CN102608626A - High-sensitivity satellite navigation signal capturing method and system - Google Patents
High-sensitivity satellite navigation signal capturing method and system Download PDFInfo
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Abstract
The invention discloses a high-sensitivity satellite navigation signal capturing method and a system. The system comprises a digital down-conversion module, an average sampling and block accumulation module, an FFT (fast Fourier transform) module, a circumference shifting module, a local PRN (pseudo random noise) code FFT conjugate memory, a complex multiplier module, an IFFT (inverse fast Fourier transform) module, a differential coherence integration module, a peak detection module and a sequential control module. The digital down-conversion module realizes digital down-conversion operation for satellite digital intermediate frequency signals; the average sampling and block accumulation module averagely samples satellite data and completes a block accumulation function; the FFT module searches code phase frequency domains; the circumference shifting module utilizes Doppler circumference shifting search to replace frequency compensation; the local PRN code FFT conjugate memory stores a local PRN code FFT conjugate result; the complex multiplier module realizes signal de-spreading; the IFFT module calculates different code phase coherence results; the differential coherence integration module accumulates differential coherence energy of de-spread satellite signals; the peak detection module realizes signal capturing output; and the sequential control module controls timing sequence of the various modules of the system. Weak signal capturing speed and sensitivity of a satellite navigation receiver are improved, and parameters can be configured flexibly.
Description
Technical field
The present invention relates to satellite navigation signals and catch research field, particularly a kind of high sensitivity satellite navigation signals catching method and system.
Background technology
GPS (Global Positioning System; GPS) be the global navigation satellite positioning system of the seventies in 20th century by U.S. land, sea, and air joint research and development on the basis of Navy, it is made up of space segment, Ground Control section and user segment three parts.Gps system also obtains widespread use at civil area, has developed into the international new high-tech industry of multi-field, multi-mode, multi-usage, multi-model.GPS System in USA is the satellite navigation and the positioning system of global widespread use.At present, can get into " Galileo " system in the Muscovite GLONASS of having respectively of competition field system, Europe and the Big Dipper (COMPASS) system of China with gps system.
The course of work of satellite navigation receiver is: the radiofrequency signal of satellites transmits (RF) receives through antenna, through a passive band-pass filter, to reduce to be with outer Radio frequency interference (RFI); Then amplify in advance, radiofrequency signal is down-converted to intermediate frequency (IF), uses modulus (A/D) transducer to (IF) signal sampling and digitizing again; Obtain digital medium-frequency signal (or digital baseband signal); Send into digital baseband processor (Digital Base-bandProcessor) again and handle, mainly be to signal catch, tracking, demodulation, remake navigation calculation; Its computation of pseudoranges etc., digital baseband processor are the cores of satellite signal receiver.
Wherein digital baseband signal is handled; At first to carry out catching of signal, its objective is and confirm that a satellite is whether in the visible range of receiver, if satellite is visible; Acquisition procedure will be accomplished catching of two parameters: code phase and carrier frequency, this is a two-dimensional search process in fact.Satellite signal acquisition is exactly on frequency and PRN sign indicating number direction, to carry out two-dimensional search to obtain the rough carrier frequency and the process of code phase.Catching is key components in the satellite signal receiver.
Method for acquiring pseudo code commonly used at present mainly contains transmitted reference signal method, sequential correlation method, matched filter method, sliding correlation method etc.The transmitted reference signal method is exactly having modulated the spread-spectrum signal of data and not had the data signal transmission of data-modulated to go out; Directly carry out despreading at receiving end with these two parts; This method is insensitive to the influence of Doppler shift, but the anti-interference of system and very poor to noise inhibiting ability.Sequential correlation method is a kind of quick capturing method that can reduce the long code capture time, but it could inject shift register after will detecting external PRN sign indicating number earlier, and this point is difficulty relatively.Matched filter method advantage is real-time, can realize fast synchronously.But the matched filter hardware under existing process conditions for long code is caught is fast realized relatively difficulty.
In various spread spectrum systems, sliding correlation method uses the most extensive.Because this method realizes simple, and without any need for prior imformation.Sliding correlation method mainly comprises time domain sliding correlation method and frequency domain sliding correlation method.The time domain sliding correlation method adopts reception signal and local signal to carry out multistage correlation integral in time domain, and through multistage correlation integral, signal intensity is increased dramatically, thereby obtains correlation peak.This algorithm is realized fairly simple, but acquisition procedure is consuming time longer.The typical case of frequency domain sliding correlation method representative is that Vanne etc. proposes the PRN code capture method based on fast Fourier transform (FFT).This algorithm utilizes twice FFT and an inverse Fourier transform (IFFT) computing to calculate the correlation peak that receives signal and reference signal, thus definite Doppler frequency deviation and PRN code phase.The FFT computing that this algorithm will be counted is greatly especially counted when not being 2 power power, and operand is bigger, and system hardware resources is had relatively high expectations.
The navigation signal reception technique nowadays application demand under serious signal dropout environment such as indoor, built-up avenue and parking lot is more and more.Most user distributions of using hand-held positioning equipment are in the intensive urban area of high building; Need be between indoor, high building, accomplish the location in the feeble signal environment such as underground parking, overpass; In the control of city suburbs and Train Location was used, owing to there are barriers such as massif, building, trees, tunnel, satellite navigation signals is blocked, multipath effect etc. influenced; Signal is very faint, and decay is serious.These have brought challenge all for the satellite-signal reception technique.Common receiver is owing to the restriction of sensitivity can't be used under these conditions.For the normal satellite navigation signals that receives under weak signal conditions, receiver need increase signal energy and add up the time, improves signal to noise ratio (S/N ratio).Improving the signal to noise ratio (S/N ratio) of correlator output, is to realize the synchronous unique channel of feeble signal.This means, not only need long-time integration and frequency offset estimating more accurately, and need to increase the scale of hardware correlator.Existing many integration methods all can unify to be the combining of two kinds of methods of coherent integration and non-coherent integration, and difference is the number of times of the time span and the non-coherent integration of coherent integration.
The coherent integration time is long more, and coherent gain is big more, but coherent integration length neither be unlimited, and it can receive the restriction of Doppler shift, navigation data bit width and calculated amount etc.Another problem of long-time coherent integration is that integration accumulation process process possibly exist the problem of crossing over the navigation message data bit.If data bit generation saltus step in integral time will cause the counteracting of the data message of handling, the coherent integration value reduces on the contrary.Non-coherent integration does not receive the influence of symbol saltus step and carrier doppler, can on a plurality of navigation message data bit, carry out energy accumulation.But the length of non-coherent integration receives yard Doppler's restriction, and along with the noncoherent accumulation number of times increases, the DeGrain that energy increases.
Summary of the invention
The shortcoming that fundamental purpose of the present invention is to overcome existing satellite-signal reception and treatment technology is with not enough; A kind of high sensitivity satellite navigation signals catching method is provided; This method is to " Big Dipper " of GPS of USA and China (COMPASS) two systems, can realize catching fast of weak satellite signal under the different scenes.
One object of the present invention realizes through following technical scheme: a kind of high sensitivity satellite navigation signals catching method may further comprise the steps:
(1) according to current trapped state, the satellite digital intermediate-freuqncy signal of request corresponding different time length of input and starting point;
(2) signal to input carries out Digital Down Convert, average sample and FFT operation, obtains the satellite frequency-region signal of zero intermediate frequency, low sampling rate;
(3) get into the frequency search state; Carrying out frequency domain correlation, differential coherence integration and peak value for the 1st starting point partial data section of input detects; And carry out frequency compensation through circular shifting search; Detect and record peak-peak and the corresponding circular shifting n that counts, and the adjustment local carrier frequency is for considering the frequency of Doppler shift;
(4) get into the starting point search condition; Carrying out frequency domain correlation, differential coherence integration and peak value for other starting point partial data sections except that the 1st starting point detects; Detect and also to write down the peak value that all starting point data groups obtain, peak-peak corresponding optimized start point sequence number k;
(5) get into normal trapped state; Import the total data section of k starting point and carry out frequency domain correlation, differential coherence integration and peak value detection; Peak value that obtains and detection threshold are relatively; If greater than detection threshold, acquisition success is described, output peak-peak and corresponding code phase and carrier frequency thereof; Otherwise catch failure.
The present invention also provides a kind of capture systems based on above-mentioned high sensitivity satellite navigation signals catching method.This system comprises:
Digital Down Converter Module is used for the satellite if signal sampling data of input are carried out the Digital Down Convert operation, obtains the satellite sampled data of zero intermediate frequency;
Average sample and piece accumulator module link to each other with described Digital Down Converter Module, are used for the zero intermediate frequency satellite-signal after the down coversion is averaged sampling and the piece operation that adds up the zero intermediate frequency satellite-signal data of acquisition low sampling rate;
The FFT module links to each other with described average sample and piece accumulator module, and satellite-signal is carried out Fast Fourier Transform (FFT), carries out the relevant search of code phase frequency domain;
The circular shifting module links to each other with described FFT module, and the result carries out Doppler's circular shifting to the FFT of satellite-signal output, realizes the search to Doppler shift;
The complex multiplier module links to each other with described circular shifting module, is used for the satellite-signal despreading of multiplying each other;
Local PRN sign indicating number FFT conjugation storer links to each other with described complex multiplier module, is used to store the result who gets conjugation behind the local PRN sign indicating number FFT;
The IFFT module links to each other with described complex multiplier module, is used for obtaining the correlated results of different code phases to taking advantage of the result to carry out reverse Fast Fourier Transform (FFT) again;
The differential coherence integration module links to each other with described IFFT module, is used for correlated results to different code phases and carries out the difference correlation energy and add up;
Peak detection block links to each other with described differential coherence integration module, is used for the correlation energy peak value that adds up is detected, and realizes the output of satellite signal acquisition and Doppler shift and code phase;
Time-sequence control module; Link to each other with peak detection block with described Digital Down Converter Module, average sample and piece accumulator module, FFT module, circular shifting module, local PRN sign indicating number FFT conjugation storer, complex multiplier module, IFFT module, differential coherence integration module; Time-sequence control module is based on catches flow process and utilizes state machine to realize; In the controlled variable of different state output disparate modules, realize duty control to whole system operation flow process and each module.
Said Digital Down Converter Module comprises: Direct Digital Frequency Synthesizers, link to each other with the circular shifting module, and the sine and the cosine carrier signal that are used for producing certain frequency according to frequency control are as local carrier; Digital mixer links to each other with said Direct Digital Frequency Synthesizers, is used to realize the local IF carrier that produces and the satellite if sampling data mixing of input.
Further; Said digital mixer is according to in-phase component (In-phase component; The I branch road) and quadrature component (Quadrature component, Q branch road) be divided into I frequency mixer and Q frequency mixer, I frequency mixer and Q frequency mixer respectively with the satellite if sampling data mixing of outside input.
Said average sample and piece accumulator module comprise:
Data accumulator links to each other with described digital mixer, is used for adding up to the input data;
2
NAddress generator links to each other with described data accumulator, produces 2
NIndividual address supplies the sampled data storer to use;
The sampled data storer is with described data accumulator, 2
NAddress generator links to each other with the FFT module, is used to store the satellite data after average sample and piece add up;
Data output switch; Link to each other with the sampled data storer with described data accumulator; Be used for adding up when operation carrying out piece, the last one-period data accumulated that the sampled data storer is read in control outputs in the data accumulator and adds up with current zero intermediate frequency signals data.
Said circular shifting module comprises:
FFT real part storer links to each other with described FFT module, is used to store the real part data of FFT output;
FFT imaginary part storer links to each other with described FFT module, is used to store the imaginary data of FFT output;
The circular shifting address generator links to each other with FFT imaginary part storer with described FFT real part storer, is used for counting according to displacement producing 2 of different starting points
NIndividual address.
Said differential coherence integration module comprises:
The differential coherence processing module links to each other with said IFFT module, is used for relevant result is carried out the differential coherence operation;
Relevant real part storer as a result; Link to each other with said differential coherence processing module; Be used to store relevant result's real part data, these storage data are read in the differential coherence processing module at next differential coherence integration period to multiply each other with the relevant execution of real part as a result of next cycle;
Relevant imaginary part storer as a result; Link to each other with said differential coherence processing module; Be used to store relevant result's imaginary data, these storage data are read in the differential coherence processing module at next differential coherence integration period to multiply each other with the relevant execution of imaginary part as a result of next cycle;
The differential coherence result memory; Link to each other with peak detection block with said differential coherence processing module; Be used for storage and send the differential coherence result data, the storage data are read in the differential coherence processing module differential coherence result with next cycle at next differential coherence integration period and carry out and add up.
The present invention compared with prior art has following advantage and beneficial effect:
1, the present invention can realize catching fast of weak satellite signal under the different scenes, has the advantages that operation time is short, acquisition speed is fast.Piece accumulative frequency, differential coherence integral number of times and acquisition threshold can be provided with according to scene or detected Signal-to-Noise flexibly among the present invention, improve acquisition speed and sensitivity, have embodied the configuration flexibility of technical scheme of the present invention.Strong or for acquisition sensitivity under the less demanding situation at signal; The correlated results of the different code phases that can be directly obtain IFFT is directly inputted to peak detection block; Directly judge corresponding code phase information and frequency information, this processing has improved catches treatment effeciency.
2, the trapped state among the present invention comprises frequency search state, starting point search condition and normal trapped state.Wherein, what the frequency search state read in is the 1st starting point data group of short period length, and purpose is to obtain Doppler shift through the circular shifting search.Than confirming Doppler shift with the partial data section, this method has reduced calculated amount.What the starting point search condition read in is other starting point data groups except that the 1st starting point data group of short period length, and purpose is to select only starting point, makes the point after the average sample can embody real signal well.Than confirming only starting point with the partial data section, this method has reduced calculated amount.What normal trapped state was read in is the k starting point data group of complete length, and behind the frequency search state, local carrier frequency has been adjusted into the IF carrier frequency behind the consideration Doppler shift.The data of reading in complete length this moment are caught, and help improving the signal to noise ratio (S/N ratio) of lock-on signal.
3, among the present invention; The thought that has combined the piece stack in the average sample stage; The data of the L millisecond (ms) of input long (L＜20) are divided into the data block of L 1ms and superpose according to constant time range is corresponding; Carry out frequency domain correlation through the FFT module again, can make the FFT/IFFT calculated amount reduce L number of times doubly like this, improved operation efficiency.
4, among the present invention; The target of frequency and starting point search is in order to seek Doppler shift and suitable data starting point; When peak value detects, only need seek the sequence number that peak-peak and the corresponding circular shifting of output count with the starting point data group gets final product; There is not the threshold setting problem, simplified operation.
Description of drawings
Fig. 1 is the basic composition block diagram of system of the present invention;
Fig. 2 is the composition synoptic diagram of Digital Down Converter Module in the system of the present invention;
Fig. 3 is the composition synoptic diagram of average sample and piece accumulator module in the system of the present invention;
Fig. 4 is the composition synoptic diagram of circular shifting module in the system of the present invention;
Fig. 5 is the composition synoptic diagram of differential coherence integration module in the system of the present invention;
Fig. 6 is the schematic flow sheet of the inventive method;
Fig. 7 is the treatment scheme synoptic diagram of signal acquisition system when practical application in the embodiment of the invention.
Embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is described in further detail, but embodiment of the present invention is not limited thereto.
Embodiment 1
As shown in Figure 1; A kind of high sensitivity satellite navigation signals capture systems; Mainly comprise time-sequence control module, Digital Down Converter Module, average sample and piece accumulator module, FFT module, circular shifting module, local PRN sign indicating number FFT conjugation storer, IFFT module, complex multiplier module, differential coherence integration module and peak detection block, wherein:
Digital Down Converter Module is used for the satellite if signal sampling data of input are carried out the Digital Down Convert operation, obtains the satellite sampled data of zero intermediate frequency, and these data are input in average sample and the piece accumulator module and handle;
Average sample and piece accumulator module link to each other with described Digital Down Converter Module, are used for the zero intermediate frequency satellite-signal after the down coversion is averaged sampling and the piece operation that adds up the zero intermediate frequency satellite-signal data of acquisition low sampling rate;
The FFT module links to each other with average sample and piece accumulator module, is used for satellite-signal is carried out Fast Fourier Transform (FFT), is used for satellite-signal is carried out the relevant search of code phase frequency domain, has improved the speed of search greatly than traditional time domain serial search mode;
The circular shifting module links to each other with the FFT module, and the result carries out Doppler's circular shifting to the FFT of satellite-signal output, realizes the search to Doppler shift;
The complex multiplier module links to each other with the circular shifting module, is used for the satellite-signal despreading of multiplying each other;
Local PRN sign indicating number FFT conjugation storer links to each other with described complex multiplier module, is used to store the result who gets conjugation behind the local PRN sign indicating number FFT;
The IFFT module links to each other with the complex multiplier module, is used for obtaining the correlated results of different code phases to taking advantage of the result to carry out reverse fast Fourier computing again;
The differential coherence integration module links to each other with the IFFT module, is used for correlated results to different code phases and carries out the difference correlation energy and add up;
Peak detection block links to each other with the differential coherence integration module, is used for the correlation energy peak value that adds up is detected, and realizes the output of satellite signal acquisition and Doppler shift and code phase;
Time-sequence control module; Link to each other with peak detection block with Digital Down Converter Module, average sample and piece accumulator module, FFT module, circular shifting module, local PRN sign indicating number FFT conjugation storer, complex multiplier module, IFFT module, differential coherence integration module; Utilize state machine to realize based on catching flow process; In the controlled variable of different state output disparate modules, realize duty control to whole system operation flow process and each module.Wherein controlled variable comprises each module enable signal, reset signal, address control signal, circular shifting parameter signal etc.
As shown in Figure 2, this Digital Down Converter Module mainly comprises Direct Digital Frequency Synthesizers and digital mixer, wherein:
Direct Digital Frequency Synthesizers; Link to each other with the circular shifting module, the sine and the cosine carrier signal that are used for producing certain frequency according to frequency control are as local carrier, and the IF carrier frequency of exporting in this enforcement sample is 4.092MHz; Frequency resolution is 0.1Hz, and the output bit wide is 4bit; Certainly, also can adopt different IF-FREs among other embodiment;
Digital mixer links to each other with Direct Digital Frequency Synthesizers, is used to realize local IF carrier that produces and the mixing of input satellite if sampling data.Digital mixer is divided into I frequency mixer and Q frequency mixer according to in-phase component and quadrature component, I frequency mixer and Q frequency mixer respectively with the satellite if sampling data mixing of outside input.In this enforcement sample, the satellite digital intermediate-freuqncy signal of outside input is the 2bit sampling, can utilize shirtsleeve operations realizations such as addition and negate with the mixing of local carrier signal, avoids the use of the extra hardware expense of multiplier;
As shown in Figure 3, this average sample and piece accumulator module mainly comprise data accumulator, 2
NAddress generator, sampled data storer and data output switch, wherein:
Data accumulator links to each other with digital mixer, is used for realizing the function that average sample and piece add up to importing adding up of data; In this enforcement sample, SF is 6.144MHz, and the accumulative frequency of the average sample of employing is 6 times, and the number of times of average sample can be confirmed by the external parameter input;
2
NAddress generator links to each other with data accumulator, produces 2
NIndividual address supplies the sampled data storer to use;
The sampled data storer is RAM in the present embodiment, with data accumulator, 2
NAddress generator links to each other with the FFT module, is used to store the satellite data after average sample and piece add up;
Data output switch; Link to each other with the sampled data storer with data accumulator; When carrying out the piece accumulation process, the last one-period data accumulated that the sampled data storer is read in control outputs in the data accumulator and adds up with current zero intermediate frequency signals data.
As shown in Figure 4, the circular shifting module mainly comprises FFT real part storer, FFT imaginary part storer and circular shifting address generator, wherein:
FFT real part storer links to each other with the FFT module, is single port RAM in the present embodiment, and is set to the pattern of readfirst.This pattern is when RAM writes new data, and the legacy data of data-out port output corresponding address has been practiced thrift the clock period, is used to store the real part data of FFT output;
FFT imaginary part storer links to each other with the FFT module, is single port RAM in the present embodiment, and is set to the pattern of readfirst.This pattern is when RAM writes new data, and the legacy data of data-out port output corresponding address has been practiced thrift the clock period, is used to store the imaginary data of FFT output;
The circular shifting address generator links to each other with FFT imaginary part storer with FFT real part storer, is used for counting according to displacement producing 2 of different starting points
NIndividual address.This address is used to read and write the data of FFT real part storer and FFT imaginary part storer according to the circular shifting generation of counting.The read/write address generation rule is following: establish n and count n ∈ [10,10] for what be shifted.When n＞0, start address start_address=2
N-n+1, when n＜0, start address start_address=-n.This method has been practiced thrift hardware resource than general displacement method, utilizes the search of Doppler's circular shifting to replace frequency compensation simultaneously, has reduced the operand of FFT.
As shown in Figure 5, the differential coherence integration module mainly comprises differential coherence processing module, relevant real part storer as a result, relevant imaginary part storer and differential coherence result memory as a result, wherein:
The differential coherence processing module links to each other with IFFT, is used for relevant result is carried out the differential coherence integration operation, and the differential coherence integral result that obtains is stored in the differential coherence result memory; The differential coherence number of processes can be controlled by the outside input according to the power of satellite-signal flexibly;
Relevant real part storer as a result; Link to each other with the differential coherence processing module; Be used to store relevant result's real part data, these storage data are read in the differential coherence processing module at next differential coherence integration period to multiply each other with the relevant execution of real part as a result of next cycle;
Relevant imaginary part storer as a result; Link to each other with the differential coherence processing module; Be used to store relevant result's imaginary data, these storage data are read in the differential coherence processing module at next differential coherence integration period to multiply each other with the relevant execution of imaginary part as a result of next cycle;
The differential coherence result memory; Link to each other with the differential coherence processing module; Be used for storage and send the differential coherence result data, the storage data are read in the differential coherence processing module differential coherence result with next cycle at next differential coherence integration period and carry out and add up.
Peak detection block links to each other with described differential coherence integration module, is used for the energy peak of differential coherence integration is detected, and realizes the output of satellite signal acquisition and Doppler shift and code phase.The thresholding that peak value detects can be preset empirical value, and this module leaves external interface simultaneously, can and rational peak value detection threshold be set by the different scenes of microprocessor judges.
Data with local PRN sign indicating number FFT conjugation storer after the general satellite digital intermediate-freuqncy signal process FFT module multiply each other; Again through obtaining the correlated results of different code phases after the IFFT module, more successively through being captured to Doppler shift and code phase after differential coherence integration module and the peak detection block processing.The piece accumulative frequency, differential coherence integral number of times and acquisition threshold can be provided with according to scene or detected Signal-to-Noise flexibly, improve acquisition speed and sensitivity, have embodied the configuration flexibility of technical scheme of the present invention.Strong or for acquisition sensitivity under the less demanding situation at signal; The correlated results that can be directly obtains different code phases to IFFT is directly inputted to peak detection block; Directly judge corresponding code phase information and frequency information, this processing has improved catches treatment effeciency.
Fig. 6 is a satellite digital intermediate-freuqncy signal catching method schematic flow sheet of the present invention.In conjunction with the system embodiment of Fig. 1 to Fig. 5, method embodiment shown in Figure 6 mainly comprises following step:
Step 602 is carried out Digital Down Convert, average sample and FFT operation to the signal of importing, and obtains the satellite frequency-region signal of zero intermediate frequency, low sampling rate;
Fig. 7 is the treatment scheme synoptic diagram of signal acquisition system when practical application in the embodiment of the invention.As shown in Figure 7, the actual treatment flow process of this signal acquisition system mainly comprises the steps:
Step 701 according to trapped state, reads the satellite digital intermediate-freuqncy signal of corresponding time span and starting point;
Step 702 is carried out Digital Down Convert, average sample and piece to the satellite digital intermediate-freuqncy signal and is added up, and obtains the digital medium-frequency signal of zero intermediate frequency and low sampling rate, passes through the FFT conversion again, obtains this signal frequency-domain signal;
Step 703 judges whether to accomplish the search of frequency and starting point, is then to change step 713, otherwise changes step 704;
Step 704 utilizes Doppler's circular shifting to carry out the frequency compensation operation;
Step 705 is carried out complex multiplication and IFFT to frequency compensated result;
Step 706 is carried out differential coherence and peak value and is detected;
Step 710 is according to Doppler's circular shifting change local carrier frequency of counting;
Step 712 is carried out complex multiplication and IFFT to the complete length data set of k starting point;
Step 713 is carried out differential coherence integration and peak value detection to the complete length data set of k starting point;
Whether step 714 judges peak value greater than thresholding, and being then changes step 715, otherwise changes step 717;
Step 717 is caught failure, and putting the acquisition success zone bit is 0, EO.
Wherein, trapped state comprises frequency search state, starting point search condition and normal trapped state.
Wherein, what the frequency search state read in is the 1st starting point data group of short period length, and purpose is to obtain Doppler shift through the circular shifting search.Than confirming Doppler shift with the partial data section, this method has reduced calculated amount.
Wherein, what the starting point search condition read in is other starting point data groups except that the 1st starting point data group of short period length, and purpose is to select only starting point, makes the point after the average sample can embody real signal well.Than confirming only starting point with the partial data section, this method has reduced calculated amount.In this enforcement sample, the partial data segment length is 100ms, and the data segment that frequency search and starting point search condition adopt is 10ms.
Wherein, what normal trapped state was read in is the k starting point data group of complete length, and behind the frequency search state, local carrier frequency has been adjusted into the IF carrier frequency behind the consideration Doppler shift.The data of reading in complete length this moment are caught, and help improving the signal to noise ratio (S/N ratio) of lock-on signal.
Wherein, The thought that has combined the piece stack in the average sample stage; The data of the L millisecond (ms) of input long (L＜20) are divided into the data block of L 1ms and superpose according to constant time range is corresponding; Carry out frequency domain correlation through the FFT module again, can make the FFT/IFFT calculated amount reduce L number of times doubly like this, improved operation efficiency.
Wherein, Doppler's circle moves counts by time-sequence control module output, and in this enforcement sample, the hunting zone is confirmed in the scope of [10KHz, 10KHz], can cover Doppler shift situation generally speaking.
Wherein, The target of frequency and starting point search is in order to seek Doppler shift and suitable data starting point; When peak value detects, only need seek the sequence number that peak-peak and the corresponding circular shifting of output count with the starting point data group and get final product, not have the threshold setting problem, simplify operation.
Wherein, the thresholding that peak value detects can be preset empirical value, also can judge different scenes and state of signal-to-noise by external unit (like microprocessor), through external interface rational peak value detection threshold is set.
Wherein, in this enforcement sample, the block count L of data block and differential coherence time number average has been preset initial value 10, can be provided with flexibly according to the state of signal-to-noise of current acknowledge(ment) signal or to the sensitivity of catching and the requirement of speed in the practical application.
Each module of foregoing invention or each step can be used on the universal computing platform and realize.They can be used on the universal computing platform and realize with executable program code, perhaps make the integrated circuit IP kernel and realize that the present invention is not restricted to the combination of the software and hardware of any characteristics, have bigger usability.
Though the embodiment that the present invention disclosed as above, said content is high sensitivity signal capture systems design and the method for the satellite navigation receiver embodiment in the specific occasion, is not in order to limit the present invention.Under the prerequisite of spirit that does not break away from the present invention and disclosed and scope, can on the concrete mode of implementing and details, do certain modification variation.
The foregoing description is a preferred implementation of the present invention; But embodiment of the present invention is not restricted to the described embodiments; Other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; All should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (7)
1. a high sensitivity satellite navigation signals catching method is characterized in that, may further comprise the steps:
(1) according to current trapped state, the satellite digital intermediate-freuqncy signal of request corresponding different time length of input and starting point;
(2) signal to input carries out Digital Down Convert, average sample and FFT operation, obtains the satellite frequency-region signal of zero intermediate frequency, low sampling rate;
(3) get into the frequency search state; Carrying out frequency domain correlation, differential coherence integration and peak value for the 1st starting point partial data section of input detects; And carry out frequency compensation through circular shifting search; Detect and record peak-peak and the corresponding circular shifting n that counts, and the adjustment local carrier frequency is for considering the frequency of Doppler shift;
(4) get into the starting point search condition; Carrying out frequency domain correlation, differential coherence integration and peak value for other starting point partial data sections except that the 1st starting point detects; Detect and also to write down the peak value that all starting point data groups obtain, peak-peak corresponding optimized start point sequence number k;
(5) get into normal trapped state; Import the total data section of k starting point and carry out frequency domain correlation, differential coherence integration and peak value detection; Peak value that obtains and detection threshold are relatively; If greater than detection threshold, acquisition success is described, output peak-peak and corresponding code phase and carrier frequency thereof; Otherwise catch failure.
2. a high sensitivity satellite navigation signals capture systems is characterized in that, comprising:
Digital Down Converter Module is used for the satellite if signal sampling data of input are carried out the Digital Down Convert operation, obtains the satellite sampled data of zero intermediate frequency;
Average sample and piece accumulator module link to each other with described Digital Down Converter Module, are used for the zero intermediate frequency satellite-signal after the down coversion is averaged sampling and the piece operation that adds up the zero intermediate frequency satellite-signal data of acquisition low sampling rate;
The FFT module links to each other with described average sample and piece accumulator module, and satellite-signal is carried out Fast Fourier Transform (FFT), carries out the relevant search of code phase frequency domain;
The circular shifting module links to each other with described FFT module, and the result carries out Doppler's circular shifting to the FFT of satellite-signal output, realizes the search to Doppler shift;
The complex multiplier module links to each other with described circular shifting module, is used for the satellite-signal despreading of multiplying each other;
Local PRN sign indicating number FFT conjugation storer links to each other with described complex multiplier module, is used to store the result who gets conjugation behind the local PRN sign indicating number FFT;
The IFFT module links to each other with described complex multiplier module, is used for obtaining the correlated results of different code phases to taking advantage of the result to carry out reverse Fast Fourier Transform (FFT) again;
The differential coherence integration module links to each other with described IFFT module, is used for correlated results to different code phases and carries out the difference correlation energy and add up;
Peak detection block links to each other with described differential coherence integration module, is used for the correlation energy peak value that adds up is detected, and realizes the output of satellite signal acquisition and Doppler shift and code phase;
Time-sequence control module; Link to each other with peak detection block with described Digital Down Converter Module, average sample and piece accumulator module, FFT module, circular shifting module, local PRN sign indicating number FFT conjugation storer, complex multiplier module, IFFT module, differential coherence integration module; Time-sequence control module is based on catches flow process and utilizes state machine to realize; In the controlled variable of different state output disparate modules, realize duty control to whole system operation flow process and each module.
3. a kind of high sensitivity satellite navigation signals capture systems according to claim 2; It is characterized in that; Said Digital Down Converter Module comprises: Direct Digital Frequency Synthesizers; Link to each other with the circular shifting module, the sine and the cosine carrier signal that are used for producing certain frequency according to frequency control are as local carrier; Digital mixer links to each other with said Direct Digital Frequency Synthesizers, is used to realize the local IF carrier that produces and the satellite if sampling data mixing of input.
4. a kind of high sensitivity satellite navigation signals capture systems according to claim 3; It is characterized in that; Said digital mixer is divided into I frequency mixer and Q frequency mixer according to in-phase component and quadrature component, I frequency mixer and Q frequency mixer respectively with the satellite if sampling data mixing of outside input.
5. a kind of high sensitivity satellite navigation signals capture systems according to claim 2 is characterized in that said average sample and piece accumulator module comprise:
Data accumulator links to each other with described digital mixer, is used for adding up to the input data;
2
NAddress generator links to each other with described data accumulator, produces 2
NIndividual address supplies the sampled data storer to use;
The sampled data storer is with described data accumulator, 2
NAddress generator links to each other with the FFT module, is used to store the satellite data after average sample and piece add up;
Data output switch; Link to each other with the sampled data storer with described data accumulator; Be used for adding up when operation carrying out piece, the last one-period data accumulated that the sampled data storer is read in control outputs in the data accumulator and adds up with current zero intermediate frequency signals data.
6. a kind of high sensitivity satellite navigation signals capture systems according to claim 2 is characterized in that said circular shifting module comprises:
FFT real part storer links to each other with described FFT module, is used to store the real part data of FFT output;
FFT imaginary part storer links to each other with described FFT module, is used to store the imaginary data of FFT output;
The circular shifting address generator links to each other with FFT imaginary part storer with described FFT real part storer, is used for counting according to displacement producing 2 of different starting points
NIndividual address.
7. a kind of high sensitivity satellite navigation signals capture systems according to claim 2 is characterized in that said differential coherence integration module comprises:
The differential coherence processing module links to each other with said IFFT, is used for relevant result is carried out the differential coherence operation;
Relevant real part storer as a result; Link to each other with said differential coherence processing module; Be used to store relevant result's real part data, these storage data are read in the differential coherence processing module at next differential coherence integration period to multiply each other with the relevant execution of real part as a result of next cycle;
Relevant imaginary part storer as a result; Link to each other with said differential coherence processing module; Be used to store relevant result's imaginary data, these storage data are read in the differential coherence processing module at next differential coherence integration period to multiply each other with the relevant execution of imaginary part as a result of next cycle;
The differential coherence result memory; Link to each other with peak detection block with said differential coherence processing module; Be used for storage and send the differential coherence result data, the storage data are read in the differential coherence processing module differential coherence result with next cycle at next differential coherence integration period and carry out and add up.
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