CN103091686A - Bit synchronization method and device of compatible Beidou satellite navigation system and global position system (GPS) - Google Patents
Bit synchronization method and device of compatible Beidou satellite navigation system and global position system (GPS) Download PDFInfo
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Abstract
The invention discloses a synchronization method. The bit synchronization method and device of a compatible Beidou satellite navigation system and a global position system (GPS) is characterized in that correlation integral data of I branch of a channel and data of Q branch can be read; supposing that 20 conceivable bit boundaries exist and can generate stripping codes of NH codes so as to strip the NH code of the Beidou satellite navigation system, but the GPS does not need to be operated in that way; detection of data jumping is carried out and the detection result need to be compared to decide that the maximum conceivable boundary of the data jumping number is a boundary of a real sign bit. The invention further discloses a synchronization device . By means of the above-mentioned method and the device, the bit synchronization of the Beidou satellite navigation system and signals of the GPS can be carried out at the same time. In addition, sensitivity of the bit synchronization of navigation signals can be improved by adjusting the time of the bit synchronization, and therefore the bit synchronization method and device of the compatible Beidou satellite navigation system and the GPS has higher military and commercial value.
Description
Technical Field
The invention relates to the technical field of satellite navigation and positioning, in particular to a method and a system for satellite signal bit synchronization.
Background
At present, the Chinese Beidou navigation system is rapidly developed, the service based on positioning is continuously expanded, and the number of satellites which can be used for positioning above the earth is continuously increased. Research and application of a receiving technology related to a Global Navigation Satellite System (GNSS) are gradually deepened, and design and development of a dual-mode or multi-mode receiver supporting a Global Positioning System (GPS) and a beidou Satellite Navigation System are inevitable. A navigational positioning receiver generally comprises: antenna, radio frequency module, baseband module and other application modules. The baseband module is generally used for completing synchronization of signals and demodulation of navigation messages, generating a measurement value for positioning, calculating the position of the navigation positioning receiver according to the measurement value and the demodulated navigation messages, and then sending the position, the speed or the time information to the application module according to a corresponding protocol, so that the position, the speed or the time information is provided for the application module.
In the above processing procedure, finding the sign bit boundary of the navigation message is an important step of signal synchronization, and is the basis for performing frame synchronization and demodulating the navigation message. In the GPS system, a signal transmitted from each satellite is modulated by a Pseudo-Random Noise (PRN) code uniquely corresponding to the satellite, and a period of the Pseudo-Random code is 1ms, so that a data signal modulated by the Pseudo-Random code is a coarse code (CA code) having a period of 1 ms; each navigation data signal is repeated 20 times to ensure reliable transmission without error correction, and the period of the GPS data bit signal is 20 ms. When the CA code signal output by the tracking loop is demodulated, firstly, a 1000b/s CA code signal is converted into 50b/s navigation messages with high and low levels of +1 and-1 respectively, namely, 20 tracking points with consistent symbols are converted into 1 bit, the key is to find a data bit turning point in an output sequence, and the bit synchronization is realized by finding the bit turning point. Only if the data bit synchronization is realized, the original GPS signal can be solved from the modulation signal to carry out the next positioning work. The purpose of data bit synchronization is to provide a timing synchronization signal for maximum energy demodulation by the receiving device, the accuracy of which is the most important parameter affecting the sensitivity of the receiving device.
For the Beidou navigation and positioning system, a data modulation mode different from that of a GPS is adopted, for a GEO satellite, the period of a pseudo-random code is also 1ms, but each data bit is 2ms, the pseudo-random code is similar to that of the GPS, no jump of symbols exists in the data bits, and after some changes are made, a method similar to the GPS can be adopted during bit synchronization.
For an MEO satellite, the period of a pseudo-random code is also 1ms, similarly, each bit of Beidou data signal is repeated for 20 times to ensure reliable transmission without an error correction mechanism, and different from a GPS, the 20ms data in each bit is modulated by an NH code, namely, the inside of each bit of data has symbol jump, so that a bit synchronization method with the same GPS signal is not suitable for MEO satellite signals of a Beidou navigation system, and a new bit synchronization algorithm must be developed;
disclosure of Invention
A bit synchronization method compatible with a Beidou satellite navigation system and a global positioning system is characterized in that I branch related integral data and Q branch related integral data of a channel are read, an NH code stripping code is generated on the assumption of 20 possible bit boundaries, the Beidou navigation system is subjected to NH code stripping, and the operation is not carried out on a GPS. And then carrying out data jump detection, comparing detection results, and judging that the possible boundary with the maximum data jump number is a real sign bit boundary.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention provides a compatible Beidou satellite navigation system and a GPS signal position synchronization method, wherein the method comprises the following steps:
preferably, the correlation data of the I branch and the Q branch are read from the tracking channel, and the integral data segmented every 20ms is segmented, and the total number is 20Different phases, where there must be one bit boundary, but each phase is likely to be the correct bit boundary. Assume that the 20 different phases are 20 possible bit boundaries. The data at different phases on each 20ms data segment is denoted as Ii，δ、Qi，δWhere i is the sign bit number, and δ is 0, 1, 2.. 19 is the 20ms data internal phase.
Preferably, the stripping code is generated based on symbol transitions between different phases of the NH code. The method specifically comprises the following steps: if the NH code sequence has a sign jump at a certain phase, the corresponding bit of the strip code is set to-1, if the NH code sequence has no sign jump at the phase, the corresponding bit of the strip code is set to 1, and at the assumed bit boundary, the strip code is set to 0.
Preferably, data jump detection is carried out by adopting a differential detection method; for global navigation system (GPS), data jump detection is only performed at each possible bit boundary assumed; for the Beidou navigation system, data jump detection is carried out in each possible sign bit, and data jump at a possible bit boundary is set to be 0.
The maximum value of the data jump detection result corresponds to the correct bit boundary.
Drawings
FIG. 1 is a schematic flow chart of a navigation signal bit synchronization method according to the present invention;
FIG. 2 is a schematic structural diagram of an apparatus according to an embodiment of the present invention;
Detailed Description
The basic idea of the invention is that a unified method is adopted to realize the bit synchronization of GPS and Beidou navigation system signals, and for the GPS system, data jump detection is carried out on each possible bit boundary within a specific time period, and the bit boundary corresponding to the maximum data jump is searched as the correct bit boundary; and stripping the NH code according to each possible bit boundary in a specific time period for the Beidou navigation system, then detecting data jump inside each symbol of the stripped NH code, and taking the boundary with the maximum jump as a correct boundary.
The technical solution of the present invention is further elaborated below with reference to the drawings and the specific embodiments.
Step 101: the integrated data is read and possible sign bit boundaries are assumed. Specifically, the correlation integral data for the I branch and Q branch are read from the tracking channel and segmented by 20ms, assuming 20 possible bit boundaries. The I branch and Q branch data comprise Ii，δ，Qi，δWhere i is the sign bit number and δ is 0, 1, 2.. 19 is the 20ms data internal phase, then there must be one δ corresponding to the bit boundary, each δ being a possible bit boundary.
Step 102: generating an NH code stripping code sequence, NH _ chang, based on each possible bit boundaryδ[0:19]The method is used for stripping NH codes in the sign bit of the Beidou navigation system signal. Specifically, the sign bit internal stripping is NH code stripping of the Beidou navigation system, and if the sign bit internal stripping is the GPS system, the step is not operated. Stripped code sequence NH _ chang of Beidou navigation systemδ[0:19]The generation is specifically based on the determination of the integrated data I per 1ms, based on 20 possible bit boundary hypothesesi，δ，Qi，δCorresponding phase, setting NH _ chang if the NH code sequence has a sign jump at the phaseδThe corresponding bit is-1 and if the NH code sequence does not jump sign at that phase, NH _ chang is setδThe corresponding bit is 1, and if at the bit boundary, NH _ chang is setδ0, to generate 20 NH _ changsδ[0:19]And (4) sequencing.
Step 103: and detecting data jump. Specifically, for the GPS, for 20 possible bit boundaries, data jump counting is performed on the possible boundaries in all the 20ms segments, and detection results within a certain period of time are accumulated; for the Beidou navigation system, according to 20 possible bit boundaries, the corresponding phase of each 20ms segment is determined, and data in a symbol is hopped inLine detection, data jump detection result multiplied by corresponding NH _ changδAnd accumulating the detection results within a certain time period as the final data jump result.
Step 104: and carrying out bit boundary judgment according to the data jump detection result. Specifically, for 20 possible bit boundaries, the detection results are compared, and the possible boundary with the maximum data transition number is preliminarily determined to be the true sign bit boundary.
One embodiment of the invention is as follows, but the invention is not limited to this one implementation.
Fig. 2 is a schematic structural diagram of an apparatus according to an embodiment of the present invention, and as shown in fig. 2, a part inside a dashed box is an apparatus for implementing the present invention, and the present invention can be implemented by the apparatus, but is not limited to the apparatus shown in fig. 2. The whole device comprises: the system comprises an antenna, a radio frequency module, a group of tracking channels and a processor. Wherein the tracking channel and the processor form a bit synchronization circuit of the present invention. The antenna is responsible for receiving signals, the radio frequency module completes the amplification, filtering and down-conversion of the signals and the analog-to-digital conversion of the signals, and outputs two-bit intermediate frequency signals and sampling clock signals to the tracking channel.
The tracking channel receives the intermediate frequency signal output by the radio frequency module, and under the control of processing, the tracking channel finishes the capture of the signal and the tracking of the signal to generate I branch related integral data and Q branch related integral data.
And generating an interrupt to the processor in a fixed period, responding to the interrupt by the processor, reading the state of the relevant integral data of the channel through the bus, and if the channel has the integral data, reading the relevant integral data of the I branch and the relevant integral data of the Q branch according to the method to complete the bit synchronization of the navigation signal.
The concrete implementation is as follows: first, the trace channel sends interrupts to the processor at a fixed period. In the embodiment, the invention is implemented in a processor, but other specific implementations are possible, for example: bit synchronization is implemented within the tracking channel. After the interrupt occurs, the processor reads the channel correlation integral data state from the tracking channel,
if the channel correlation integral data is valid, the channel I branch correlation integral data and the channel Q branch data are read and segmented by 20ms, assuming 20 possible bit boundaries. Generating an NH code stripping code NH _ chang based on each possible bit boundaryδ[0:19]Stripping NH codes in the sign bit; then data jump detection is carried out, for the GPS, for 20 possible bit boundaries, data jump counting is carried out on the possible boundaries in all 20ms segments respectively, and detection results in a certain time period are accumulated; for the Beidou navigation system, according to 20 possible bit boundaries, the corresponding phase of each 20ms segment is determined, the data jump in the symbol is detected, and the data jump detection result is multiplied by the corresponding NH _ changδAs the final data jump result, accumulating the detection results within a certain time period; and finally, comparing detection results of 20 possible bit boundaries, and preliminarily judging the possible boundary with the maximum data jump number as a real sign bit boundary.
In the process:
(one) read the integrated data and assume possible sign bit boundaries.
The correlation data for the I and Q branches are read from the tracking channel and the integrated data for each 20ms segment is segmented for 20 different phases, one of which is necessary, but each phase is likely to be the correct bit boundary. Assume that the 20 different phases are 20 possible bit boundaries. The data at different phases on each 20ms data segment is denoted as Ii，δ、Qi，δWhere i is the sign bit number, and δ is 0, 1, 2.. 19 is the 20ms data internal phase.
(di) NH strip code generation
Generating an NH code stripping code sequence, NH _ chang, based on each possible bit boundaryδ[0:19]The method is used for stripping NH codes in the sign bit of the Beidou navigation system signal. Specifically, the sign bit internal stripping is NH code stripping of the Beidou navigation system, and if the sign bit internal stripping is NH code stripping of the Beidou navigation systemGPS system, this step does not operate. Stripping code NH _ chang of Beidou navigation systemδGenerating, in particular determining, the integrated data I per 1ms on the basis of 20 possible bit boundary hypothesesi，δ，Qi，δCorresponding phase, setting NH _ chang if the NH code sequence has a sign jump at the phaseδThe corresponding bit is-1 and if the NH code sequence does not jump sign at that phase, NH _ chang is setδThe corresponding bit is 1; at bit boundaries, NH _ changδCorresponding to 0, generates 20 NH _ changsδ[0:19]And (4) sequencing.
And (III) detecting data jump.
Specifically, for the GPS, for 20 possible bit boundaries, data jump counting is performed on the possible boundaries in all 20ms segments, and detection results in a certain time period are accumulated, where the data detection result in each phase is
Wherein Sign _ changeδFor the number of data jumps in phase δ, N is the number of all sign bits used for bit synchronization, N is determined according to the sensitivity required to be achieved, i is the sign bit sequence number used for bit synchronization, δ is the phase corresponding to the assumed possible bit boundary within the 20ms integrated data.
For the Beidou navigation system, according to 20 possible bit boundaries, phases corresponding to 20ms segments are determined, data jump inside the symbol is detected, a data jump detection result is multiplied by corresponding NH _ chang to serve as a final data jump result, and the detection results in a certain time period are accumulated. The data detection results at each phase are:
wherein Sign _ changeδFor the number of data jumps in phase δ, N is the number of all sign bits used for bit synchronization, N is determined according to the sensitivity required to be achieved, i is the sign bit sequence number used for bit synchronization, δ is one of 20 possible bit boundaries, and m is the phase corresponding to the 1ms integral data in each 20 ms.
And (four) bit boundary judgment.
Specifically, for 20 possible bit boundaries, the detection results are compared, and the possible boundary with the maximum data transition number is determined to be the true sign bit boundary.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (12)
1. A bit synchronization method compatible with a Beidou satellite navigation system and a global positioning system is characterized in that I branch related integral data and Q branch related integral data of a channel are read, 20 possible bit boundaries are assumed to generate an NH code stripping code, the Beidou navigation system is subjected to NH code stripping, the operation is not carried out on a GPS, data jump detection is carried out, the detection result is compared, and the possible boundary with the maximum data jump number is judged to be a real sign bit boundary.
2. The method of claim 1, wherein the stripping code is generated based on symbol transitions between different phases of the NH code. The method specifically comprises the following steps: if the NH code sequence has a sign jump at a certain phase, the corresponding bit of the strip code is set to-1, if the NH code sequence has no sign jump at the phase, the corresponding bit of the strip code is set to 1, and at the assumed bit boundary, the strip code is set to 0.
3. The method of claim 1, wherein 20 possible sign bit boundaries are locally assumed.
4. The method of claim 1, wherein for global navigation system (GPS), data transition detection is performed only at hypothetical possible bit boundaries. For the Beidou navigation system, data jump detection is carried out in each possible sign bit, and data jump at a possible bit boundary is set to be 0.
5. The method of claim 1, wherein the data transition detection is performed by differential integration.
6. The arrangement according to claim 1, characterized in that the bit synchronization is performed within a fixed time, in particular within the duration of N sign bits, the determination of N being determined according to the sensitivity required to be achieved.
7. An apparatus for navigation system bit synchronization, the apparatus comprising: a tracking channel and bit synchronization module; wherein,
the tracking channel is used for capturing and tracking each satellite to generate correlation integral data;
the bit synchronization module is used for reading the I branch correlation integral data and the Q branch data of the channel, generating an NH code stripping code by assuming 20 possible bit boundaries, stripping the NH code of the Beidou navigation system, and not carrying out the operation on the GPS. And then carrying out data jump detection, comparing detection results, and judging that the possible boundary with the maximum data jump number is a real sign bit boundary.
8. The apparatus of claim 6, wherein the stripping code is generated based on symbol transitions between different phases of the NH code. The method specifically comprises the following steps: if the NH code sequence has a sign jump at a certain phase, the corresponding bit of the strip code is set to-1, if the NH code sequence has no sign jump at the phase, the corresponding bit of the strip code is set to 1, and at the assumed bit boundary, the strip code is set to 0.
9. The apparatus of claim 6, wherein 20 possible bit boundaries are locally assumed.
10. The apparatus of claim 6, wherein for global navigation system (GPS), data transition detection is performed only at hypothetical possible bit boundaries. For the Beidou navigation system, data jump detection is carried out in each possible sign bit, and data jump at a possible bit boundary is set to be 0.
11. The apparatus of claim 6, wherein the data transition detection is performed by differential integration.
12. The apparatus according to claim 6, characterized in that the bit synchronization is performed within a fixed time, in particular within the duration of N sign bits, the determination of N being determined according to the sensitivity required to be achieved.
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| CN105510938A (en) * | 2015-12-02 | 2016-04-20 | 南京航空航天大学 | Satellite navigation receiver coherent integration method compatible with GPS/BD dual system |
| CN106338749A (en) * | 2015-12-30 | 2017-01-18 | 深圳艾科创新微电子有限公司 | Beidou satellite navigation receiver, and NH code stripping, autocorrelation method and device thereof |
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| CN107807369A (en) * | 2017-10-11 | 2018-03-16 | 南京航空航天大学 | A kind of Big Dipper weak signal bit synchronization method based on maximal possibility estimation |
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| CN109194447A (en) * | 2018-09-26 | 2019-01-11 | 深圳市太赫兹科技创新研究院 | The modulator approach and wireless communication system of THz wave |
| CN113189626A (en) * | 2021-03-05 | 2021-07-30 | 长沙学院 | Rapid bit synchronization method for Beidou satellite navigation signals under carrier rotation motion |
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| CN103499825A (en) * | 2013-09-24 | 2014-01-08 | 航天恒星科技有限公司 | Method for rapidly capturing BDS weak signals of high-orbit spacecraft |
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| CN106338749A (en) * | 2015-12-30 | 2017-01-18 | 深圳艾科创新微电子有限公司 | Beidou satellite navigation receiver, and NH code stripping, autocorrelation method and device thereof |
| CN106338746A (en) * | 2015-12-31 | 2017-01-18 | 深圳艾科创新微电子有限公司 | Beidou satellite navigation receiver, and method and device for improving tracking sensitivity of same |
| CN108287354B (en) * | 2017-01-09 | 2020-09-08 | 北京四维图新科技股份有限公司 | Automatic data error correction method and device and navigation equipment |
| CN108287354A (en) * | 2017-01-09 | 2018-07-17 | 北京四维图新科技股份有限公司 | A kind of data automatic error correction method and device and navigation equipment |
| CN107807369B (en) * | 2017-10-11 | 2019-11-12 | 南京航空航天大学 | A kind of Beidou weak signal bit synchronization method based on maximal possibility estimation |
| CN107807369A (en) * | 2017-10-11 | 2018-03-16 | 南京航空航天大学 | A kind of Big Dipper weak signal bit synchronization method based on maximal possibility estimation |
| CN109194447A (en) * | 2018-09-26 | 2019-01-11 | 深圳市太赫兹科技创新研究院 | The modulator approach and wireless communication system of THz wave |
| CN109194447B (en) * | 2018-09-26 | 2021-08-10 | 深圳市太赫兹科技创新研究院 | Terahertz wave modulation method and wireless communication system |
| CN113189626A (en) * | 2021-03-05 | 2021-07-30 | 长沙学院 | Rapid bit synchronization method for Beidou satellite navigation signals under carrier rotation motion |
| CN113189626B (en) * | 2021-03-05 | 2023-06-27 | 长沙学院 | Quick bit synchronization method for Beidou satellite navigation signals under carrier rotary motion |
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