CN103760577A - GNSS satellite tracking method - Google Patents
GNSS satellite tracking method Download PDFInfo
- Publication number
- CN103760577A CN103760577A CN201410048170.7A CN201410048170A CN103760577A CN 103760577 A CN103760577 A CN 103760577A CN 201410048170 A CN201410048170 A CN 201410048170A CN 103760577 A CN103760577 A CN 103760577A
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- Prior art keywords
- signal
- code
- system control
- carrier wave
- control module
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Classifications
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
-
- 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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- 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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
Abstract
The invention relates to a GNSS satellite tracking method. The GNSS satellite tracking method comprises the following steps that S1, a GPS signal receiver receives GPS signals of a plurality of satellites, sends the signals to a correlator set for signal integration processing, and outputs corresponding data signals; a system control module receives the data signals and sends the data signals to a phase discriminator module for processing; the phase discriminator module conducts phase discrimination on the data signals after receiving the data signals, outputs phase discrimination results, and sends the phase discrimination results to a loop filter and a storage module; the loop filter conducts filter operation processing on the data signals and sends results to a system control module; the system control module receives and controls the corresponding data signals, and a code NCO and a carrier NCO conducts pseudo code peeling and carrier peeling respectively. The GNSS satellite tracking method has the advantages of being high in resource use efficiency and saving cost.
Description
Technical field
The present invention relates to a kind of GNSS Satellite Tracking device and tracking thereof of high resource utilization.
Background technology
Global positioning satellite and navigational system, for example GPS (GPS), comprises one group of satellite constellation that sends gps signal, this gps signal can be received the position that machine is used for determining this receiver.Satellite orbit is arranged in a plurality of planes, so that any position can be from least four satellite reception sort signals on earth.
The gps signal that each gps satellite sends is all Direct Sequence Spread Spectrum Signal.It is relevant that the signal of commercial use and standard are decided to be service (SPS), and be referred to as the direct sequence two-phase spread-spectrum signal of thick code (C/A code), under the carrier wave of 1575.42MHz, has the speed of 1.023 million chips per second.Pseudo noise (PN) sequence length is 1023 chips, corresponding to the time cycle of 1ms.The PN code that each satellite launch is different, can send from several satellites signal simultaneously, and is received by a receiver simultaneously, almost noiseless each other.Term " satellite asterisk " is relevant with this PN code, can be in order to indicate different gps satellites.
The modulation signal of GPS is navigation message (being called again D code) and PN code combination code.The speed of navigation message is 50 bits per second.The base unit of D code is the prime frame of 1500 bits, and prime frame is divided into again the subframe of 5 300 bits.Wherein, subframe one has comprised identification code, star kind data age and satellite clock corrected parameter information.Subframe two and subframe three have comprised real-time gps satellite ephemeris, and ephemeris is the main content of current navigator fix information.Utilize subframe one to the information of subframe three can realize location, complete the basic task of location.The monitored condition that subframe four and subframe five have comprised 1 to 32 satellite, the almanac of UTC calibration information and ionospheric corrections parameter and 1 to 32 satellite.Almanac is the simplified subset of satellite ephemeris parameter, for predicting visible satellite and the Doppler frequency deviation thereof with respect to receiver.Once, limited period is some months in broadcast in historical every 12.5 minutes.
The prerequisite that realizes satnav is that positioning system can be followed the tracks of four above satellites.And system keeps track number of active lanes becomes an important indicator weighing global position system, and along with the increase of Satellite Tracking passage, hardware resource also can be along with increase, and the resource utilization that how to improve system becomes the important technology of hardware positioning system.
Summary of the invention
In view of the above-mentioned problems in the prior art, the object of the invention is to address the deficiencies of the prior art, provide a kind of level of resources utilization high and cost-effective GNSS satellite tracking method.
The invention provides a kind of GNSS satellite tracking method, comprise the following steps: S1:GPS signal receiver receives the gps signal of a plurality of satellites in a plurality of tracking channels, a plurality of described gps signal receiving is sent to the correlator bank in a plurality of tracking channels simultaneously, a plurality of described correlator bank are carried out respectively signal integration processing and export corresponding data-signal a plurality of described gps signals, a plurality of described data-signals are sent to respectively to system control module S2: system control module receives the data-signal that a plurality of described correlator bank send simultaneously, and send corresponding instruction, the working time that belongs to which tracking channel and which track loop according to the moment of described instruction judgement current data signal, then select corresponding data-signal, described data-signal is sent to phase detector module S3: phase detector module receives the data-signal of described system control module transmission and it is carried out to phase demodulation processing simultaneously, export identified result simultaneously and respectively described identified result sent in described loop filter and memory module, described memory module is for storing a plurality of described tracking channels gps signal S4 after phase detector module phase demodulation in each moment: loop filter receives the data-signal after phase demodulation that described phase detector module sends, it is carried out to filtering operation processing and export related coefficient simultaneously, and described related coefficient is sent to described system control module S5: system control module receives described related coefficient and sends to corresponding code NCO and carrier wave NCO in a plurality of tracking channels, described code NCO peels off the pseudo-code in described gps signal, described carrier wave NCO peels off the carrier wave in described gps signal.
Further, the detailed process that in described step S5, code NCO peels off the pseudo-code in described gps signal is: described code NCO receives the related coefficient of described system control module transmission and produces pseudo-code frequency and send it to described code generator, described code generator produces local pseudo-code and then multiplies each other with the gps signal that described correlator bank receives after receiving described pseudo-code frequency, to carry out peeling off of pseudo-code in described gps signal.
Further, the detailed process that described in described step S5, carrier wave NCO peels off the carrier wave in described gps signal is: described carrier wave NCO receives described system control module and sends related coefficient and produce digital sine and cosine signal, described digital sine and cosine signal are sent to carrier wave stripper, described carrier wave vierics receive described digital sine and cosine signal and the carrier wave in described gps signal are peeled off simultaneously.
Further, described loop filter carries out filtering processing and output result exponent number to the data-signal after phase detector module phase demodulation is on two Huo Liang rank, rank when above, while carrying out filtering calculating, except needing the Output rusults of the phase detector module of current time, also need to call and be stored in described memory module the identified result of phase detector module output constantly in the past and the filtering result of described loop filter output.
Further, a plurality of described tracking channels comprise 32 tracking channels.
The advantage that the present invention has and beneficial effect are: this GNSS star tracking method is provided with system control module and memory module, described system control module can be realized according to the moment of setting the control processing of the gps signal that the Satellite of 32 coupled tracking channels is sent, described memory module can be stored the identified result of phase detector module output and the filtering result of wave filter output in each each tracking channel of the moment, so that the later stage calls, and basis does not read corresponding parameter in the same time under the control of system control module, carry out the associated budget of loop filter, thereby realize the tracking to 32 tracking channel Satellites, can realize maximum saving logical resource, improve and follow the tracks of hardware resource utilization.
Accompanying drawing explanation
Fig. 1 is the schematic block diagram of the GNSS satellite tracking method of the present embodiment.
Embodiment
The present invention is further illustrated with specific embodiment below with reference to accompanying drawings.
As shown in Figure 1: a kind of GNSS star tracking method of the embodiment of the present invention, comprises the following steps:
S1:GPS signal receiver receives the gps signal of a plurality of satellites in a plurality of tracking channels, a plurality of described gps signal receiving is sent to the correlator bank 11 in a plurality of tracking channels simultaneously, 11 pairs of a plurality of described gps signals of a plurality of described correlator bank carry out respectively signal integration processing and export corresponding data-signal, a plurality of described data-signals are sent to respectively to system control module 21 simultaneously;
S2: system control module 21 receives the data-signal that a plurality of described correlator bank 11 send, and send corresponding instruction, the working time that belongs to which tracking channel and which track loop according to the moment of described instruction judgement current data signal, then select corresponding data-signal, described data-signal is sent to phase detector module 22 simultaneously;
S3: phase detector module 22 receives the data-signal of described system control module 21 transmissions and it is carried out to phase demodulation processing, export identified result simultaneously and respectively described identified result sent in described loop filter 23 and memory module 24, described memory module 24 is for storing a plurality of described tracking channels gps signal after phase detector module phase demodulation in each moment;
S4: loop filter 23 receives the data-signal after phase demodulation that described phase detector module 22 sends, and it is carried out to filtering operation processing and export related coefficient simultaneously, and described related coefficient is sent to described system control module 21;
S5: system control module 21 receives described related coefficient and sends to corresponding code NC013 and carrier wave NC014 in a plurality of tracking channels, described code NC013 peels off the pseudo-code in described gps signal, and described carrier wave NC014 peels off the carrier wave in described gps signal.
Preferred implementation as above-described embodiment, the detailed process that in described step S5, code NC013 peels off the pseudo-code in described gps signal is: described code NC013 receives the related coefficient of described system control module 21 transmissions and produces pseudo-code frequency and send it to described code generator 12, after described code generator 12 receives described pseudo-code frequency, produce local pseudo-code and then multiply each other with the gps signal that described correlator bank 11 receives, to carry out peeling off of pseudo-code in described gps signal.
Preferred implementation as above-described embodiment, the detailed process that described in described step S5, carrier wave NC014 peels off the carrier wave in described gps signal is: described carrier wave NC014 receives described system control module 21 and sends related coefficient and produce digital sine and cosine signal, described digital sine and cosine signal are sent to carrier wave stripper, described carrier wave vierics receive described digital sine and cosine signal and the carrier wave in described gps signal are peeled off simultaneously.
Preferred implementation as above-described embodiment, the result exponent number that 23 pairs of the described loop filters data-signal after phase detector module 22 phase demodulations carries out filtering processing and output is on two Huo Liang rank, rank when above, while carrying out filtering calculating, except needing the Output rusults of the phase detector module 22 of current time, also need to call and be stored in described memory module 24 identified result of phase detector module 22 outputs constantly in the past and the filtering result of described loop filter 23 outputs.
Preferred implementation as above-described embodiment, a plurality of described tracking channels comprise 32 tracking channels, by the cooperation of described system control module 21 and described memory module 24, realize 32 tracking channels and only need a phase detector module 22 and a loop filter 23, greatly save the hardware resource of GNSS tracker, improved the utilization factor of hardware resource.
Finally it should be noted that: above-described each embodiment, only for technical scheme of the present invention is described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record previous embodiment is modified, or to wherein partly or entirely technical characterictic be equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (5)
1. a GNSS satellite tracking method, is characterized in that, comprises the following steps:
S1:GPS signal receiver receives the gps signal of a plurality of satellites in a plurality of tracking channels, a plurality of described gps signal receiving is sent to the correlator bank in a plurality of tracking channels simultaneously, a plurality of described correlator bank are carried out respectively signal integration processing and export corresponding data-signal a plurality of described gps signals, a plurality of described data-signals are sent to respectively to system control module simultaneously;
S2: system control module receives the data-signal that a plurality of described correlator bank send, and send corresponding instruction, the working time that belongs to which tracking channel and which track loop according to the moment of described instruction judgement current data signal, then select corresponding data-signal, described data-signal is sent to phase detector module simultaneously;
S3: phase detector module receives the data-signal of described system control module transmission and it is carried out to phase demodulation processing, export identified result simultaneously and respectively described identified result sent in described loop filter and memory module, described memory module is for storing a plurality of described tracking channels gps signal after phase detector module phase demodulation in each moment;
S4: loop filter receives the data-signal after phase demodulation that described phase detector module sends, and it is carried out to filtering operation processing and export related coefficient simultaneously, and described related coefficient is sent to described system control module;
S5: system control module receives described related coefficient and sends to corresponding code NCO and carrier wave NCO in a plurality of tracking channels, and described code NCO peels off the pseudo-code in described gps signal, and described carrier wave NCO peels off the carrier wave in described gps signal.
2. GNSS satellite tracking method according to claim 1, it is characterized in that, the detailed process that in described step S5, code NCO peels off the pseudo-code in described gps signal is: described code NCO receives the related coefficient of described system control module transmission and produces pseudo-code frequency and send it to described code generator, described code generator produces local pseudo-code and then multiplies each other with the gps signal that described correlator bank receives after receiving described pseudo-code frequency, to carry out peeling off of pseudo-code in described gps signal.
3. GNSS satellite tracking method according to claim 1, it is characterized in that, the detailed process that described in described step S5, carrier wave NCO peels off the carrier wave in described gps signal is: described carrier wave NCO receives described system control module and sends related coefficient and produce digital sine and cosine signal, described digital sine and cosine signal are sent to carrier wave stripper, described carrier wave vierics receive described digital sine and cosine signal and the carrier wave in described gps signal are peeled off simultaneously.
4. GNSS satellite tracking method according to claim 1, it is characterized in that, described loop filter carries out filtering processing and output result exponent number to the data-signal after phase detector module phase demodulation is on two Huo Liang rank, rank when above, while carrying out filtering calculating, except needing the Output rusults of the phase detector module of current time, also need to call and be stored in described memory module the identified result of phase detector module output constantly in the past and the filtering result of described loop filter output.
5. GNSS satellite tracking method according to claim 1, is characterized in that, a plurality of described tracking channels comprise 32 tracking channels.
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| CN201410048170.7A CN103760577A (en) | 2014-02-12 | 2014-02-12 | GNSS satellite tracking method |
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| CN201410048170.7A CN103760577A (en) | 2014-02-12 | 2014-02-12 | GNSS satellite tracking method |
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Cited By (4)
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| CN105425256A (en) * | 2014-09-19 | 2016-03-23 | 成都国星通信有限公司 | Tracking circuit and method compatible with continuous and pulse navigation signals |
| CN110531385A (en) * | 2019-09-25 | 2019-12-03 | 和芯星通科技(北京)有限公司 | A kind of tracking engine and tracking of multi-channel parallel |
| CN112363188A (en) * | 2020-10-13 | 2021-02-12 | 无锡卡尔曼导航技术有限公司 | Tracking loop method and device for multi-diversity satellite navigation receiver |
| CN113466898A (en) * | 2021-07-16 | 2021-10-01 | 展讯半导体(成都)有限公司 | Correlator circuit for GNSS, GNSS receiver and signal receiving method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425256A (en) * | 2014-09-19 | 2016-03-23 | 成都国星通信有限公司 | Tracking circuit and method compatible with continuous and pulse navigation signals |
| CN105425256B (en) * | 2014-09-19 | 2017-07-04 | 成都国星通信有限公司 | A kind of the tracking circuit and method of compatible continuous and cycle matching signal |
| CN110531385A (en) * | 2019-09-25 | 2019-12-03 | 和芯星通科技(北京)有限公司 | A kind of tracking engine and tracking of multi-channel parallel |
| CN110531385B (en) * | 2019-09-25 | 2021-05-28 | 和芯星通科技(北京)有限公司 | Multichannel parallel tracking engine and tracking method |
| CN112363188A (en) * | 2020-10-13 | 2021-02-12 | 无锡卡尔曼导航技术有限公司 | Tracking loop method and device for multi-diversity satellite navigation receiver |
| CN112363188B (en) * | 2020-10-13 | 2021-06-11 | 无锡卡尔曼导航技术有限公司 | Tracking loop method and device for multi-diversity satellite navigation receiver |
| CN113466898A (en) * | 2021-07-16 | 2021-10-01 | 展讯半导体(成都)有限公司 | Correlator circuit for GNSS, GNSS receiver and signal receiving method thereof |
| CN113466898B (en) * | 2021-07-16 | 2022-08-19 | 展讯半导体(成都)有限公司 | Correlator circuit for GNSS, GNSS receiver and signal receiving method thereof |
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Application publication date: 20140430 |