、同相分量进行差分相干累加。 [0102] differential coherent accumulation module 204, a result of the FFT transform module 203 transforms the differential coherent accumulation; specifically for the quadrature component of [eta] times, and the phase component of η-l times quadrature component respectively , differential coherent accumulation phase component.

[0103] 判决模块205,用于根据差分相干累加的结果进行判决,若大于门限值则捕获卫星信号成功;否则捕获卫星信号失败。 [0103] decision module 205, the result of the decision for the coherent accumulation difference, if the threshold value is greater than a satellite signal capture is successful; otherwise acquire satellite signals fails.

[0104] 其中,获得模块201具体包括: [0104] wherein, the obtaining module 201 specifically comprises:

[0105] 转化单元201Α,用于将GPS接收机接收到的模拟信号转化为中频数字信号; [0105] conversion unit 201Α, for the GPS receiver the received analog signal into a digital IF signal;

[0106] 获得单元201Β,用于根据中频数字信号、本地载波的同相分量及正交分量获得包含C/Α码的同相分量及正交分量。 [0106] obtaining unit 201Β, for obtaining the in-phase component and a quadrature component comprising a C / Α code according to digital IF signals, the in-phase component and a quadrature component of the local carrier.

[0107] 其中,运算模块202具体包括: [0107] wherein the operation module 202 comprises:

[0108] 分段单元202Α,用于将2L毫秒的接收数据以2毫秒为单位进行分段; [0108] segmentation unit 202Α, the received data for 2L msec to 2 msec segment units;

[0109] 添加单元202Β,用于获得本地产生的L毫秒的复制码,在每一毫秒的复制码后添加1毫秒零; [0109] adding unit 202Β, L milliseconds for obtaining a locally generated replica code, adding 1 ms after each zero millisecond replica code;

[0110] 获取单元202C,用于将分段单元202Α中的接收数据和添加单元202Β中获得的数据进行相关运算,获取相关运算后每一段的第1毫秒对应的数据; Data receiving and data adding unit 202Β [0110] acquiring unit 202C, the segmentation unit for 202Α obtained in the correlation calculation, obtaining data corresponding to the first millisecond after the correlation calculation for each segment;

[0111] 判断单元202D,用于判断获取单元202C获得的每一段的第1毫秒对应的数据中绝对值最大的数据是否小于0,若小于0则进行符号反相修正;否则执行第一输出单元202Ε ; Whether the corresponding data [0111] determination unit 202D, 202C obtaining unit configured to determine for each segment obtained by the first 1 millisecond maximum absolute value of data is less than 0, less than 0 if sign inversion correction is performed; if not a first output unit 202Ε;

[0112] 第一输出单元202Ε,用于将L段1毫秒数据对应相加,将相加后得到的1毫秒数据输出。 [0112] The first output unit 202Ε, 1 ms for the segment data corresponding to the L addition, 1 millisecond after the data obtained by adding the outputs. [0113] 其中,判断单元202D还包括: [0113] wherein the determination unit 202D further comprising:

[0114] 计算子单元,用于将该段数据中的每一个数值乘-1。 [0114] calculation sub-unit, a value for each of the segment data by -1.

[0115] 其中,判决模块205还包括: [0115] wherein the decision module 205 further comprises:

[0116] 判断单元205A,用于根据差分相干累加的结果进行判决,若大于门限值则表示捕获卫星信号成功;否则表示捕获卫星信号失败; [0116] determination unit 205A, in accordance with the judgment result of the difference for coherent accumulation, if greater than the threshold value, said satellite signal capture is successful; otherwise, it indicates a failure to capture the satellite signal;

[0117] 第二输出单元205B,用于当捕获卫星信号成功之后将C/Α码的码相位和载波频率输出; [0117] The second output unit 205B, when the acquisition of satellite signals for the success code phase C / Α code and carrier frequency output;

[0118] 调整单元205C,用于当捕获卫星信号失败之后调整本地码的相位、载波频率,重新进行搜索。 [0118] adjustment means 205C, when the acquisition of satellite signals for adjustment of the failure of the local code phase, carrier frequency, re-search.

[0119] 其中,移动0.5个码相位,重新进行捕获,若还没有捕获成功再移动0.5个相位,可以移动1023/0.5 = 2046次,(其中,1023为C/Α码的码长)当搜索2046次后都没有捕获到信号,则,换一个载波频率即将本地载波频率移动±500Hz,可以正负加减10次,即共可以移动21次,重复执行上述过程,直到信号捕获成功。 [0119] wherein the mobile 0.5 code phases, re-captured, if not already captured successfully then move 0.5 phase, can be moved 1023 / 0.5 = 2046 times (where 1023 is the C / Α code length) When the search after 2046 times without captured signal, is, for a carrier frequency of the local carrier frequency shift is about ± 500Hz, subtraction can be plus or minus 10, i.e., can be moved a total of 21 times, the above-described procedure is repeatedly performed until a successful signal acquisition. 如果所有的码相位和载波频率全部搜索完毕仍然没有捕获到信号,则这个周期捕获信号失败。 If all the code phase and carrier frequency search is completed all still does not capture the signal, the signal fails to capture this cycle.

[0120] 综上所述,通过上述装置解决了符号跳变率非常高的导航信号,由于其积分时间受到限制,不能进行长时间的积分累加的问题,该装置实现了对上述信号进行长时间积分累加,从而提高接收信号的信噪比,实现了对弱信号的成功捕获。 [0120] In summary, by the above-described means to solve a very high symbol rate hopping navigation signals, the integration time is limited because it can not be the problem of the long integration accumulation, which realizes a long time for the signal Points accumulated, thereby improving the signal to noise ratio of the received signal, to achieve a successful capture weak signals.

[0121] 以上仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。 [0121] the above embodiment is merely the preferred embodiment of the present invention, not intended to limit the present invention, any modifications within the spirit and principle of the present invention, the, equivalent replacement, or improvement, should be included in the present invention. within the scope of protection.

Claims (8)

1.一种卫星导航信号的捕获方法,其特征在于,所述方法包括: 获得包含c/Α码的同相分量及正交分量; 将获得的C/Α码同相分量及正交分量分别和本地C/Α码进行相关运算; 对相关运算的结果进行FFT变换; 对FFT变换的结果进行差分相干累加; 根据差分相干累加的结果进行判决,若大于门限值则捕获卫星信号成功;否则捕获卫星信号失败; 其中,所述将获得的C/Α码同相分量及正交分量分别和本地C/Α码进行相关运算的步骤具体包括: 步骤A:将2L毫秒的接收数据以2毫秒为单位进行分段; 步骤B:获得本地产生的L毫秒的复制码,在每一毫秒的复制码后添加1毫秒零; 步骤C:将步骤A中的接收数据和步骤B中获得的数据进行相关运算,获取相关运算后每一段的第1毫秒对应的数据; 步骤D:判断所述每一段的第1毫秒对应的数据中绝对值最大的数据是否小于0,若小于0 CLAIMS 1. A method for capturing satellite navigation signals, characterized in that, said method comprising: obtaining in-phase component and a quadrature component containing c / Α code; obtained C / Α code phase component and the quadrature component respectively and local C / Α correlation calculation code; result of performing an FFT correlation calculation; the results of the FFT differential coherent accumulation; performing judgment based on the result of the coherent accumulation difference, if the threshold value is greater than a satellite signal capture is successful; otherwise acquire satellites signal fail; wherein, the obtained C / Α code phase component and the quadrature component respectively and the local C / Α correlation calculation code comprises the step of: step a: receiving data to be 2L 2 msec milliseconds segment; step B: L msec obtained locally generated replica code, adding 1 ms after each zero millisecond replica code; step C: a step of receiving data and data obtained in step B of correlation calculation, after obtaining the first correlation operation of each section corresponding to 1 millisecond transactions; step D: a first data corresponding to each segment of the millisecond determining the maximum absolute value of the data is less than 0, less than 0 if 进行符号反相修正;否则执行步骤E ; 步骤E:将L段1毫秒数据对应相加,将相加后得到的1毫秒数据输出。 For inverting the sign correction; otherwise step E; Step E: L 1 millisecond segment data corresponding to the sum, 1 millisecond after the data obtained by adding the outputs.
2.如权利要求1所述·的方法,其特征在于,所述判断所述每一段的第1毫秒对应的数据中绝对值最大的数据是否小于0,若小于0则进行符号反相修正的步骤具体包括:将该段数据中的每一个数值乘-1。 · 2. The method of claim 1, wherein said determining whether data corresponding to the first millisecond of the maximum absolute value of each segment data is less than 0, less than 0 if inverting the sign correction is performed comprises the step of: each of the data segment value is multiplied by -1.
3.如权利要求1所述的方法,其特征在于,所述对FFT变换的结果进行差分相干累加的步骤具体包括: 将第η次的正交分量、同相分量分别和第η-l次的正交分量、同相分量进行差分相干累加。 3. The method according to claim 1, wherein the performing of the FFT result of the differential coherent accumulation step comprises: the first quadrature component [eta] times, and the in-phase component of the respective sub-η-l quadrature component, differential coherent accumulation phase component.
4.如权利要求1所述的方法,其特征在于,所述根据差分相干累加的结果进行判决,若大于门限值则捕获卫星信号成功;否则捕获卫星信号失败的步骤之后还包括: 若大于门限值则捕获卫星信号成功之后,将C/Α码的码相位和载波频率输出;相应地, 若小于预设门限值则捕获信号失败之后,调整本地码的相位、载波频率,重新进行搜索。 4. The method according to claim 1, characterized in that, for the decision based on the results of the coherent accumulation difference, if the threshold value is greater than a satellite signal capture is successful; otherwise, after the step of capturing the satellite signal failure further comprises: if more than after the capture threshold successful satellite signal, the code phase of the C / Α code and carrier frequency output; accordingly, after the failure of the signal, adjusting the phase of the local code, if the carrier frequency is less than the predetermined threshold captured, re search for.
5.一种卫星导航信号的捕获装置,其特征在于,所述装置包括: 获得模块,所述获得模块用于获得包含C/Α码的同相分量及正交分量; 运算模块,所述运算模块用于将所述获得模块获得的C/Α码同相分量及正交分量分别和本地C/Α码进行相关运算; FFT变换模块,所述FFT变换模块用于对相关运算的结果进行FFT变换; 差分相干累加模块,所述差分相干累加模块用于对所述FFT变换模块变换后的结果进行差分相干累加; 判决模块,所述判决模块用于根据差分相干累加的结果进行判决,若大于门限值则捕获卫星信号成功;否则捕获卫星信号失败; 其中,所述运算模块具体包括: 分段单元,所述分段单元用于将2L毫秒的接收数据以2毫秒为单位进行分段;添加单元,所述添加单元用于获得本地产生的L毫秒的复制码,在每一毫秒的复制码后添加1毫秒零; 获取单元, A satellite navigation signal capturing apparatus, wherein, said apparatus comprising: a obtaining module, the obtaining module for obtaining the in-phase component and a quadrature component comprising a C / Α code; calculating module, a calculation module the obtaining module for obtaining the C / Α code phase component and the quadrature component respectively and the local C / Α code correlation operation; FFT transformation module, the result of the FFT module for performing an FFT correlation calculation; differential coherent accumulation module, the means for differential coherent accumulation results of the FFT transform module transforms the differential coherent accumulation; decision module, said decision module is used for the decision based on the results of the coherent accumulation difference, if greater than a threshold value of the captured satellite signal is successful; otherwise fails to capture the satellite signal; wherein said operation module comprises: a dividing unit, the segment unit for the data received 2L msec to 2 milliseconds segmented; adding unit , the addition means for obtaining L milliseconds locally generated replica code, adding 1 ms after each zero millisecond replica code; obtaining unit, 述获取单元用于将所述分段单元中的接收数据和所述添加单元中获得的数据进行相关运算,获取相关运算后每一段的第1毫秒对应的数据; 判断单元,所述判断单元用于判断所述获取单元获得的每一段的第1毫秒对应的数据中绝对值最大的数据是否小于0,若小于0则进行符号反相修正;否则执行第一输出单元;第一输出单元,所述第一输出单元用于将L段1毫秒数据对应相加,将相加后得到的1毫秒数据输出。 Means for receiving said data acquisition unit and data obtained by adding the correlation calculation, obtaining data corresponding to the first millisecond after each segment of the correlation operation unit of the segment; determining means, said determining means with determining whether to acquire the first 1 millisecond of each segment corresponding to the data units obtained by the maximum absolute value of data is less than 0, less than 0 if sign inversion correction is performed; if not a first output unit; a first output unit, the said first output unit for the segment L 1 millisecond data corresponding to the sum, 1 millisecond after the data obtained by adding the outputs.
6.如权利要求5所述的装置,其特征在于,所述判断单元还包括: 计算子单元,所述计算子单元用于将该段数据中的每一个数值乘-1。 6. The apparatus as claimed in claim 5, characterized in that said determining means further comprises: calculation subunit, the subunit for calculating the value of each data segment by -1.
7.如权利要求5所述的装置,其特征在于,所述差分相干累加模块具体用于将第η次的正交分量、同相分量分别和第η-l次的正交分量、同相分量进行差分相干累加。 7. The apparatus according to claim 5, characterized in that the differential coherent accumulation module is configured to quadrature component of [eta] times, respectively in-phase component and quadrature component of η-l times, in-phase component differential coherent accumulation.
8.如权利要求5所述的装置,其特征在于,所述判决模块具体包括: 判决单元,所述判决单元用于根据差分相干累加的结果进行判决,若大于门限值则表示捕获卫星信号成功;否则表示捕获卫星信号失败; 第二输出单元,所述第二输出单元用于将C/Α码的码相位和载波频率输出; 调整单元,所述调整单元用于调整本地码的相位、载波频率。 8. The apparatus according to claim 5, wherein said decision module comprises: a decision unit, the decision unit for the decision based on the results of the coherent accumulation difference, if greater than the threshold value indicates acquisition of satellite signals successful; otherwise, it indicates a failure to capture the satellite signal; a second output unit, the output unit for the second phase of the code C / Α code and carrier frequency output; adjusting means, the adjustment means for adjusting the phase of the local code, the carrier frequency.
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