CN102841362A - Three-mode satellite signal simulation method and simulator - Google Patents
Three-mode satellite signal simulation method and simulator Download PDFInfo
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Abstract
The invention discloses a three-mode satellite signal simulation method and a simulator. An upper computer is connected with a field programmable gate array (FPGA) through a serial port; data from the upper computer are distributed to the FPGA and a digital signal processor (DSP) through the FPGA; the FPGA is connected with the DSP, and the data calculated by the DSP is transmitted to the FPGA at each interruption; signals generated by the FPGA are respectively transmitted to three up-conversion modules through three DAs; and three paths of radio frequency signals are combined into one path through a path combiner and are finally emitted by an emission antenna or a radio frequency cable. The core technology of the three-mode satellite signal simulation method is uniformity of times and spaces of three systems, namely a backward diode (BD) system, a global positioning system (GPS) and a global navigation satellite system (GLONASS); the satellite signal generation of the BD/GPS/GLONASS is the same to a large extent, so that by adopting a program module sharing method, a baseband board constructed by a DSP chip and an FPGA chip can finish the processing of a baseband signal; due to the characteristic that the frequency points of the BD system, the GPS and the GLONASS are similar, the three paths of generated radio frequency signals are combined to form one path through the path combiner and then are output; and therefore, the development period is effectively shortened, and the hardware cost of the simulator is reduced.
Description
Technical field
The present invention relates to the satellite navigation field, be specifically related to a kind of three mould satellite-signal analogy method and simulators of compatible BD/GPS/GLONASS satellite navigation system.
Background technology
At present, the world has built up two big GPSs, and promptly secondly GPS of USA and Muscovite GLONASS, also have two satellite navigation systems of stepping up to build, i.e. the BD of the GALILEO of European Union and China.Wherein, GPS and GLONASS are relatively ripe satellite navigation systems; But BD is as a new satellite navigation system, and its signal system (comprising: frequency, signal bandwidth, signal modulation system, bit rate, information rate, message format etc.), constellation design, land station's design, receiver design all are brand-new; And in process of construction, possibly there is adjustment; All need pass through scientific validation in all these design processes, particularly the protocol layer format design must be verified through reasonable, sufficient.Following satellite navigation system is that multisystem, many systems exist simultaneously, and compatibility between system and interoperability will be the important directions of satellite navigation system development, and therefore, it is extremely important that compatibility between the verification system and interoperability will become.Along with satellite navigation receiver at home the effect of military and civilian navigation field become more and more important; To the receiver user; Particularly concerning the high dynamic subscriber of one type of military aircraft, guided missile and spacecraft, the satellite signal simulator that has the test receiver performance becomes very necessary.
Many systems high-performance satellite signal simulator development relates to many high-quality precision and sophisticated technologies such as pseudo-code band spectrum modulation and accurately control of carrier phase, error model, multisystem space-time uniformity, and technical difficulty is very big.Owing to relate to military purposes, the technical literature that the satellite navigation signal simulator research field is abroad published seldom, the carrier movement type of the satellite signal simulator of import also has strict restriction.But; Satellite signal simulator is again receiver terminal research and development and the necessary means of navigational system checking; Therefore; Break through high dynamic satellite signal simulator gordian technique, many systems high-performance satellite navigation signal simulator that development has independent intellectual property right, it is imperative to promote the development of BD satellite navigation system.
Summary of the invention
Technical matters to be solved by this invention provides a kind of three mould satellite-signal analogy method and simulators, the satellite navigation system that it can compatible multiple system.
For addressing the above problem, the present invention realize through following technical scheme:
A kind of three mould satellite-signal analogy methods of the present invention comprise the steps:
1. host computer reads BD ephemeris and almanac parameters, GPS ephemeris and almanac parameters, GLONASS ephemeris and the almanac parameters that inside prestores; And set receiver movement locus and system simulation time by the user; And issue the FPGA signal processing module to above-mentioned these parameters packing, the FPGA signal processing module is redispatched to the DSP message processing module;
2. the DSP message processing module receives the host computer parameter of being transmitted by the FPGA signal processing module,
At first; Regard as gps system time GPST to the system simulation time, and calculate satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GPS according to the receiver movement locus of setting, GPS ephemeris parameter and above-mentioned gained gps system time GPST;
Secondly; Conversion formula according to gps time system and BD time system is that formula (1) converts the system simulation time into BD system time BDT, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of BD according to the receiver movement locus of setting, BD ephemeris parameter and above-mentioned gained BD system time BDT; Wherein the conversion formula of gps time system and BD time system does
GPST-BDT=-A
0GPS-A
1GPS×BDT （1）
In the formula, GPST is the gps system time; BDT is the BD system time; A
0GPSClock correction for BDT relative GPS T system time; A
1GPSClock rate for BDT relative GPS T system time; A wherein
0GPSAnd A
1GPSAll in the navigation message of BD, broadcast;
In like manner; Conversion formula according to gps time system and GLONASS time system is that formula (2) converts the system simulation time into GLONASS system time GLST, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GLONASS according to the receiver movement locus of setting, GLONASS ephemeris parameter and above-mentioned gained GLONASS system time GLST; Wherein the conversion formula of gps time system and GLONASS time system does
GPST-GLST=15+(Δt
utc-gls-Δt
utc-gps) （2）
In the formula, GPST is the gps system time; GLST is the GLONASS system time; Δ t
Utc-gpsBe GPST and UTC difference in the little several seconds, GPS in navigation message, broadcast GPS and UTC leap second difference and decimal poor second, be used for converting GPST into the UTC time; Δ t
Utc-glsBe GLST and the UTC difference in the little several seconds, GLONASS has broadcast the decimal of GLONASS and UTC in navigation message poor second, is used for converting GLST into the UTC time;
After calculate accomplishing, the DSP message processing module is delivered to above-mentioned all result of calculations in the lump in the register of FPGA signal processing module and is stored;
3. under the control of FPGA signal processing module synchronizing clock signals; Start BD, GPS and GLONASS passage in the FPGA signal processing module synchronously; Let BD, GPS and GLONASS passage respectively at first according to carrier signal and the pseudo-code signal of defending asterisk, generation corresponding frequencies; Then the pseudo-code signal and the navigation message mould two that generate are added, are modulated on the carrier signal of generation and generate digital medium-frequency signal, the digital medium-frequency signal with multi-satellite carries out exporting to corresponding 3 D/A modular converters respectively after numeral superposes at last;
4. GPS, BD and GLONASS D/A modular converter accomplish GPS, BD and GLONASS baseband signal respectively digital quantity after the conversion of analog quantity, deliver to corresponding 3 up-conversion modules respectively;
5. the intermediate-freuqncy signal respectively the D/A modular converter of correspondence sent here of GPS, BD and GLONASS up-conversion module is converted to GPS, BD and GLONASS nominal radiofrequency frequency;
6. combiner 3 tunnel radiofrequency signals that 3 up-conversion modules are sent here are combined into one the tunnel, by emitting antenna or output cable output.
On the host computer interface, the system time of GPS, BD and three systems of GLONASS is all unified the local UTC time, and the system coordinate system of BD, GPS and three systems of GLONASS all converts the WGS-84 coordinate system into.
Above-mentioned steps 2. in; GPS in the result of calculation, BD and GLONASS navigation message need be encoded in the DSP message processing module in advance; And then before the FPGA signal processing module formally generates digital medium-frequency signal, just give the FPGA signal processing module with data transfer through bus.
Above-mentioned steps 3. in, the detailed process that carrier signal generates does, under the control of FPGA signal processing module work clock; The FPGA signal processing module at first writes the initial phase value of carrier wave to phase register, and phase accumulator adds up to the carrier frequency control word under each work clock then, and the phase place that obtains is imported sine look up table again; Since the corresponding amplitude of phase place of sinusoidal signal, according to the phase value of input, the range value of output through quantizing; Totalizer whenever overflows once; Represent that then a discrete sine signal generates, range value obtains analog sinus signals after changing through digital to analog converter; Through low-pass filter filtering, promptly obtain our needed carrier signal.
Above-mentioned steps 3. in, the detailed process that pseudo-code signal generates does, under the control of FPGA signal processing module work clock; The FPGA signal processing module at first writes the initial phase value of pseudo-code to phase register; Phase accumulator adds up to the code frequency control word under each work clock then, and when accumulated value overflows, the chip count device adds 1; With the value input C/A sign indicating number code table of chip count device, output chip pairing " 0 " is " 1 " perhaps.
A kind of three mould satellite signal simulators of the present invention mainly are made up of host computer, DSP message processing module, FPGA signal processing module, 3 D/A modular converters, 3 up-conversion modules, combiner and emitting antennas or output cable; Host computer and FPGA signal processing module interconnect; DSP message processing module and FPGA signal processing module interconnect; 3 output terminals of FPGA signal processing module are connected to the input end of 3 up-conversion modules respectively via 3 D/A modular converters; The output terminal of 3 up-conversion modules is connected to the input end of combiner jointly, is connected with emitting antenna or output cable on the output terminal of combiner; Wherein
Host computer; Read BD ephemeris and almanac parameters, GPS ephemeris and almanac parameters, GLONASS ephemeris and almanac parameters that inside prestores; And set receiver movement locus and system simulation time by the user; And issue the FPGA signal processing module to above-mentioned these parameters packing, the FPGA signal processing module is redispatched to the DSP message processing module;
The DSP message processing module receives the host computer parameter of being transmitted by the FPGA signal processing module,
At first; Regard as gps system time GPST to the system simulation time, and calculate satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GPS according to the receiver movement locus of setting, GPS ephemeris parameter and above-mentioned gained gps system time GPST;
Secondly; Conversion formula according to gps time system and BD time system is that formula (1) converts the system simulation time into BD system time BDT, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of BD according to the receiver movement locus of setting, BD ephemeris parameter and above-mentioned gained BD system time BDT; Wherein the conversion formula of gps time system and BD time system does
GPST-BDT=-A
0GOS-A
1GPS×BDT （1）
In the formula, GPST is meant the gps system time; BDT is the BD system time; A
0GPSClock correction for BDT relative GPS T system time; A
1GPSClock rate for BDT relative GPS T system time; A wherein
0GPSAnd A
1GPSAll in the navigation message of BD, broadcast.
In like manner; Conversion formula according to gps time system and GLONASS time system is that formula (2) converts the system simulation time into GLONASS system time GLST, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GLONASS according to the receiver movement locus of setting, GLONASS ephemeris parameter and above-mentioned gained GLONASS system time GLST; Wherein the conversion formula of gps time system and GLONASS time system does
GPST-GLST=15+(t
utcg-gls-t
utc-gps)?（2）
In the formula, GPST is meant the gps system time; GLST is the GLONASS system time; Δ
Utc-gpsBe GPST and UTC difference in the little several seconds, GPS in navigation message, broadcast GPS and UTC leap second difference and decimal poor second, be used for converting GPST into the UTC time; Δ t
Utc-glsBe GLST and the UTC difference in the little several seconds, GLONASS has broadcast the decimal of GLONASS and UTC in navigation message poor second, is used for converting GLST into the UTC time.
At last, above-mentioned all result of calculations are sent in the register of FPGA signal processing module in the lump stored;
The FPGA signal processing module; Under synchronizing clock signals control; Start BD, GPS and GLONASS passage in the FPGA signal processing module synchronously; Let BD, GPS and GLONASS passage respectively at first according to carrier signal and the pseudo-code signal of defending asterisk, generation corresponding frequencies; Then the pseudo-code signal and the navigation message mould two that generate are added, are modulated on the carrier signal of generation and generate digital medium-frequency signal, the digital medium-frequency signal with multi-satellite carries out exporting to corresponding 3 D/A modular converters respectively after numeral superposes at last;
3 D/A modular converters, the digital quantity of accomplishing BD, GPS and GLONASS baseband signal is respectively delivered to corresponding 3 up-conversion modules respectively after the conversion of analog quantity;
3 up-conversion modules, the intermediate-freuqncy signal of respectively the D/A modular converter of correspondence being sent here are converted to BD, GPS and GLONASS nominal radiofrequency frequency;
Combiner, 3 tunnel radiofrequency signals that 3 up-conversion modules are sent here are combined into one the tunnel, by emitting antenna or output cable output.
Compared with prior art; The present invention can unify the time and the space of BD/GPS/GLONASS three systems; And utilize the generation of BD/GPS/GLONASS satellite-signal that a lot of identical points are arranged; Adopt the shared method of program module, make and on the baseband board that 1 dsp chip+1 fpga chip is built, accomplish base band signal process; In addition, also utilize the close characteristics of BD/GPS/GLONASS frequency, 3 tunnel radiofrequency signals of generation are combined into 1 tunnel output through combiner; Thereby effectively shortened the R&D cycle, reduced the simulator hardware cost.As far as satellite navigation system, the present invention reduces system's risks of construction for checking of signal system and assessment in the systems engineering construction provide means.As far as the receiver user, the invention provides one reliable, stable, accurately, and easy-to-use indoor emulation and test environment.
Description of drawings
Fig. 1 is a kind of theory of constitution figure of three mould satellite signal simulators;
Fig. 2 is a DSP message processing module schematic diagram;
Fig. 3 is a FPGA signal processing module schematic diagram.
Embodiment
A kind of three mould satellite signal simulators are as shown in Figure 1, and it mainly is made up of host computer, DSP message processing module, FPGA signal processing module, 3 D/A modular converters, 3 up-conversion modules, combiner and emitting antennas or output cable; Host computer and FPGA signal processing module interconnect; DSP message processing module and FPGA signal processing module interconnect; 3 output terminals of FPGA signal processing module are connected to the input end of 3 up-conversion modules respectively via 3 D/A modular converters; The output terminal of 3 up-conversion modules is connected to the input end of combiner jointly, is connected with emitting antenna or output cable on the output terminal of combiner.
The major function of above-mentioned each main functional modules is following:
Host computer is mainly accomplished parameter settings such as the movement locus, system simulation time of BD ephemeris and almanac, GPS ephemeris and almanac, GLONASS ephemeris and almanac, receiver; And issue the FPGA signal processing module to above-mentioned these parameters through serial ports, the FPGA signal processing module is redispatched to the DSP message processing module.On the host computer interface, the system time of BD, GPS and three systems of GLONASS is all unified the local UTC time, and the system coordinate system of BD, GPS and three systems of GLONASS all converts the WGS-84 coordinate system into.
The data sent of DSP message processing module receiver host computer; And think the system simulation time and be gps system time GPST, and then extrapolate BD and GLONASS system time BDT and GLST according to the conversion formula of gps time system and BD time system and the conversion formula of gps time system and GLONASS time system.
The conversion formula of above-mentioned gps time system and BD time system does
GPST-BDT=-A
0GPS-A
1GPS×BDT （1）
In the formula, GPST is meant the gps system time; BDT is the BD system time; A
0GPSClock correction for BDT relative GPS T system time; A
1GPSBe the clock rate of BDT relative GPS T system time, wherein A
0GPSAnd A
1GPSAll in the BD navigation message, broadcast.
The conversion formula of above-mentioned gps time system and GLONASS time system does
GPST-GLST=15+(Δt
utc-gls-Δt
utc-gps)（2）
In the formula, GPST is meant the gps system time; GLST is the GLONASS system time; Δ
Utc-gpsBe GPST and UTC difference in the little several seconds, GPS in navigation message, broadcast GPS and UTC leap second difference and decimal poor second, be used for converting GPST into the UTC time; Δ t
Utc-glsBe GLST and the UTC difference in the little several seconds, GLONASS has broadcast the decimal of GLONASS and UTC in navigation message poor second, is used for converting GLST into the UTC time.
The DSP message processing module is accomplished BD, GPS and the decoding of GLONASS navigation message and ephemeris parameter extraction under the driving of gps system time GPST, BD system time BDT and GLONASS system time GLST; And according to carrier movement Position, Velocity and Time information, the position and the speed of simulation BD, GPS and GLONASS satellite, and then extrapolate BD, GPS and essential informations such as GLONASS satellite-signal propagation delay and Doppler shift; Set up various error models, mainly comprise multipath error, atomic clock error, ionospheric error, tropospheric error, earth rotation error etc.,, generate the parameter of revising and changing the satellite-signal state according to the Model Calculation error; According to the carrier movement trajectory parameters that host computer provides, carry out high dynamic N CO simulation; The real-time correction of the NCO simulation error of DPS message processing module and FPGA signal processing module.
The FPGA signal processing module receives the data such as NCO of navigation message, phase delay, sign indicating number and the carrier wave of DSP message processing module, accomplishes the pseudo-code of navigation satellite signal and the modulation of the generation of carrier wave generation, high dynamic signal sign indicating number NCO and carrier wave NCO, the pseudo-code modulation of accomplishing navigation message and carrier modulation and each passage digital medium-frequency signal of completion dummy source; And the power control instruction of reception host computer transmission; Realize the power control of modulation signal, the initial sum control register setting of accomplishing the D/A analog-digital chip, the data communication between the completion system; Comprise the serial port drive design, the transmission that reads and writes data, reception and buffer memory.
3 D/A modular converters become simulating signal to 3 road BD, GPS and the GLONASS digital signal of the output of FPGA signal processing module respectively;
3 up-conversion modules are mainly used in the generation of accomplishing BD, GPA and GLONASS three tunnel up-conversions and output power; The design demand of system satisfies signal amplitude (dummy source amplitude output signal precision, accuracy, variation range), make an uproar index, frequency stability mutually; Index requests such as signal bandwidth, radio-frequency module are all realized through dummy source spare.
The combiner module mainly is to be combined into one tunnel output to three tunnel radiofrequency signals, because the radiofrequency signal of BD, GPS and GLONASS is close, so can three the tunnel be combined into one the tunnel, is exported away by a transmission antennas transmit or a radio-frequency cable.
A kind of three mould satellite-signal analogy methods that above-mentioned three mould satellite signal simulators are realized comprise the steps:
1. host computer reads BD ephemeris and almanac parameters, GPS ephemeris and almanac parameters, GLONASS ephemeris and the almanac parameters that inside prestores; And set receiver movement locus and system simulation time parameter by the user; And issue the FPGA signal processing module to above-mentioned these parameters packing, the FPGA signal processing module is redispatched to the DSP message processing module.
Because host computer is 115200bit/s through the data baud rate that serial ports sends, and DSP message processing module work clock is 300MHz, both speed differences are apart from too big, and data read and are difficult to realize.Therefore; Between the two, through the FPGA buffered data, the host computer data are sent to the fifo buffer of FPGA signal processing module through serial ports, FIFO sends zone bit for the DSP message processing module after receiving data; The DSP message processing module detects zone bit in real time, with this reading of data.
The data of host computer data distributing comprise two parts: simulated environment data and almanac data.The emulated data string is followed successively by: carrier initial coordinate parameter (X, Y, Z) under the WGS-84 coordinate system; Initial velocity (Vx, Vy, Vz); The emulation start time; Elevation angle thresholding, ionosphere and tropospheric error zone bit, 30 groups of carrier movement trajectory parameters (every group comprises duration, sky, carrier northeast direction speed, sky, carrier northeast direction acceleration, totally seven parameters), ionospheric error parameter and amount to 12 parameters with the parameter of UTC time correlation.Almanac data comprises the ephemeris parameter of 11 satellites of BD navigational system, 32 satellites of GPS navigation system and 24 satellites of GLONASS navigational system; Wherein, The ephemeris parameter of GP and two navigational system of GLONASS all derives from the ephemeris parameter of the RINEX form of NASA website, BD from the navigation message that receives of receiver.
2. the DSP message processing module receives the host computer parameter of being transmitted by the FPGA signal processing module, and work below accomplishing respectively:
At first; Regard as gps system time GPST to the system simulation time, and calculate satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GPS according to the receiver movement locus of setting, GPS ephemeris parameter and above-mentioned gained gps system time GPST;
Secondly; Conversion formula according to gps time system and BD time system is that formula (1) converts the system simulation time into BD system time BDT, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of BD according to the receiver movement locus of setting, BD ephemeris parameter and above-mentioned gained BD system time BDT.Wherein the conversion formula of gps time system and BD time system does
GPST-BDT=-A
0GPS-A
1GPS×BDT （1）
In the formula, GPST is meant the gps system time; BDT is the BD system time; A
0GPSClock correction for BDT relative GPS T system time; A
1GPSClock rate for BDT relative GPS T system time; A wherein
0GPSAnd A
1GPSAll in the BD navigation message, broadcast.
In like manner; Conversion formula according to gps time system and GLONASS time system is that formula (2) converts the system simulation time into GLONASS system time GLST, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GLONASS according to the receiver movement locus of setting, GLONASS ephemeris parameter and above-mentioned gained GLONASS system time GLST.Wherein the conversion formula of gps time system and GLONASS time system does
GPST-GLST=15+(Δt
utc-gls-Δt
utc-gps) （2）
In the formula, GPST is meant the gps system time; GLST is the GLONASS system time; Δ u
Tc-gpsBe GPST and UTC difference in the little several seconds, GPS in navigation message, broadcast GPS and UTC leap second difference and decimal poor second, be used for converting GPST into the UTC time; Δ t
Utc-glsBe GLST and the UTC difference in the little several seconds, GLONASS has broadcast the decimal of GLONASS and UTC in navigation message poor second, is used for converting GLST into the UTC time.
After calculate accomplishing, the satellite position that the DSP message processing module is GPS, BD and GLONASS with above-mentioned all result of calculations, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, reach initial carrier frequency control word etc. and deliver in the lump in the register of FPGA signal processing module and store.
As shown in Figure 2, the DSP message processing module is accomplished various information processings, signal calculated controlled variable and error model.The DSP message processing module receives the user data that host computer sends,
According to customer requirements, select the dummy source signal to generate working environment, computing machine generates the receiver movement locus; Satellite (BD/GPS/GLONASS) navigation message according to host computer is sent extracts ephemeris, clock correction, almanac etc.; Send movement locus and the ephemeris parameter that navigation mode, temporal information, user are set according to host computer, calculate position, the elevation angle of satellite, calculate the relative position of receiver and satellite in real time; Root is according to the satellite elevation angle, differentiates the observability of satellite, and visible satellite calculates the signal condition (code phase, carrier phase) of whole satellite-signal delivery times; According to ephemeris and the clock correction information extracted, carry out navigation data again and calculate, squeeze into the text markers, generate the navigation information of satellite; Calculate satellite-signal various analog simulation signal parameters of each satellite of x time and control information; Set up the error model of all kinds of error sources; Like troposphere model, ionospheric model, multipath error model, earth rotation effect etc.; Wherein, GPS is the same with GLONASS ionospheric error model, but the ionospheric error model of BD and GPS have the difference on the parameter slightly; According to all kinds of error sources, generate corresponding Error Simulation signal by error model.
BD, GPS and 3 navigational system of GLONASS have all been set up time and coordinate system separately, and the time of different system and volume coordinate can not directly be used, and need be transformed under identical time and the space coordinates.Because BD, GPS and GLONASS time system all are traceable to UTC (world's unified time), and all adopt International Atomic Time second longly to be base unit, according to the mistiming of three navigational system and UTC, the time unification of three systems to the UTC time.Three coordinate system differences; Can adopt the mathematical model of two coordinate system conversion parameters,, realize the unification of BD, GPS and three navigational system coordinate systems of GLONASS like boolean Sha model; Wherein, all provided relevant conversion parameter at BD with the GLONASS navigation message.
In the simulation process of BD, GPS and GLONASS signal, the DSP message processing module calculates original carrier phase place and code phase, initial carrier frequency control word and the pseudo-code frequency control word of every visible satellite according to emulation initial time, user coordinates and BD/GPS/GLONASS satellite ephemeris.The DSP message processing module passes to the FPGA signal processing module to the channel status of every satellite, original carrier phase place and chip phase, initial code frequency control word and carrier frequency control word.
3. under the control of FPGA signal processing module synchronizing clock signals; Start BD, GPS and GLONASS passage in the FPGA signal processing module synchronously; Let BD, GPS and GLONASS passage respectively at first according to carrier signal and the pseudo-code signal of defending asterisk, generation corresponding frequencies; Then the pseudo-code signal and the navigation message mould two that generate are added, are modulated on the carrier signal of generation and generate digital medium-frequency signal, the digital medium-frequency signal with multi-satellite carries out exporting to corresponding 3 D/A modular converters respectively after numeral superposes at last.
As shown in Figure 3, the FPGA signal processing module mainly is responsible for the digital signal synthetic work, accomplishes mainly that carrier signal generates, pseudo-code signal generates, navigation message reads, sequential control and 6 functions of data communication.The DSP message processing module calculates the original carrier phase place and the pseudo-code phase of visible satellite in the starting stage; Sending to the FPGA passage is the FPGA signal processing module; After the FPGA passage receives relevant information; According to defending asterisk and affiliated navigational system, select corresponding carrier signal generation module and pseudo-code signal generation module, begin to carry out frequency control word from the initial phase that calculates again and add up.The pseudo-code signal and the navigation message mould two that generate add, and are modulated on the carrier wave again, generate digital medium-frequency signal.
Carrier signal generates and adopts the DDS technology, and under the control of FPGA work clock, FPGA at first writes initial phase value to phase register; Phase accumulator adds up to frequency control word under each work clock then, and the phase place that obtains is imported sine look up table again, because the corresponding amplitude of phase place of sinusoidal signal; Phase value according to input; The range value of output through quantizing, totalizer whenever overflows once, representes that then a discrete sine signal generates.After the range value process DA digital-to-analog conversion, obtain analog sinus signals,, promptly obtain our needed signal through low-pass filter (LPF) filtering.
, pseudo-code signal, do not have range value when generating because pseudo-code has only " 0 " and " 1 " two states.Under the control of FPGA work clock; FPGA at first writes the initial phase value of pseudo-code to phase register; Phase accumulator adds up to the code frequency control word under each work clock then, and when accumulated value overflows, the chip count device adds 1; With the value input C/A sign indicating number code table of chip count device, output chip pairing " 0 " is " 1 " perhaps.
The FPGA signal processing module adopts ping-pong operation to handle to the processing of navigation message; Because BD, GPS and GLONASS navigation message data volume are big; Can not once navigation message all be deposited in the FPGA signal processing module; The DSP message processing module is before the FPGA signal processing module formally generates signal, and the BD/GPS/GLONASS navigation message of encoding is in advance given the FPGA signal processing module through the EMIF bus with data transfer.
The FPGA signal processing module is deposited the result of calculation of DSP message processing module; And receiving after the DSP message processing module sends the reset signal of opening flag position and FPGA signal processing module; Through synchronizing clock signals, start BD, GPS and GLONASS passage in the FPGA signal processing module synchronously; After the simulation of carrier signal, pseudo-random code signal and the navigation message of BD, GPS and GLONASS passage completion corresponding frequencies and modulation, multi-satellite signal carry out the numeral stack, export to corresponding D/A modular converter respectively.
4. GPS D/A modular converter, BD D/A modular converter and GLONASS D/A modular converter accomplish GPS, BD and GLONASS baseband signal respectively digital quantity after the conversion of analog quantity, deliver to corresponding 3 up-conversion modules respectively.
5. the intermediate-freuqncy signal respectively the D/A modular converter of correspondence sent here of GPS up-conversion module, BD up-conversion module and GLONASS up-conversion module is converted to GPS, BD and GLONASS nominal radiofrequency frequency.
6. combiner 3 tunnel radiofrequency signals that 3 up-conversion modules are sent here are combined into one the tunnel, by emitting antenna or output cable output.
Claims (6)
1. a mould satellite-signal analogy method is characterized in that comprising the steps:
1. host computer reads BD ephemeris and almanac parameters, GPS ephemeris and almanac parameters, GLONASS ephemeris and the almanac parameters that inside prestores; And set receiver movement locus and system simulation time by the user; And issue the FPGA signal processing module to above-mentioned these parameters packing, the FPGA signal processing module is redispatched to the DSP message processing module;
2. the DSP message processing module receives the host computer parameter of being transmitted by the FPGA signal processing module,
At first; Regard as gps system time GPST to the system simulation time, and calculate satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GPS according to the receiver movement locus of setting, GPS ephemeris parameter and above-mentioned gained gps system time GPST;
Secondly; Conversion formula according to gps time system and BD time system is that formula (1) converts the system simulation time into BD system time BDT, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of BD according to the receiver movement locus of setting, BD ephemeris parameter and above-mentioned gained BD system time BDT; Wherein the conversion formula of gps time system and BD time system does
GPST-BDT=-A
0GPS-A
1GPS×BDT （1）
In the formula, GPST is the gps system time; BDT is the BD system time; A
0GPSClock correction for BDT relative GPS T system time; A
1GPSClock rate for BDT relative GPS T system time; A
0GPSAnd A
1GPSAll in the navigation message of BD, broadcast;
In like manner; Conversion formula according to gps time system and GLONASS time system is that formula (2) converts the system simulation time into GLONASS system time GLST, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GLONASS according to the receiver movement locus of setting, GLONASS ephemeris parameter and above-mentioned gained GLONASS system time GLST; Wherein the conversion formula of gps time system and GLONASS time system does
GPST-GLST=15+(Δt
utc-gls-Δt
utc-gps)?（2）
In the formula, GPST is the gps system time; GLST is the GLONASS system time; Δ t
Utc-gpsBe GPST and UTC difference, Δ t in the little several seconds
Utc-gpsIn gps navigation message, broadcast; Δ t
Utc-glsBe GLST and UTC difference, Δ t in the little several seconds
Utc-glsIn the GLONASS navigation message, broadcast;
After calculate accomplishing, the DSP message processing module is delivered to above-mentioned all result of calculations in the lump in the register of FPGA signal processing module and is stored;
3. under the control of FPGA signal processing module synchronizing clock signals; Start BD, GPS and GLONASS passage in the FPGA signal processing module synchronously; Let BD, GPS and GLONASS passage respectively at first according to carrier signal and the pseudo-code signal of defending asterisk, generation corresponding frequencies; Then the pseudo-code signal and the navigation message mould two that generate are added, are modulated on the carrier signal of generation and generate digital medium-frequency signal, the digital medium-frequency signal with multi-satellite carries out exporting to corresponding 3 D/A modular converters respectively after numeral superposes at last;
4. GPS, BD and GLONASS D/A modular converter accomplish GPS, BD and GLONASS baseband signal respectively digital quantity after the conversion of analog quantity, deliver to corresponding 3 up-conversion modules respectively;
5. the intermediate-freuqncy signal respectively the D/A modular converter of correspondence sent here of GPS, BD and GLONASS up-conversion module is converted to GPS, BD and GLONASS nominal radiofrequency frequency;
6. combiner 3 tunnel radiofrequency signals that 3 up-conversion modules are sent here are combined into one the tunnel, by emitting antenna or output cable output.
2. a kind of three mould satellite-signal analogy methods according to claim 1; It is characterized in that: on the host computer interface; The system time of BD, GPS and three systems of GLONASS is all unified the local UTC time, and the system coordinate system of BD, GPS and three systems of GLONASS all converts the WGS-84 coordinate system into.
3. a kind of three mould satellite-signal analogy methods according to claim 1; It is characterized in that: step 2. in; BD in the result of calculation, GPS and GLONASS navigation message need be encoded in the DSP message processing module in advance; And then before the FPGA signal processing module formally generates digital medium-frequency signal, just give the FPGA signal processing module with data transfer through bus.
4. a kind of three mould satellite-signal analogy methods according to claim 1 is characterized in that: step 3. in, the detailed process that carrier signal generates does; Under the control of FPGA signal processing module work clock, the FPGA signal processing module at first writes the initial phase value of carrier wave to phase register, and phase accumulator adds up to the carrier frequency control word under each work clock then; The phase place that obtains is imported sine look up table again, because the corresponding amplitude of phase place of sinusoidal signal, according to the phase value of input; The range value of output through quantizing, totalizer whenever overflows once, representes that then a discrete sine signal generates; After range value is changed through digital to analog converter; Obtain analog sinus signals,, promptly obtain our needed carrier signal through low-pass filter filtering.
5. a kind of three mould satellite-signal analogy methods according to claim 1; It is characterized in that: step 3. in, the detailed process that pseudo-code signal generates does, under the control of FPGA signal processing module work clock; The FPGA signal processing module at first writes the initial phase value of pseudo-code to phase register; Phase accumulator adds up to the code frequency control word under each work clock then, and when accumulated value overflows, the chip count device adds 1; With the value input C/A sign indicating number code table of chip count device, output chip pairing " 0 " is " 1 " perhaps.
6. mould satellite signal simulator is characterized in that: mainly be made up of host computer, DSP message processing module, FPGA signal processing module, 3 D/A modular converters, 3 up-conversion modules, combiner and emitting antennas or output cable; Host computer and FPGA signal processing module interconnect; DSP message processing module and FPGA signal processing module interconnect; 3 output terminals of FPGA signal processing module are connected to the input end of 3 up-conversion modules respectively via 3 D/A modular converters; The output terminal of 3 up-conversion modules is connected to the input end of combiner jointly, is connected with emitting antenna or output cable on the output terminal of combiner; Wherein
Host computer; Read BD ephemeris and almanac parameters, GPS ephemeris and almanac parameters, GLONASS ephemeris and almanac parameters that inside prestores; And set receiver movement locus and system simulation time by the user; And issue the FPGA signal processing module to above-mentioned these parameters packing, the FPGA signal processing module is redispatched to the DSP message processing module;
The DSP message processing module receives the host computer parameter of being transmitted by the FPGA signal processing module,
At first; Regard as gps system time GPST to the system simulation time, and calculate satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GPS according to the receiver movement locus of setting, GPS ephemeris parameter and above-mentioned gained gps system time GPST;
Secondly; Conversion formula according to gps time system and BD time system is that formula (1) converts the system simulation time into BD system time BDT, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of BD according to the receiver movement locus of setting, BD ephemeris parameter and above-mentioned gained BD system time BDT; Wherein the conversion formula of gps time system and BD time system does
GPST-BDT=-A
0GPS-A
1GPS×BDT （1）
In the formula, GPST is meant the gps system time; BDT is the BD system time; A
0GPSClock correction for BDT relative GPS T system time; A
1GPSClock rate for BDT relative GPS T system time; A wherein
0GPSAnd A
1GPSAll in the BD navigation message, broadcast.
In like manner; Conversion formula according to gps time system and GLONASS time system is that formula (2) converts the system simulation time into GLONASS system time GLST, and calculates satellite position, pseudorange, navigation message, initial code phase positions, original carrier phase place, initial code frequency control word, and the initial carrier frequency control word of GLONASS according to the receiver movement locus of setting, GLONASS ephemeris parameter and above-mentioned gained GLONASS system time GLST; Wherein the conversion formula of gps time system and GLONASS time system does
GPST-GLST=15+(t
utc-gls-t
utc-gps) （2）
In the formula, GPST is meant the gps system time; GLST is the GLONASS system time; Δ
Utc-gpsBe GPST and UTC difference, Δ in the little several seconds
Utc-gpsIn gps navigation message, broadcast; Δ t
Utc-glsBe GLST and UTC difference, Δ t in the little several seconds
Utc-glsIn the GLONASS navigation message, broadcast;
At last, above-mentioned all result of calculations are sent in the register of FPGA signal processing module in the lump stored;
The FPGA signal processing module; Under synchronizing clock signals control; Start BD, GPS and GLONASS passage in the FPGA signal processing module synchronously; Let BD, GPS and GLONASS passage respectively at first according to carrier signal and the pseudo-code signal of defending asterisk, generation corresponding frequencies; Then the pseudo-code signal and the navigation message mould two that generate are added, are modulated on the carrier signal of generation and generate digital medium-frequency signal, the digital medium-frequency signal with multi-satellite carries out exporting to corresponding 3 D/A modular converters respectively after numeral superposes at last;
3 D/A modular converters, the digital quantity of accomplishing GPS, BD and GLONASS baseband signal is respectively delivered to corresponding 3 up-conversion modules respectively after the conversion of analog quantity;
3 up-conversion modules, the intermediate-freuqncy signal of respectively the D/A modular converter of correspondence being sent here are converted to GPS, BD and GLONASS nominal radiofrequency frequency;
Combiner, 3 tunnel radiofrequency signals that 3 up-conversion modules are sent here are combined into one the tunnel, by emitting antenna or output cable output.
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