CN103675846B - A kind of BD2 navigation simulator and the integrated combined test system of GPS/GLONASS navigation simulator - Google Patents
A kind of BD2 navigation simulator and the integrated combined test system of GPS/GLONASS navigation simulator Download PDFInfo
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- CN103675846B CN103675846B CN201310628830.4A CN201310628830A CN103675846B CN 103675846 B CN103675846 B CN 103675846B CN 201310628830 A CN201310628830 A CN 201310628830A CN 103675846 B CN103675846 B CN 103675846B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
BD2 navigation simulator and the integrated combined test system of GPS/GLONASS navigation simulator, comprise two CSG6000BD2 simulators, two Tai Sibailun GSS8000 simulators, Comprehensive Control unit, clock synchronization unit, radio frequency combiner unit.Seamless integration-can be carried out by synchro control BD2 simulator GPS/GLONASS simulator by the present invention, be built into a set of GNSS combined test system, the dual user track that outer trace generator produces can be received simultaneously, synchronously produce GPS, GLONASS, BD2 tri-GNSS navigation signal of system, support the index test of flight control system closed loop test and GNSS compatible receiver.
Description
Technical field
The present invention relates to a kind of BD2 navigation simulator and the integrated combined test system of GPS/GLONASS navigation simulator, belong to technical field of satellite navigation.
Background technology
Along with the development and construction of GPS (Global Position System), GNSS receiver has been applied in every field and industry.Research and development and the test of GNSS receiver all be unable to do without navigation signal simulator.
At present, the multisystem GNSS test macro of external associated companies goes on the market, and can be GPS/SBAS, GLONASS, Galileo and QZSS provide test support.But do not have a kind of simulator or emulation platform can generate simultaneously or select to simulate the satellite navigation signals of the multisystem comprising BD2 system at present.
The GPS/GLONASS navigation simulator of domestic BD2 navigation simulator and Si Bailun company of Britain can carry out integrated by BD2 navigation simulator and GPS navigation simulator integrated technology, build the satellite navigation test macro of multisystem combination, can real-time reception external user track, synchro control BD2 simulator and GPS/GLONASS simulator, and generate the satellite navigation signals of the multisystems such as BD2, GPS, GLONASS, GALILEO, for research and development and the test of GNSS receiver.The test macro utilizing this technology to build at present successful Application in the manned astro-engineering.
Summary of the invention
The object that technology of the present invention is dealt with problems is: for the deficiencies in the prior art, utilize a kind of Seamless integration-technology, build the GNSS combined test system of a set of multisystem compatibility, can real-time reception external user track, multiple stage simulator can be controlled simultaneously, and the synchronous dual user satellite navigation signals generating multiple system.
Technical solution of the present invention is:
BD2 navigation simulator and the integrated combined test system of GPS/GLONASS navigation simulator, comprising: two CSG6000BD2 simulators, two Tai Sibailun GSS8000 simulators, clock synchronization unit, Comprehensive Control unit and radio frequency combiner units;
CSG6000 simulator, 10MHz and the 1PPS signal that receive clock lock unit produces, as Time and frequency standard; Receive steering order and the user trajectory information of the transmission of Comprehensive Control unit, generate the navigation signal of BD2 system B1, B3 frequency in real time;
GSS8000 simulator, 10MHz and the 1PPS signal that receive clock lock unit produces, as Time and frequency standard; Receive steering order and the user trajectory information of the transmission of Comprehensive Control unit, generate the navigation signal of gps system L1 and GLONASS system L1 frequency in real time;
Clock synchronization unit: clock synchronization unit adopts GPS to tame Rb atom frequency marking, provides high-precision 10MHz and 1PPS signal to CSG6000 simulator, GSS8000 simulator, Comprehensive Control unit;
Comprehensive Control unit: comprise clock control module, system cloud gray model control module, simulating scenes administration module, network communication module, system status monitoring module;
The 1PPS signal that clock control module receive clock lock unit is produced, 1PPS signal is carried out frequency division, and output accuracy is the clock count of millisecond, and temporal information is sent to system cloud gray model control module, completes the time synchronized of Comprehensive Control unit and system;
The time counting that system cloud gray model control module real-time reception clock control module produces; judge whether current time arrives official hour node; time interrupting information is provided to Comprehensive Control unit; receive external user track or read local user's trace information; the initialization of control BD2 and GPS/GLONASS simulator, startup emulate and stop emulation, and net control communication module sends trace information with the time interval of 100ms to simulator.Send other steering orders, Long-distance Control simulator carries out power adjustments simultaneously, signal at stop and condition monitoring;
Simulating scenes administration module is arranged according to user, generates the simulating scenes configuration file that can repeat to load, and sends to system cloud gray model control module production simulation device steering order;
Network communication module is set up network by Ethernet Transmission Control Protocol with each simulator in outer trace generator and system and is connected, and receives external user track and puts position to simulator sending controling instruction and user;
System status monitoring module real-time query clock control module, the running status of network communication module and the running status of each simulator, produce visual information and feed back to user;
Radio frequency combiner unit: receive GSS8000GPS/GLONASS simulator and CSG6000BD2 simulator navigation signal, and radiofrequency signal is carried out the output of conjunction road;
Described CSG6000 simulator comprises satellite navigation message generation module, real-time simulation control module, observation data generation module, navigation signal processing module, intermediate-freuqncy signal generation module, up-converter module;
Satellite navigation message generation module, the steering order sent according to real-time simulation control module and time synchronization information, according to navigation message form, coding generates satellite navigation message;
Real-time simulation control module, receives the time synchronization information that navigation signal processing module sends, and time synchronization information is sent to observation data generation module and satellite navigation message generation module, the time synchronized of completion system; Then control information is sent to satellite navigation message generation module, observation data generation module and navigation signal processing module, complete the control to system;
Observation data generation module, the time synchronization information sent according to carrier movement information and the real-time simulation control module of outside and control information, the observation data of real-time generation receiver, described observation data comprises pseudo-range information, carrier phase information and power, wherein pseudo-range information comprise pseudorange, pseudorange rates and pseudorange 2,3 rank amount; Described carrier phase information comprises carrier phase and carrier phase 1 ~ 3 rank amount;
Navigation signal processing module, receives the control information that real-time simulation control module sends, the text that satellite navigation message generation module sends and the observation data that observation data generation module generates; When receiving the time synchronization information of intermediate-freuqncy signal generation module, namely during look-at-me, generate loop parameter according to the text received and observation data and text sends to intermediate-freuqncy signal generation module;
Intermediate-freuqncy signal generation module, receive loop parameter and the text of the transmission of navigation signal processing module, rise time synchronizing information sends to navigation signal processing module, generates intermediate frequency navigation signal simultaneously and sends to up-converter module;
Up-converter module, according to the intermediate frequency navigation signal that intermediate-freuqncy signal generation module generates, by intermediate-freuqncy signal up-conversion to radiofrequency signal.
The present invention compared with prior art tool has the following advantages:
(1) there is configuration flexibility.The present invention, by the coordinated operation between each module, adopts the technology of time synchronized simultaneously, ensure that time synchronized and the data syn-chronization of each navigation simulator, thus makes system synchronously can generate BD2, GPS, GLONASS tri-combination in any of system navigate signal.
(2) dual user closed-loop simulation function is supported.The dual user trace information that the present invention can be produced by Comprehensive Control unit real-time reception external unit, and produce corresponding navigation signal.
Accompanying drawing explanation
Fig. 1 is present system composition frame chart;
Fig. 2 is present system annexation figure;
Fig. 3 present system data flow figure;
Comprehensive Control unit software flow pattern in Fig. 4 the present invention;
Comprehensive Control unit starting simulator process flow diagram in Fig. 5 the present invention;
Comprehensive Control unit starting simulator sequential chart in Fig. 6 the present invention.
Embodiment
As shown in Figure 1, BD2 navigation simulator and Si Bailun GPS/GLONASS navigation simulator have been carried out Seamless integration-by the present invention.Export high precision 10MHz signal and 1PPS signal by clock synchronization unit, realize carrying out clock synchronous to each simulator and Comprehensive Control unit.Comprehensive Control unit receives the dual user trace information of external unit transmission by Ethernet, and to each simulator sending controling instruction and user trajectory information, realizes the data syn-chronization of system.The radiofrequency signal that simulator exports by radio frequency combiner unit carries out conjunction road, the final navigation signal exporting dual user.
As shown in Figure 2, Comprehensive Control unit is connected with outer trace generator, GSS800 simulator, CSG6000 simulator by Ethernet; 10MHz and the 1PPS signal of the external timing signal interface difference incoming clock lock unit output of GSS800 simulator, CSG6000 simulator; The 1PPS signal of the outside input 1PPS interface incoming clock lock unit output of Comprehensive Control unit.The Trigger signal of the outer triggering signal interface access Comprehensive Control unit output of GSS800 simulator.
As shown in Figure 3, the data flow figure of system in the present invention.Comprehensive Control unit receives the trace information that outer trace generator sends; Comprehensive Control unit is to GSS8000 simulator, CSG6000 simulator sending controling instruction and user trajectory data; GSS8000 simulator, CSG6000 simulator send emulated data and status information to Comprehensive Control unit.
Be illustrated in figure 4 Comprehensive Control unit software flow pattern.After Comprehensive Control unit starting, generate equipment with GSS8000 simulator, CSG6000 simulator, outer trace and set up TCP and be connected; After user completes scene, initialization operation is carried out to simulator; After initialization, start simulator and start emulation; Read the data of outer trace buffer zone; Whether the time counting of inquiry clock control module arrives 100ms; If arrived, then send user trajectory data to GSS8000 simulator, CSG6000 simulator; Externally track devices sends request of data afterwards; Judge whether emulation stops, otherwise continue to send data next time.
As shown in Figure 5, Comprehensive Control unit starting simulator process flow diagram.Comprehensive Control unit first initialization outer trace equipment; Start data receiver thread afterwards, start to receive outer trace data; After receiving outer trace data, extract the emulation initial UTC time; Table look-up and obtain corresponding leap second value; When calculating GPS, judgement can be divided exactly by 6, if can not, during automatic UTC corresponding when being adjusted to the previous GPS can divided exactly by 6 time; To simulator, simulating scenes is set; And send the user trajectory information of initial time; Judge whether the outer trace data receiving predetermined number, if so, then start simulator and start emulation.
The synchronization principles of system is divided into clock synchronous, data syn-chronization and radiofrequency signal synchronous:
System clock synchronization is realized by clock synchronization unit, clock synchronization unit tames rubidium atomic clock for frequency standard with GPS, can realize with during true GPS by external gps antenna synchronous, output signal is multichannel 10MHz signal and 1PPS signal, input GSS8000 simulator and CSG6000 simulator respectively, and GSS8000 simulator and CSG6000 simulator possess outer clock handoff functionality, namely outer clock pattern can be transferred to by interior clock pattern when there being outside access; Simultaneously by the clock control module on 1PPS signal input Comprehensive Control unit, thus Comprehensive Control unit and each simulator are carried out clock synchronous.
Data syn-chronization refers to the synchro control of Comprehensive Control unit to GSS8000 simulator, BD2 ground simulation device transmission order, user trajectory data, and as shown in Figure 2, synchronization control mechanism is wherein as follows for the data flow diagram of Comprehensive Control unit and each simulator:
steering order
Steering order refers to Trigger signal (emulation startup command), GSS8000 simulator possesses outer triggering signal input interface (TriggerIN), Comprehensive Control unit sends Trigger signal by clock control module to GSS8000 simulator, send " starting emulation " instruction by Ethernet to BD2 simulator simultaneously, the next 1PPS rising edge (by clock synchronization mechanism guarantee the 1PPS signal of two kind simulators synchronous) of two kinds of simulators after receiving " starting emulation " signal or instruction produces radio frequency simulation signal when arriving, Comprehensive Control unit controls two simulators start the sequential chart of emulation as shown in Figure 6, the step starting simulator emulation is as follows:
(1) initialization clock control module.By calling the Driver function library of hardware clock card, configuration parameter being sent to Clock Card, after after this Clock Card is started working, time counting being passed to clock control module.
(2) initialization simulator.When user operation initialization is simulated or when Comprehensive Control unit receives external user track, Comprehensive Control unit sends initialization directive to CSG6000 simulator and GSS8000 simulator, sends the initial point information of user trajectory simultaneously.Wait for that simulator carries out initialization afterwards.
(3) start simulator and start emulation.After simulator initialization, user operation starts simulator, Comprehensive Control unit judges current time, whether within the 10ms of the rising edge of 1PPS signal, if it is sends Trigger signal to GSS8000 simulator, sends startup emulator command to CSG6000 simulator simultaneously.
(4) user trajectory data are sent.CSG6000 simulator and GSS8000 simulator, after receiving startup command, all start emulation, export radiofrequency signal within the 10ms of next 1PPS rising edge arrival.Comprehensive Control unit presses the time interval of 100ms to CSG6000 simulator and GSS8000 simulator transmission user trajectory data simultaneously.
The synchronous of radiofrequency signal mainly refers to the conforming calibration of pseudorange between system.Although GSS8000 simulator and CSG6000 simulator all can carry out calibration alone, owing to being connected to the intermediary device such as radio frequency line, attenuator, power splitter, combiner after combining, the inconsistent of pseudorange between system can be caused.
CSG6000 simulator can carry out the conforming test of interchannel when producing, concrete method of testing is undertaken by the oscillograph of sampling rate more than 10GHz, under quiescent conditions, produce a satellite-signal, pseudorange is set to particular value, modulation system is BPSK, observes the time delay value of each passage Barker code phase overturn point and 1PPS.
For GSS8000 simulator, adopt the trigger pip of 1PPS output as high-speed oscilloscope of GSS8000, user trajectory is set to ground static point, wherein will be set to geo-stationary orbit by a visible star, can stationary state be realized like this, be observed can observe Barker code overturn point at theoretical value place by oscillograph.Because GSS8000 is integrated with GPS and GLONASS, ensure that synchronism, as long as guarantee BD2 system, synchronous with gps system can to ensure with GLONASS system synchronous.After carrying out pseudo-range time delay measurement by high-speed sampling oscillograph, can obtain the difference of GSS8000 simulator and CSG6000 simulator pseudo-range time delay, this difference can be revised by the pseudorange null value of CSG6000 simulator.
Non-elaborated part of the present invention belongs to the known technology of those skilled in the art.
Claims (2)
1. BD2 navigation simulator and the integrated combined test system of GPS/GLONASS navigation simulator, is characterized in that comprising: two CSG6000BD2 simulators, two Tai Sibailun GSS8000 simulators, clock synchronization unit, Comprehensive Control unit and radio frequency combiner units;
CSG6000 simulator, 10MHz and the 1PPS signal that receive clock lock unit produces, as Time and frequency standard; Receive steering order and the user trajectory information of the transmission of Comprehensive Control unit, generate the navigation signal of BD2 system B1, B3 frequency in real time;
GSS8000 simulator, 10MHz and the 1PPS signal that receive clock lock unit produces, as Time and frequency standard; Receive steering order and the user trajectory information of the transmission of Comprehensive Control unit, generate the navigation signal of gps system L1 and GLONASS system L1 frequency in real time;
Clock synchronization unit: clock synchronization unit adopts GPS to tame Rb atom frequency marking, provides high-precision 10MHz and 1PPS signal to CSG6000 simulator, GSS8000 simulator, Comprehensive Control unit;
Comprehensive Control unit: comprise clock control module, system cloud gray model control module, simulating scenes administration module, network communication module, system status monitoring module;
The 1PPS signal that clock control module receive clock lock unit is produced, 1PPS signal is carried out frequency division, and output accuracy is the time counting of millisecond, and temporal information is sent to system cloud gray model control module, completes the time synchronized of Comprehensive Control unit and system;
The time counting that system cloud gray model control module real-time reception clock control module produces, judge whether current time arrives official hour node, time interrupting information is provided to Comprehensive Control unit, receive external user track or read local user's trace information, the initialization of control BD2 and GPS/GLONASS simulator, startup emulate and stop emulation, and net control communication module sends trace information with the time interval of 100ms to simulator; Send other steering orders, Long-distance Control simulator carries out power adjustments simultaneously, signal at stop and condition monitoring;
Simulating scenes administration module is arranged according to user, generates the simulating scenes configuration file that can repeat to load, and sends to system cloud gray model control module production simulation device steering order;
Network communication module is set up network by Ethernet Transmission Control Protocol with each simulator in outer trace generator and system and is connected, and receives external user track and puts position to simulator sending controling instruction and user;
System status monitoring module real-time query clock control module, the running status of network communication module and the running status of each simulator, produce visual information and feed back to user;
Radio frequency combiner unit: receive GSS8000GPS/GLONASS simulator and CSG6000BD2 simulator navigation signal, and radiofrequency signal is carried out the output of conjunction road.
2. a kind of BD2 navigation simulator according to claim 1 and the integrated combined test system of GPS/GLONASS navigation simulator, is characterized in that:
Described CSG6000 simulator comprises satellite navigation message generation module, real-time simulation control module, observation data generation module, navigation signal processing module, intermediate-freuqncy signal generation module, up-converter module;
Satellite navigation message generation module, the steering order sent according to real-time simulation control module and time synchronization information, according to navigation message form, coding generates satellite navigation message;
Real-time simulation control module, receives the time synchronization information that navigation signal processing module sends, and time synchronization information is sent to observation data generation module and satellite navigation message generation module, the time synchronized of completion system; Then control information is sent to satellite navigation message generation module, observation data generation module and navigation signal processing module, complete the control to system;
Observation data generation module, the time synchronization information sent according to carrier movement information and the real-time simulation control module of outside and control information, the observation data of real-time generation receiver, described observation data comprises pseudo-range information, carrier phase information and power, wherein pseudo-range information comprise pseudorange, pseudorange rates and pseudorange 2,3 rank amount; Described carrier phase information comprises carrier phase and carrier phase 1 ~ 3 rank amount;
Navigation signal processing module, receives the control information that real-time simulation control module sends, the text that satellite navigation message generation module sends and the observation data that observation data generation module generates; When receiving the time synchronization information of intermediate-freuqncy signal generation module, namely during look-at-me, generate loop parameter according to the text received and observation data and text sends to intermediate-freuqncy signal generation module;
Intermediate-freuqncy signal generation module, receive loop parameter and the text of the transmission of navigation signal processing module, rise time synchronizing information sends to navigation signal processing module, generates intermediate frequency navigation signal simultaneously and sends to up-converter module;
Up-converter module, according to the intermediate frequency navigation signal that intermediate-freuqncy signal generation module generates, by intermediate-freuqncy signal up-conversion to radiofrequency signal.
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| CN105071874A (en) * | 2015-08-20 | 2015-11-18 | 北京工业大学 | Safety control device and method for Beidou communication terminal |
| CN106707305A (en) * | 2015-11-12 | 2017-05-24 | 航天信息股份有限公司 | Epoch alignment method and pseudo distance measurement method of navigation simulator test |
| CN108333958B (en) * | 2017-12-29 | 2021-02-19 | 北京航天测控技术有限公司 | Multiplexing general aviation simulator |
| CN109343090A (en) * | 2018-07-10 | 2019-02-15 | 东南大学 | A kind of Embedded GPS/BDS/GLONASS real-time accurate single point positioning equipment |
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| CN110244334A (en) * | 2018-11-22 | 2019-09-17 | 湖南国科防务电子科技有限公司 | A kind of satellite navigation trustworthy location method of servicing |
| CN116011213B (en) * | 2022-12-29 | 2024-04-26 | 上海思岚科技有限公司 | Data simulation system |
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