CN102176030B - Global positioning system (GPS)/global navigation satellite system (GLONASS) dual-system combination simulator and method - Google Patents
Global positioning system (GPS)/global navigation satellite system (GLONASS) dual-system combination simulator and method Download PDFInfo
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Abstract
The invention discloses a global positioning system (GPS)/global navigation satellite system (GLONASS) dual-system combination simulator and a GPS/GLONASS dual-system combination simulation method. Based on a hardware platform consisting of a digital signal processor (DSP) information processing module, a field programmable gate array (FPGA) signal processing module, two D/A conversion modules, an up-conversion module and a transmission antenna or output cable, a GPS satellite channel and a GLONASS satellite channel which are independent of each other are separated to realize GPS/GLONASS dual-system combination simulation. In the simulator and the simulation method, not only an independent GPS satellite signal and an independent GLONASS satellite signal can be simulated in an independent processing way, but also the coordinate system uniformization and time system synchronization of two systems can be realized, thereby effectively shortening a research and development cycle, reducing the receiver research and development cost and bringing convenience to the construction of a testing environment.
Description
Technical field
The present invention relates to the satellite navigation field, be specifically related to a kind of GPS and GLONASS dual system combined simulator and method.
Background technology
GNSS(Global Navigation Satellite System) i.e., " GLONASS (Global Navigation Satellite System) ", it is the general designation of satellite navigation system, comprised the GPS of the U.S., Muscovite GLONASS, the Compass (Big Dipper) of China, the Galileo system of European Union, available number of satellite will reach more than 100.With regard to present present situation, global navigation satellite system built and that put into operation mainly contains two, and one is the GPS Global Positioning System (GPS) of the U.S., and another is Muscovite GLONASS system.They can both provide the services such as accurate location for the unlimited multi-user in the global range round-the-clockly.GPS and GLONASS are two fully independently systems, and when normal operation, the two positioning performance that can provide is more or less the same.But there are its limitation in gps system and GLONASS system, for example normal operation number of satellite deficiency of weak output signal, satellite distribution inequality, GLONASS etc.Some limitation like this are so that GPS and GLONASS system when carrying out navigator fix as single means, and its application is very restricted.In engineering survey, especially in urban road is measured, owing to having high building, trees to block satellite-signal, and " multipath effect " is serious, measure with single GPS means, often can't positioning calculation because not receiving essential satellite number, perhaps owing to disturbing, the location survey precision can not meet the demands.So the GPS/GLONASS combined system is used and has just been arisen at the historic moment.The GPS/GLONASS combined system can overcome the limitation of single GPS and GLONASS system to a great extent, make the user can obtain more accurate, have more reliability and successional standard setting service, can bear the task that many single gps systems can not be finished, thereby, the GPS/GLONASS dual system has its advantage with respect to GPS and GLONASS single system, have a good application prospect.
In the exploitation of GPS/GLONASS dual system receiver, also to consider the application vector (such as underway car and boat, aerial aircraft, spacecraft, navigation etc.) of GPS/GLONASS dual system satellite navigation receiver.GPS/GLONASS receiver on the carrier is by receiving the GPS/GLONASS signal of multi-satellite, and Real-time Measuring gets the state parameter (moment three-dimensional position and three-dimensional velocity) of motion carrier.To receiver user's, particularly military demand user, such as the high dynamic subscriber of military aircraft, guided missile and spacecraft one class, the instrument that has test GPS/GLONASS receiver performance is very necessary.Because if directly use real high velocity environment to carry out actual measurement, cost can be very high, and be difficult for realizing.At this moment, just need to design a kind of GPS/GLONASS dual system combined simulator highly accurate GPS/GLONASS signal is provided.Although single GPS simulator and GLONASS simulator all are visible on the market, but because the difference of between GPS and two systems of GLONASS itself, as Aerospace Satellite is different, frequency of operation is different with working form, ephemeris parameter is different, time system is different, coordinate system is not equal, therefore for the design of GPS/GLONASS combination dual system simulator, key is to solve the problems such as coordinate system between GPS and GLONASS system, time, timing synchronization.
Summary of the invention
Technical matters to be solved by this invention provides a kind of GPS and GLONASS dual system combined simulator and method, it mainly overcomes difference between GPS and two systems of GLONASS by solving coordinate system, time system, timing synchronization problem between GPS and GLONASS system, thereby can simulate simultaneously a carrier received GPS and GLONASS satellite-signal under same space-time.
For addressing the above problem, the present invention is achieved through the following technical solutions:
A kind of GPS and GLONASS dual system combined simulator, mainly be made of host computer and analog hardware platform, described analog hardware platform comprises baseband signal processing module that DSP message processing module and FPGA signal processing module consist of, 2 D/A modular converters, up-converter module and emitting antennas or output cable; Wherein the DSP message processing module of baseband signal processing module links to each other with the FPGA signal processing module; Wherein be provided with GPS passage and GLONASS passage in the FPGA signal processing module, and the output terminal of above-mentioned two passages is connected with 1 D/A modular converter respectively; The output terminal of 2 D/A modular converters is connected on respectively be provided with in the same up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel; The output terminal of up-converter module links to each other with emitting antenna or output cable.
Host computer reads GPS ephemeris parameter, the GLONASS ephemeris parameter text that its inside prestores, and be set by the user movement locus and the system simulation time parameter of receiver, then the data packing is sent to the DSP message processing module by the FPGA signal processing module;
The DSP message processing module is considered as GPS simulated time T with the system simulation time
GPS, and extrapolate GLONASS simulated time T via the conversion formula between gps time system and GLONASS time system
GLONASS, simultaneously, the DSP message processing module calculates respectively navigation message, phase place and the frequency information of GPS according to the ephemeris parameter of receiver movement locus, different system and corresponding simulated time, and the navigation message of GLONASS, phase place and frequency information;
The FPGA signal processing module is deposited the result of calculation of DSP message processing module, and after the reset signal that receives opening flag position that the DSP message processing module sends and FPGA signal processing module, by synchronizing clock signals, start synchronously GPS passage and GLONASS passage in the FPGA signal processing module; After GPS passage and GLONASS passage are finished the simulation of carrier signal, pseudo-random code signal and navigation message of corresponding frequencies and modulation, multi-satellite signal and carried out numbers pile up, export to respectively corresponding D/A modular converter;
The conversion of 2 D/A modular converters is finished respectively the digital quantity of GPS and GLONASS baseband signal after the conversion of analog quantity, delivers to respectively in the up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel;
The intermediate-freuqncy signal that GPS frequency conversion channel in the up-converter module and GLONASS frequency conversion channel are sent the D/A modular converter here respectively is combined into one the tunnel after being converted to the nominal radiofrequency frequency of GPS and GLONASS, by emitting antenna or output cable output.
In the such scheme, store the conversion formula between gps time system and GLONASS time system in the DSP message processing module, namely
T
GLONASS=T
GPS+3h-t-ΔT
In the formula, T
GLONASSBe GLONASS simulated time, T
GPSBe the GPS simulated time, t is the UTC(Coordinated Universal Time(UTC)) the jump second time, Δ T is the time deviation of GLONASS and GPS; 3h is 3 hours preset parameter time.
In the such scheme, also be provided with a clock correction module in the DSP message processing module, this clock correction module at regular intervals interval of delta t is just transferred the clock count on the FPGA signal processing module, and the difference between comparison clock counting and the frequency of operation * Δ t, draw the leading or hysteresis clock number of local clock, and difference is compensated by frequency control word.
The span of above-mentioned Δ t is generally between 1ms～10ms.
A kind of GPS that realizes based on above-mentioned GPS and GLONASS dual system combined simulator and the analogy method of GLONASS dual system combined simulator comprise the steps:
1. host computer is mainly finished the setting of movement locus and the system simulation time parameter of GPS ephemeris parameter, GLONASS ephemeris parameter, receiver, then above-mentioned all supplemental characteristics are issued the FPGA signal processing module by serial ports, send to the DSP message processing module by the FPGA signal processing module again;
2. after the DSP message processing module detects the sign that host computer sends ED, the system simulation time is considered as GPS simulated time T
GPS, and according to receiver movement locus, GPS ephemeris parameter and GPS simulated time T
GPSCalculate navigation message, phase place and the frequency information of GPS;
3. according to the conversion formula between gps time system and GLONASS time system, simulated time is converted to the GLONASS time system from the gps time system, obtains GLONASS simulated time T
GLONASS
4. take into account GLONASS simulated time T according to receiver movement locus, GLONASS ephemeris parameter
GLONASSCalculate navigation message, phase place and the frequency information of GLONASS;
5. calculate finish after, the DSP message processing module with step 2. and result of calculation 4. deliver in the lump in the register of FPGA signal processing module and store;
6. the FPGA signal processing module receives opening flag position that the DSP message processing module sends and the reset signal of FPGA signal processing module, by synchronizing clock signals, starts synchronously GPS passage and GLONASS passage in the FPGA signal processing module;
7. after the GPS passage in the FPGA signal processing module and the GLONASS passage carrier signal of finishing corresponding frequencies generates, the simulation of pseudo-random code signal and navigation message and modulation, multi-satellite signal carry out numbers pile up, export to respectively corresponding D/A modular converter;
8. the conversion of 2 D/A modular converters finish respectively GPS and GLONASS baseband signal digital quantity after the conversion of analog quantity, deliver to respectively in the up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel;
9. the intermediate-freuqncy signal respectively the D/A modular converter sent here of GPS frequency conversion channel and GLONASS frequency conversion channel is combined into one the tunnel after being converted to the nominal radiofrequency frequency of GPS and GLONASS, by emitting antenna or output cable output.
The gps time system of above-mentioned steps described in 3. and the conversion formula between the GLONASS time system are
T
GLONASS=T
GPS+3h-t-ΔT
In the formula, T
GLONASSBe GLONASS simulated time, T
GPSBe the GPS simulated time, t is the UTC(Coordinated Universal Time(UTC)) the jump second time, Δ T is the time deviation of GLONASS and GPS; 3h is 3 hours preset parameter time.
Above-mentioned steps 6. and step also include the clock correction step between 7., namely interval of delta t is passed to the DSP message processing module with the clock count on the FPGA signal processing module at regular intervals, the DSP message processing module is by the difference between comparison clock counting and the frequency of operation * Δ t, draw the leading or hysteresis clock number of local clock, and difference is compensated by frequency control word.
The span of above-mentioned Δ t is between 1ms～10ms.
Compared with prior art, the invention provides a kind of GPS and GLONASS dual system combined simulator and method.On hardware, the present invention is on the basis of a cover DSP+FPGA+DA+RF platform, be separated out 2 relatively independent GPS and GLONASS satellite channel and realize the combine analog of GPS and GLONASS dual system, not only can effectively utilize each chip on the hardware platform like this, particularly the processing on FPGA signal processing module and the up-converter module is redundant, reduces hardware, reduces cost; Also can effectively reduce simultaneously the error that the individual difference of chip is brought, guarantee accurately to simulate gps signal and GLONASS signal under the true environment; On function, the present invention not only can realize the simulation of independent gps satellite signal and independent GLONASS satellite-signal by the independent processing mode of subchannel, and the coordinate system that can realize two systems is unified and time synchronous, thereby effectively shortened the R﹠D cycle, reduced the receiver R﹠D costs, made things convenient for test environment to make up.Radiofrequency signal by the designed GPS that goes out of the present invention and the output of GLONASS dual system combined simulator, can realize the dual system integrated positioning, and positioning result can be compared with the track set in the simulator, realize the closed loop indoor environment test of GPS/GLONASS bimodulus combination receiver, be used for receiver performance test, the research and development of high-end receiver.
Description of drawings
Fig. 1 is the principle schematic of a kind of GPS of the present invention and GLONASS dual system combined simulator.
Embodiment
A kind of GPS of the present invention and GLONASS dual system combined simulator are as shown in Figure 1, its hardware components mainly is made of host computer and analog hardware platform, and described analog hardware platform comprises baseband signal processing module that DSP message processing module and FPGA signal processing module consist of, 2 D/A modular converters, up-converter module and emitting antennas or output cable.Host computer links to each other with the FPGA signal processing module of baseband signal processing module through serial ports, and the FPGA signal processing module of baseband signal processing module is connected to up-converter module to emitting antenna or output cable through the D/A modular converter.The DSP message processing module of baseband signal processing module links to each other with the FPGA signal processing module.Wherein be provided with GPS passage and GLONASS passage in the FPGA signal processing module, and the output terminal of above-mentioned two passages is connected with 1 D/A modular converter respectively.The output terminal of 2 D/A modular converters is connected on respectively be provided with in the same up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel.The output terminal of up-converter module links to each other with emitting antenna or output cable.
Host computer reads GPS ephemeris parameter, the GLONASS ephemeris parameter text that its inside prestores, and be set by the user the parameters such as the movement locus of receiver and system simulation time, then the data packing is sent to the DSP message processing module by the FPGA signal processing module.In the preferred embodiment of the present invention, host computer finishes mainly that text parameter extraction, scene generate, the satellite channel state of simulation, satellite starry sky distribute, simulated time defines, receiver location and speed and analog position and receiver positioning result are compared.
DSP message processing module said system simulated time is considered as GPS simulated time T
GPS, and via the reckoning of the conversion formula between the gps time system that stores in the DSP message processing module and GLONASS time system GLONASS simulated time T
GLONASSConversion formula between above-mentioned gps time system and GLONASS time system is
T
GLONASS=T
GPS+3h-t-ΔT
In the formula, T
GLONASSBe GLONASS simulated time, T
GPSBe the GPS simulated time, t is the UTC(Coordinated Universal Time(UTC)) the jump second time, Δ T is the time deviation of GLONASS and GPS; 3h is 3 hours preset parameter time.
The DSP message processing module calculates respectively navigation message, phase place and the frequency information of GPS according to the ephemeris parameter of receiver movement locus, different system and corresponding simulated time, and navigation message, phase place and the frequency information of GLONASS.The DSP message processing module is finished most of work such as parameter initialization and control, calculating, specifically comprises: be extracted and encoded as navigation message according to ephemeris parameter; Set emulation movement locus and satellite constellation constantly according to the user, as seen whether prediction GPS or GLONASS satellite; For visible star, calculate corresponding emulation phase retardation and signal frequency constantly, and the text of all visible stars, phase information and frequency information are issued the FPGA signal processing module.The DSP message processing module is also set up the error model of all kinds of error sources in this process, according to all kinds of error sources, generates corresponding error simulate signal by error model.
In addition, in the preferred embodiment of the present invention, also be provided with a clock correction module in the DSP message processing module, this clock correction module at regular intervals interval of delta t is just transferred the clock count on the FPGA signal processing module, and the difference between comparison comparison clock counting and the frequency of operation * Δ t, draw the leading or hysteresis clock number of local clock, and difference is compensated by frequency control word.The span of above-mentioned Δ t is between 1ms～10ms.
The FPGA signal processing module is deposited the result of calculation of DSP message processing module, and after the reset signal that receives opening flag position that the DSP message processing module sends and FPGA signal processing module, by synchronizing clock signals, start synchronously GPS passage and GLONASS passage in the FPGA signal processing module; After DSP passage and GLONASS passage are finished the simulation of carrier signal, pseudo-random code signal and navigation message of corresponding frequencies and modulation, multi-satellite signal and carried out numbers pile up, export to respectively corresponding D/A modular converter.Specifically: the FPGA signal processing module is assigned to corresponding signal to visible star and generates passage according to the satellitosis of DSP message processing module transmission.Parameter according to the transmission of DSP message processing module, set original carrier phase place, code phase, the navigation message selected phase of each satellite, generate corresponding text, code, carrier signal according to frequency information again, and finish three's spread spectrum, modulation, obtain a GPS or GLONASS satellite-signal, it is synthetic that last a plurality of satellite-signal carries out the superposition numeral, just can export to the D/A modular converter of rear end.The signal of certain frequency of the present invention generates, and all adopts high accuracy number frequency synthesis (NCO) technology to carry out signal frequency and accurately simulates, output high accuracy number intermediate frequency Satellite Simulation signal.
The conversion of 2 D/A modular converters is finished respectively the digital quantity of GPS and GLONASS baseband signal after the conversion of analog quantity, delivers to respectively in the up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel.
The intermediate-freuqncy signal that GPS frequency conversion channel in the up-converter module and GLONASS frequency conversion channel are sent the D/A modular converter here respectively is combined into one the tunnel after being converted to the nominal radiofrequency frequency of GPS and GLONASS, by emitting antenna or output cable output.Wherein emitting antenna is L-band right-handed circular polarization omnidirectional antenna.
Utilize a kind of GPS that above-mentioned GPS and GLONASS dual system combined simulator realize and the analogy method of GLONASS dual system combined simulator, comprise the steps:
1. host computer is mainly finished movement locus and the isoparametric setting of system simulation time of GPS ephemeris parameter, GLONASS ephemeris parameter, receiver, then above-mentioned all supplemental characteristics are issued the FPGA signal processing module by serial ports, send to the DSP message processing module by the FPGA signal processing module again;
2. after the DSP message processing module detects the sign that host computer sends ED, the system simulation time is considered as GPS simulated time T
GPS, and according to receiver movement locus, GPS ephemeris parameter and GPS simulated time T
GPSCalculate navigation message, phase place and the frequency information of GPS;
3. according to the conversion formula between gps time system and GLONASS time system, simulated time is converted to the GLONASS time system from the gps time system, obtains GLONASS simulated time T
GLONASS
4. take into account GLONASS simulated time T according to receiver movement locus, GLONASS ephemeris parameter
GLONASSCalculate navigation message, phase place and the frequency information of GLONASS;
Above-mentioned gps time system and the conversion formula between the GLONASS time system are
T
GLONASS=T
GPS+3h-t-ΔT
In the formula, T
GLONASSBe GLONASS simulated time, T
GPSBe the GPS simulated time, t is the UTC(Coordinated Universal Time(UTC)) the jump second time, Δ T is the time deviation of GLONASS and GPS; 3h is 3 hours preset parameter time.
5. calculate finish after, the DSP message processing module with step 2. and result of calculation 4. deliver in the lump in the register of FPGA signal processing module and store;
6. the FPGA signal processing module receives opening flag position that the DSP message processing module sends and the reset signal of FPGA signal processing module, by synchronizing clock signals, starts synchronously GPS passage and GLONASS passage in the FPGA signal processing module;
7. interval of delta t is passed to the DSP message processing module with the clock count on the FPGA signal processing module at regular intervals, the DSP message processing module is by the difference between comparison clock counting and the frequency of operation * Δ t, draw the leading or hysteresis clock number of local clock, and difference is compensated by frequency control word.The span of described Δ t is between 1ms～10ms.
8. after the GPS passage in the FPGA signal processing module and GLONASS passage are finished the simulation of carrier signal, pseudo-random code signal and navigation message of corresponding frequencies and modulation, multi-satellite signal and carried out numbers pile up, export to respectively corresponding D/A modular converter;
9. the conversion of 2 D/A modular converters finish respectively GPS and GLONASS baseband signal digital quantity after the conversion of analog quantity, deliver to respectively in the up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel;
10. the intermediate-freuqncy signal respectively the D/A modular converter sent here of GPS frequency conversion channel and GLONASS frequency conversion channel is combined into one the tunnel after being converted to the nominal radiofrequency frequency of GPS and GLONASS, by emitting antenna or output cable output.
Claims (6)
1. a GPS and GLONASS dual system combined simulator mainly are made of host computer and analog hardware platform, it is characterized in that:
Described analog hardware platform comprises baseband signal processing module that DSP message processing module and FPGA signal processing module consist of, 2 D/A modular converters, up-converter module and emitting antennas or output cable; Wherein the DSP message processing module of baseband signal processing module links to each other with the FPGA signal processing module; Be provided with GPS passage and GLONASS passage in the FPGA signal processing module, and the output terminal of above-mentioned two passages is connected with 1 D/A modular converter respectively; The output terminal of 2 D/A modular converters is connected on respectively be provided with in the same up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel; The output terminal of up-converter module links to each other with emitting antenna or output cable;
Host computer reads GPS ephemeris parameter, the GLONASS ephemeris parameter text that its inside prestores, and be set by the user movement locus and the system simulation time parameter of receiver, then the data packing is sent to the DSP message processing module by the FPGA signal processing module;
The DSP message processing module is considered as GPS simulated time T with the system simulation time
GPS, and extrapolate GLONASS simulated time T via the conversion formula between gps time system and GLONASS time system
GLONASS, simultaneously, the DSP message processing module calculates respectively navigation message, phase place and the frequency information of GPS according to the ephemeris parameter of receiver movement locus, different system and corresponding simulated time, and navigation message, phase place and the frequency information of GLONASS; The conversion formula of above-mentioned gps time system and GLONASS time system is
T
GLONASS=T
GPS+3h-t-ΔT
In the formula, T
GLONASSBe GLONASS simulated time, T
GPSBe the GPS simulated time, t is jump second time Coordinated Universal Time(UTC), and Δ T is the time deviation of GLONASS and GPS; 3h is 3 hours preset parameter time;
The FPGA signal processing module is deposited the result of calculation of DSP message processing module, and after the reset signal that receives opening flag position that the DSP message processing module sends and FPGA signal processing module, by synchronizing clock signals, start synchronously GPS passage and GLONASS passage in the FPGA signal processing module; After GPS passage and GLONASS passage are finished the simulation of carrier signal, pseudo-random code signal and navigation message of corresponding frequencies and modulation, multi-satellite signal and carried out numbers pile up, export to respectively corresponding D/A modular converter;
The conversion of 2 D/A modular converters is finished respectively the digital quantity of GPS and GLONASS baseband signal after the conversion of analog quantity, delivers to respectively in the up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel;
The intermediate-freuqncy signal that GPS frequency conversion channel in the up-converter module and GLONASS frequency conversion channel are sent the D/A modular converter here respectively is combined into one the tunnel after being converted to the nominal radiofrequency frequency of GPS and GLONASS, by emitting antenna or output cable output.
2. a kind of GPS according to claim 1 and GLONASS dual system combined simulator, it is characterized in that, also be provided with a clock correction module in the DSP message processing module, this clock correction module at regular intervals interval of delta t is just transferred the clock count on the FPGA signal processing module, and the difference between comparison clock counting and the frequency of operation * Δ t, draw the leading or hysteresis clock number of local clock, and difference is compensated by frequency control word.
3. a kind of GPS according to claim 2 and GLONASS dual system combined simulator is characterized in that, the span of described Δ t is between 1ms～10ms.
4. the analogy method of described a kind of GPS and GLONASS dual system combined simulator according to claim 1 is characterized in that, comprises the steps:
1. host computer is mainly finished the setting of movement locus and the system simulation time parameter of GPS ephemeris parameter, GLONASS ephemeris parameter, receiver, then above-mentioned all supplemental characteristics are issued the FPGA signal processing module by serial ports, send to the DSP message processing module by the FPGA signal processing module again;
2. after the DSP message processing module detects the sign that host computer sends ED, the system simulation time is considered as GPS simulated time T
GPS, and according to receiver movement locus, GPS ephemeris parameter and GPS simulated time T
GPSCalculate navigation message, phase place and the frequency information of GPS;
3. according to the conversion formula between gps time system and GLONASS time system, simulated time is converted to the GLONASS time system from the gps time system, obtains GLONASS simulated time T
GLONASSConversion formula between above-mentioned gps time system and GLONASS time system is
T
GLONASS=T
GPS+3h-t-ΔT
In the formula, T
GLONASSBe GLONASS simulated time, T
GPSBe the GPS simulated time, t is jump second time Coordinated Universal Time(UTC), and Δ T is the time deviation of GLONASS and GPS; 3h is 3 hours preset parameter time;
4. take into account GLONASS simulated time T according to receiver movement locus, GLONASS ephemeris parameter
GLONASSCalculate navigation message, phase place and the frequency information of GLONASS;
5. calculate finish after, the DSP message processing module with step 2. and result of calculation 4. deliver in the lump in the register of FPGA signal processing module and store;
6. the FPGA signal processing module receives opening flag position that the DSP message processing module sends and the reset signal of FPGA signal processing module, by synchronizing clock signals, starts synchronously GPS passage and GLONASS passage in the FPGA signal processing module;
7. after the GPS passage in the FPGA signal processing module and GLONASS passage are finished the simulation of carrier signal, pseudo-random code signal and navigation message of corresponding frequencies and modulation, multi-satellite signal and carried out numbers pile up, export to respectively corresponding D/A modular converter;
8. the conversion of 2 D/A modular converters finish respectively GPS and GLONASS baseband signal digital quantity after the conversion of analog quantity, deliver to respectively in the up-converter module 2 independently on GPS frequency conversion channel and the GLONASS frequency conversion channel;
9. the intermediate-freuqncy signal respectively the D/A modular converter sent here of GPS frequency conversion channel and GLONASS frequency conversion channel is combined into one the tunnel after being converted to the nominal radiofrequency frequency of GPS and GLONASS, by emitting antenna or output cable output.
5. the analogy method of a kind of GPS according to claim 4 and GLONASS dual system combined simulator, it is characterized in that, described step 6. and step also include the clock correction step between 7., namely interval of delta t is passed to the DSP message processing module with the clock count on the FPGA signal processing module at regular intervals, the DSP message processing module is by the difference between comparison clock counting and the frequency of operation * Δ t, draw the leading or hysteresis clock number of local clock, and difference is compensated by frequency control word.
6. the analogy method of a kind of GPS according to claim 5 and GLONASS dual system combined simulator is characterized in that, the span of described Δ t is between 1ms～10ms.
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| CN104333697A (en) * | 2014-11-21 | 2015-02-04 | 成都光大灵曦科技发展股份有限公司 | Instant dynamic signal collecting and locating module |
| CN105759287A (en) * | 2016-04-22 | 2016-07-13 | 上海资誉网络科技有限公司 | GPS equipment test method and apparatus thereof |
| CN106526624B (en) * | 2017-01-18 | 2023-08-15 | 桂林电子科技大学 | Satellite navigation signal simulator and simulation method thereof |
| CN106950580A (en) * | 2017-04-11 | 2017-07-14 | 深圳航天科技创新研究院 | A kind of satellite navigation message generates system and method |
| CN109245637A (en) * | 2018-11-16 | 2019-01-18 | 庸博（厦门）电气技术有限公司 | Servo-driver arbitrarily divides output method and servo-driver |
| CN110971489A (en) * | 2019-12-04 | 2020-04-07 | 盛科网络（苏州）有限公司 | Simulation test method and device for variable deflection based on simulation clock generator |
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| FR2819356B1 (en) * | 2001-01-05 | 2004-06-04 | Thomson Csf | METHOD AND DEVICE FOR COMPENSATING MEASUREMENT ERRORS DUE TO A DERIVATIVE OF A REFERENCE CLOCK |
| JP5165846B2 (en) * | 2006-01-16 | 2013-03-21 | 古野電気株式会社 | Positioning arithmetic unit and ionospheric delay calculation method |
| EP2202532B1 (en) * | 2006-05-30 | 2011-12-21 | Nokia Corporation | Supporting a relative positioning |
| CN101839985A (en) * | 2010-04-27 | 2010-09-22 | 东南大学 | Special receiver for multi-constellation integrated CORS (Continuously Operating Reference Station) and working method thereof |
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