CN103744093A - Beidou navigation satellite system receiver positioning engine and positioning method - Google Patents
Beidou navigation satellite system receiver positioning engine and positioning method Download PDFInfo
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- CN103744093A CN103744093A CN201410005269.9A CN201410005269A CN103744093A CN 103744093 A CN103744093 A CN 103744093A CN 201410005269 A CN201410005269 A CN 201410005269A CN 103744093 A CN103744093 A CN 103744093A
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a Beidou navigation satellite system receiver positioning engine and a Beidou navigation satellite system receiver positioning method and relates to the field of navigation. The positioning engine comprises a satellite launch time maintenance module, a position synchronization effectivity judgment module, a pseudo-range obtainment module and a navigation and location module; when a position synchronization effectivity identification reaches, the pseudo-range obtainment module obtains the accurate time of a satellite launch moment and calculates pseudo-range information according to time below a satellite launching position and time above the satellite launching position maintained by the satellite launch time maintenance module within the rapid positioning effective time after receiver signal lock losing; the navigation and location module acquires the positioning solving of a receiver according to the pseudo-range information so as to obtain position and time information. The invention also discloses the Beidou navigation satellite system receiver positioning method. According to the technical scheme, rapid positioning is realized aiming at the sudden condition of signal lock losing in the normal positioning process of the Beidou navigation satellite system receiver, and the relocation time is greatly shortened.
Description
Technical field
The present invention relates to navigation field, be specifically related to a kind of Big Dipper navigation neceiver engine of positioning and localization method.
Background technology
Big Dipper navigational satellite signal receiver is a kind of for receiving navigation satellite signal, completes the acquisition and tracking demodulation to Beidou satellite system, completes local real time position velocity calculated and outgoing management, realizes the functions such as navigator fix.
Existing Beidou receiver, in navigator fix process, once there is the situation of satellite-signal losing lock, must re-start bit synchronization, frame synchronization.Therefore, receiver losing lock reorientation overlong time.According to prior art, if realize location fast, receiver must be safeguarded a local zone time system that accuracy is very high, will greatly increase the cost of receiver like this.
Summary of the invention
Technical matters to be solved by this invention is, a kind of Beidou satellite navigation receiver engine of positioning and localization method are provided, and can realize after losing lock location fast.
In order to solve the problems of the technologies described above, the invention discloses a kind of Big Dipper navigation neceiver engine of positioning, comprising:
Satellite launch time maintenance module, safeguards the above time of satellite launch position;
The effective judge module of bit synchronization, after receiver signal losing lock, location, in effective time, has judged whether that bit synchronization effectively identifies arrival fast;
Pseudorange acquisition module, after receiver signal losing lock, locate fast in effective time, and there is bit synchronization effectively to identify while arriving, according to the above time of satellite launch position of following time of satellite launch position and the maintenance of described satellite launch time maintenance module, obtain satellite launch correct time constantly, compute pseudo-ranges information;
Navigation positioning module, according to described pseudorange acquisition of information receiver positioning calculation, obtains position temporal information.
Alternatively, in above-mentioned engine of positioning, described satellite launch time maintenance module comprises:
Clock NCO, produces sampling pulse, obtains time numeration pulse;
Satellite launch time totalizer, accumulates the time numeration pulse of described clock NCO, safeguards the above time of satellite launch position.
Alternatively, in above-mentioned engine of positioning, described satellite launch time maintenance module also comprises:
Clock NCO adjuster, when the satellite launch time of safeguarding at receiver in the cumulative moment, departed from setting threshold value whole second with Big Dipper time/Coordinated Universal Time(UTC), adjusts the cumulative aligning constantly of described clock NCO.
Alternatively, in above-mentioned engine of positioning, described clock NCO realizes in FPGA, adopts 64 bits, and external clock is 61MHz, and output frequency is 40Hz.
Alternatively, in above-mentioned engine of positioning, the effective judge module of described bit synchronization comprises:
Bit synchronization query unit, the hardware bit synchronization address of inquire-receive machine, obtains bit synchronization sign;
Bit synchronization clearing cell, when signal losing lock, removes the hardware bit synchronization sign of receiver.
Alternatively, in above-mentioned engine of positioning, described pseudorange acquisition module comprises:
Satellite launch time acquisition unit, according to following time of satellite launch position and above time of described satellite launch position, obtains satellite launch correct time constantly;
Its computation of pseudoranges unit, resolves required pseudorange amount according to described satellite launch correct time compute location constantly.
Alternatively, in above-mentioned engine of positioning, described pseudorange acquisition module also comprises:
Judging unit, judges that whether the above time of satellite launch position of described satellite launch time maintenance module maintenance is effective;
Described satellite launch time acquisition unit, when above time of satellite launch position of only safeguarding in described satellite launch time maintenance module is effective, obtains satellite launch correct time constantly.
Alternatively, in above-mentioned engine of positioning, described quick location effective time is the travel-time of a navigation message prime frame.
The invention also discloses a kind of Big Dipper navigation neceiver localization method, comprising:
In receiver course of normal operation, receiver engine of positioning is safeguarded the above time of satellite launch position;
After receiver signal losing lock, if located fast in effective time, there is bit synchronization effectively to identify arrival, described receiver engine of positioning is according to the following satellite time in satellite launch position and the above time of satellite launch position of safeguarding, obtain satellite launch correct time constantly, compute location is resolved needed pseudorange information, then positions and resolve, and obtains position temporal information.
Alternatively, in said method, described receiver engine of positioning safeguards that the process of above time of satellite launch position comprises:
In described receiver engine of positioning, clock NCO produces sampling pulse, obtains time numeration pulse, and described receiver engine of positioning Satellite totalizer launch time is accumulated the time numeration pulse of described clock NCO, safeguards the above time of satellite launch position.
Alternatively, said method also comprises:
Satellite launch time in the cumulative moment and whole second of the Big Dipper time/Coordinated Universal Time(UTC) of at receiver, safeguarding depart from while setting threshold value, and in described receiver engine of positioning, clock NCO adjuster is also adjusted the cumulative aligning constantly of described clock NCO.
Alternatively, in said method, described clock NCO realizes in FPGA, adopts 64 bits, and external clock is 61MHz, and output frequency is 40Hz.
Alternatively, in said method, described bit synchronization effectively identifies to arrive and refers to:
Described receiver engine of positioning inquiry hardware bit synchronization address, obtains bit synchronization sign, and behind location, removes hardware bit synchronization sign.
Alternatively, in said method, described receiver engine of positioning, according to the following satellite time in satellite launch position and the above time of satellite launch position of safeguarding, before obtaining satellite launch correct time constantly, also comprises:
Judge that whether the above time of satellite launch position that described satellite launch time maintenance module safeguards is effective, only, when above time of satellite launch position of described satellite launch time maintenance module maintenance is effective, obtain the correct time in the described satellite launch moment.
Alternatively, in said method, described quick location effective time is the travel-time of a navigation message prime frame.
Present techniques scheme is in the normal position fixing process of Beidou satellite navigation receiver, for the situation that occurs suddenly signal losing lock, after receiver recapture tracking signal, utilize quick engine of positioning, can carry out location fast, greatly shorten the reorientation time, and can not increase cost.
Accompanying drawing explanation
Fig. 1 is quick engine of positioning workflow schematic diagram in the present embodiment;
Fig. 2 is the satellite launch time maintenance module workflow schematic diagram of quick engine of positioning in embodiment.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in connection with accompanying drawing, technical solution of the present invention is described in further detail.It should be noted that, in the situation that not conflicting, the application's embodiment and the feature in embodiment can combine arbitrarily mutually.
Embodiment 1
The present embodiment provides a kind of quick engine of positioning of Big Dipper navigation neceiver, and it at least comprises satellite launch time maintenance module, the effective judge module of bit synchronization, pseudorange acquisition module and navigation positioning module.
Wherein, satellite launch time maintenance module, the satellite launch of the safeguarding receiver this locality time constantly, especially safeguards the above time of satellite launch position;
Particularly, above-mentioned satellite launch time maintenance module at least comprises: clock NCO and satellite launch accumulated time device;
Clock NCO, for generation of sampling pulse, obtains time numeration pulse;
In the present embodiment, clock NCO can realize in FPGA, adopts 64 bits, and external clock is 61MHz, and its output frequency is 40Hz;
Satellite launch accumulated time device, for accumulated time numeration pulse, obtains the above time of satellite launch position;
In this example, behind the normal location of receiver, satellite launch accumulated time device starts initialization, starts normally to work;
In addition, satellite launch time maintenance module can also comprise clock NCO time adjusting device, be mainly used in when satellite launch time that receiver is safeguarded cumulative constantly with depart from whole second of Big Dipper time/Coordinated Universal Time(UTC) while setting threshold value, adjust clock NCO accumulation step-length and make its constantly cumulative and whole second of Big Dipper time/Coordinated Universal Time(UTC) aligning.
Whether the effective judge module of bit synchronization, within the signal losing lock short period, have bit synchronization effectively to identify arrival for judgement;
Particularly, the effective judge module of bit synchronization comprises:
Bit synchronization query unit,
The hardware bit synchronization address of inquire-receive machine, obtains bit synchronization sign;
Bit synchronization clearing cell when signal losing lock, for removing the hardware bit synchronization sign of receiver, is inquiry service next time.
Pseudorange acquisition module, after receiver signal losing lock, locate in effective time fast, and have bit synchronization effectively to identify while arriving, according to the following time of satellite launch position, add the above time of satellite launch position of local maintenance, obtain satellite launch correct time constantly, thereby calculate pseudorange information;
Particularly, pseudorange acquisition module at least comprises satellite launch time acquisition unit and its computation of pseudoranges unit;
Satellite time acquiring unit, adds above time of satellite launch position of local maintenance for the following time of satellite launch position of obtaining according to hardware, obtain satellite launch correct time constantly;
Its computation of pseudoranges unit, for calculating satellite pseudorange information according to satellite launch correct time constantly, obtains the required pseudorange amount of positioning calculation.
In the present embodiment, to calculating the detailed process of satellite pseudorange information, do not impose any restrictions, according to satellite launch correct time constantly, calculate in any way satellite pseudorange information and all can.
In addition, pseudorange acquisition module can also comprise judging unit, and whether the above time of satellite launch position that judgement is safeguarded is effective, whether can be used to calculate the required pseudorange in quick location; Now, satellite launch time acquisition unit, when only effective in the above time of satellite launch position of safeguarding, just obtains the satellite launch time in the moment.Increased after decision operation, further improved the reliability of quick location.
Navigator fix resolves module, for according to the above-mentioned pseudorange acquisition of information receiver positioning calculation calculating, obtains position temporal information etc.;
Particularly, navigator fix resolves module and comprises: resolve navigation message and positioning-speed-measuring and resolve etc., can, by existing techniques in realizing, repeat no more herein.
In addition, the time restriction of locating fast while considering, therefore, above-mentioned quick engine of positioning also comprises the effective time restriction module in quick location.This module is used for judging that whether the current operation time surpass fast location effective time, if do not surpassed, proceeds rapid positioning operation, if surpassed, reorientates.In the present embodiment, fast the quick location of engine of positioning is effective time: after losing lock, reorientating effective time thresholding is a text prime frame time.The effective time restriction module judgement in location surpasses this threshold value fast, and bit synchronization, frame synchronization are reorientated routinely to control receiver.
Below in conjunction with Fig. 1, introduce the specific works flow process of above-mentioned quick engine of positioning, comprise the following steps:
The specific works flow process of above-mentioned satellite launch time maintenance module is described below in conjunction with Fig. 2.As shown in Figure 2, this process comprises following operation.
Step 201, satellite launch time maintenance module starts;
Step 202, judges that receiver, whether for locating first, if so, enters step 203, if not, proceed this step 202;
Step 203, the tired initialization of satellite-signal accumulation launch time of maintenance;
Step 204, judges whether the time clock that clock NCO produces arrives, if arrived, enters step 205, otherwise the operation of proceeding step 204 is until Rule of judgment establishment;
Step 205, judge that whether time of losing lock surpasses quick positioning time of applicable threshold value (being a text prime frame time in the present embodiment), if do not surpassed, will enter step 206, if surpassed, turn back to the satellite launch accumulated time amount initial phase that step 203 is safeguarded;
Step 206, the satellite launch time of maintenance is cumulative;
Step 207, judge whether normally to locate (judging whether quick engine of positioning closes), if engine of positioning is closed (showing normally to locate) fast, position location satellite maintenance module launch time finishes fast, if engine of positioning is not closed fast (also representing no location), return to step 204, the time clock stage that judgement clock NCO produces.
From above-mentioned flow process, can find out, fast the condition of location is: again in bit synchronization, before time of signal losing lock must be in a time dimension, otherwise will cause the satellite launch time above time of position of local maintenance inaccurate, location makes the mistake.
Embodiment 2
The present embodiment provides a kind of Big Dipper navigation neceiver localization method, comprises following operation:
In receiver course of normal operation, receiver engine of positioning is safeguarded the above time of satellite launch position;
After receiver signal losing lock, if located fast in effective time, there is bit synchronization effectively to identify arrival, described receiver engine of positioning is according to the following satellite time in satellite launch position and the above time of satellite launch position of safeguarding, obtain satellite launch correct time constantly, compute location is resolved needed pseudorange information, then positions and resolve, and obtains position temporal information.
Wherein, receiver engine of positioning safeguards that the process of above time of satellite launch position is: in receiver engine of positioning, clock NCO produces sampling pulse, obtain time numeration pulse, described receiver engine of positioning Satellite totalizer launch time, accumulate the time numeration pulse of described clock NCO, safeguard the above time of satellite launch position.
In addition, satellite launch time in the cumulative moment and whole second of the Big Dipper time/Coordinated Universal Time(UTC) of at receiver, safeguarding depart from while setting threshold value, and in receiver engine of positioning, clock NCO adjuster can also be adjusted the cumulative aligning constantly of clock NCO.Thereby improve the reliability of location fast.
Particularly, clock NCO can realize in FPGA, adopts 64 bits, and external clock is 61MHz, and output frequency is 40Hz.
In said method, related bit synchronization effectively identifies to arrive and refers to: receiver engine of positioning inquiry hardware bit synchronization address, obtains bit synchronization sign, and behind location, remove hardware bit synchronization sign.
Above-mentioned receiver engine of positioning is according to the following satellite time in satellite launch position and the above time of satellite launch position of safeguarding, before obtaining satellite launch correct time constantly, whether the above time of satellite launch position that can also judge the maintenance of satellite launch time maintenance module is effective, only, when above time of satellite launch position that satellite launch time maintenance module is safeguarded is effective, just obtain the satellite launch correct time in the moment.
In the present embodiment, locating fast effective time can be the travel-time of a navigation message prime frame.
From above-described embodiment, can find out, present techniques scheme is after satellite-signal losing lock, by receiver, safeguard a local satellite launch time, after on signal again bit synchronization (when the hardware synchronization address by receiver obtains bit synchronization sign), just can locate at once, after avoiding receiving ephemeris, relocate, thereby shortened positioning time.
One of ordinary skill in the art will appreciate that all or part of step in said method can come instruction related hardware to complete by program, described program can be stored in computer-readable recording medium, as ROM (read-only memory), disk or CD etc.Alternatively, all or part of step of above-described embodiment also can realize with one or more integrated circuit.Correspondingly, each the module/unit in above-described embodiment can adopt the form of hardware to realize, and also can adopt the form of software function module to realize.The application is not restricted to the combination of the hardware and software of any particular form.
The above, be only preferred embodiments of the present invention, is not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (15)
1. a Big Dipper navigation neceiver engine of positioning, is characterized in that, comprising:
Satellite launch time maintenance module, safeguards the above time of satellite launch position;
The effective judge module of bit synchronization, after receiver signal losing lock, location, in effective time, has judged whether that bit synchronization effectively identifies arrival fast;
Pseudorange acquisition module, after receiver signal losing lock, locate fast in effective time, and there is bit synchronization effectively to identify while arriving, according to the above time of satellite launch position of following time of satellite launch position and the maintenance of described satellite launch time maintenance module, obtain satellite launch correct time constantly, compute pseudo-ranges information;
Navigation positioning module, according to described pseudorange acquisition of information receiver positioning calculation, obtains position temporal information.
2. engine of positioning as claimed in claim 1, is characterized in that, described satellite launch time maintenance module comprises:
Clock numerically-controlled oscillator (NCO), produces sampling pulse, obtains time numeration pulse;
Satellite launch time totalizer, accumulates the time numeration pulse of described clock NCO, safeguards the above time of satellite launch position.
3. engine of positioning as claimed in claim 2, is characterized in that, described satellite launch time maintenance module also comprises:
Clock NCO adjuster, when the satellite launch time of safeguarding at receiver in the cumulative moment, departed from setting threshold value whole second with Big Dipper time/Coordinated Universal Time(UTC), adjusts the cumulative aligning constantly of described clock NCO.
4. engine of positioning as claimed in claim 2, is characterized in that,
Described clock NCO realizes in programmable gate array (FPGA) at the scene, adopts 64 bits, and external clock is 61MHz, and output frequency is 40Hz.
5. engine of positioning as claimed in claim 1, is characterized in that, the effective judge module of described bit synchronization comprises:
Bit synchronization query unit, the hardware bit synchronization address of inquire-receive machine, obtains bit synchronization sign;
Bit synchronization clearing cell, when signal losing lock, removes the hardware bit synchronization sign of receiver.
6. engine of positioning as claimed in claim 1, is characterized in that, described pseudorange acquisition module specifically comprises:
Satellite launch time acquisition unit, according to following time of satellite launch position and above time of described satellite launch position, obtains satellite launch correct time constantly;
Its computation of pseudoranges unit, resolves required pseudorange amount according to described satellite launch correct time compute location constantly.
7. engine of positioning as claimed in claim 6, is characterized in that, described pseudorange acquisition module also comprises:
Judging unit, judges that whether the above time of satellite launch position of described satellite launch time maintenance module maintenance is effective;
Described satellite launch time acquisition unit, when above time of satellite launch position of only safeguarding in described satellite launch time maintenance module is effective, obtains satellite launch correct time constantly.
8. the engine of positioning as described in claim 1 to 7 any one, is characterized in that,
Described quick location effective time is the travel-time of a navigation message prime frame.
9. a Big Dipper navigation neceiver localization method, is characterized in that, comprising:
In receiver course of normal operation, receiver engine of positioning is safeguarded the above time of satellite launch position;
After receiver signal losing lock, if located fast in effective time, there is bit synchronization effectively to identify arrival, described receiver engine of positioning is according to the following satellite time in satellite launch position and the above time of satellite launch position of safeguarding, obtain satellite launch correct time constantly, compute location is resolved needed pseudorange information, then positions and resolve, and obtains position temporal information.
10. method as claimed in claim 9, is characterized in that, described receiver engine of positioning safeguards that the process of above time of satellite launch position comprises:
In described receiver engine of positioning, clock NCO produces sampling pulse, obtains time numeration pulse, and described receiver engine of positioning Satellite totalizer launch time is accumulated the time numeration pulse of described clock NCO, safeguards the above time of satellite launch position.
11. methods as claimed in claim 10, is characterized in that, described method also comprises:
Satellite launch time in the cumulative moment and whole second of the Big Dipper time/Coordinated Universal Time(UTC) of at receiver, safeguarding depart from while setting threshold value, and in described receiver engine of positioning, clock NCO adjuster is also adjusted the cumulative aligning constantly of described clock NCO.
12. methods as claimed in claim 11, is characterized in that,
Described clock NCO realizes in FPGA, adopts 64 bits, and external clock is 61MHz, and output frequency is 40Hz.
13. methods as claimed in claim 9, is characterized in that, described bit synchronization effectively identifies to arrive and refers to:
Described receiver engine of positioning inquiry hardware bit synchronization address, obtains bit synchronization sign, and behind location, removes hardware bit synchronization sign.
14. methods as claimed in claim 9, is characterized in that, described receiver engine of positioning, according to the following satellite time in satellite launch position and the above time of satellite launch position of safeguarding, before obtaining satellite launch correct time constantly, also comprises:
Judge that whether the above time of satellite launch position that described satellite launch time maintenance module safeguards is effective, only, when above time of satellite launch position of described satellite launch time maintenance module maintenance is effective, obtain the correct time in the described satellite launch moment.
15. methods as described in claim 9 to 14 any one, is characterized in that,
Described quick location effective time is the travel-time of a navigation message prime frame.
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