CN104765045B - Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite and control method - Google Patents
Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite and control method Download PDFInfo
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- CN104765045B CN104765045B CN201510204342.XA CN201510204342A CN104765045B CN 104765045 B CN104765045 B CN 104765045B CN 201510204342 A CN201510204342 A CN 201510204342A CN 104765045 B CN104765045 B CN 104765045B
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
Abstract
The invention discloses a kind of Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite and control methods, for realizing the physical simulation of single satellite output signal, including interface module, control module, baseband module, radio-frequency module and antenna, the input terminal of interface module is connected with data-signal and clock signal respectively, the output end of interface module is connect with control module, one output end of control module directly passes through radio-frequency module and connect with antenna, the another output of control module is connect by baseband module with radio-frequency module, and radio-frequency module is connect with antenna.The Pseudolite signal of analog dipper system of the present invention realizes the physical simulation of single satellite output signal；Pseudo satellite, pseudolite navigation signal pseudo noise code is chosen from the Big Dipper satellite signal puppet code space having not been used, irrelevant with existing satellite-signal；High-precision inter-satellite link time synchronization is realized by time calibration in network.
Description
Technical field
The present invention relates to a kind of Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite and control methods.
Background technique
Chinese Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS) be China from
The Global Satellite Navigation System that row is developed, is after american global positioning system (GPS), Russian Glonass satellite navigation system
(GLONASS) satellite navigation system of third maturation after.Beidou satellite navigation system (BDS) and GPS of America, Russia
GLONASS, European Union GALILEO are the suppliers that the satellite navigation committee of the United Nations has been assert.Beidou satellite navigation system is by sky
Between section, ground segment and user segment three parts composition, can round-the-clock in the world, round-the-clock provided for all types of user it is high-precision
Degree, highly reliable positioning, navigation, time service service, and have short message communication capacity, tentatively have area navigation, positioned and award
Shi Nengli, 10 meters of positioning accuracy, 0.2 meter per second of rate accuracy, 10 nanosecond of time service precision.
The main purpose at Beidou ground base navigation network ground monitoring station (abbreviation monitoring station) is to complete Beidou ground base navigation net
Network pseudo satellite, pseudolite status monitoring carries out location-independent using pseudo satellite, pseudolite or carries out co-located using pseudo satellite, pseudolite and big-dipper satellite.It is pseudo-
There are two types of the operating modes of satellite, and one is when big-dipper satellite is blocked completely, can fully rely on pseudo satellite, pseudolite independence
Positioning.Another kind be when there is Big Dipper satellite signal, can together with big-dipper satellite co-located.Navigation signal pseudorandom
Code is chosen from the Big Dipper satellite signal puppet code space having not been used, irrelevant with existing satellite-signal.Signal uses pulse tune
System, pulse duty factor 1/16 use CDMA and TDMA on signal system.The time service precision of traditional pseudolite systems is poor,
The requirement of pseudo satellite, pseudolite absolute time deviation is unable to reach (it is required that better than 100ns).
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of novel Beidou ground base navigation network ground
Monitoring station pseudo satellite, pseudolite and control method, the Pseudolite signal of analog dipper system realize the physics of single satellite output signal
Emulation；Pseudo satellite, pseudolite navigation signal pseudo noise code is chosen from the Big Dipper satellite signal puppet code space having not been used, with existing satellite
Signal is irrelevant；High-precision inter-satellite link time synchronization is realized by time calibration in network.
The purpose of the present invention is achieved through the following technical solutions：Beidou ground base navigation network ground monitoring station puppet is defended
Star, for realizing the physical simulation of single satellite output signal, including interface module, control module, baseband module, radio-frequency module
And antenna, the input terminal of interface module are connected with data-signal and clock signal respectively, the output end and control mould of interface module
Block connection, an output end of control module directly pass through radio-frequency module and connect with antenna, the another output of control module
It is connect by baseband module with radio-frequency module, radio-frequency module is connect with antenna；
For interface module for receiving pseudo satellite, pseudolite external signal, signal kinds are divided into two class of clock signal and data-signal：When
Clock signal provides the clock sync signal and frequency signal of pseudo satellite, pseudolite, and data-signal includes that pseudo satellite, pseudolite sends data and its Working mould
Formula controls data, parameter configuration data；
Control module is used for the received information of Processing Interface module, coordinates modules and works together, realizes each module
Parameter configuration, including the configuration of baseband module signal parameter, the power setting of radiofrequency signal, radio-frequency emission power, frequency point on-off control
System；
Baseband module in numeric field for completing the data and pseudo-code modulation of Beidou B1 and B3 frequency point, obtained symbol letter
Breath is modulated to digital intermediate frequency baseband signal by DDS, while pulse pseudo satellite, pseudolite navigation letter when jumping is generated according to corresponding slot table
Number；
Radio-frequency module is used to complete the configuration to frequency synthesizer, generates local oscillation signal, and receives baseband module output
Analog signal generates radiofrequency signal after being multiplied with local oscillation signal, complete the combining of two-way B1/B3 frequency point signal；Receive control mould
The control instruction of block controls the size of transmitting signal power by programmable attenuator；
Antenna is for sending navigation signal.
The interface module includes data interface module and clock interface module, and data interface module is for completing and transporting
The exchange of pipe parameter control data, receives navigational parameter information, time service information and control instruction from fortune guard system, by format
Convert the control and data-driven to radiofrequency signal；Clock interface module is used to receive from external clock, frequency letter
Number, unified frequency reference, various local oscillation signals needed for generation system, and output-index requirement are provided for radiofrequency signal generation
Defined frequency time signal, including 1pps and 10MHz.
The data interface module includes network interface, data preprocessing module, format converting module and customized total
Wire module, the output end of network interface pass sequentially through data preprocessing module and format converting module and self-defined bus module
Input terminal connection.
The baseband module includes B1 frequency point baseband signal generation module and B3 frequency point baseband signal generation module, B1 frequency
Point baseband signal generation module and B3 frequency point baseband signal generation module include C code generator, navigation message module, carrier wave life
It grows up to be a useful person, the first frequency mixer, the second frequency mixer, power controller and digital analog converter, C code generator completes the generation of ranging code,
Navigation message module is used to complete layout and the caching of navigation message, and carrier generator is used to generate the IF carrier of assigned frequency
And exported by orthogonal two-way, power controller completes the power control of numeric field, and digital analog converter completes the digital-to-analogue of composite signal
Conversion；C code generator and the output end of navigation message module are connect with the first frequency mixer respectively, and the first frequency mixer and carrier wave generate
The output end of device is connect with the second frequency mixer respectively, and the output end of the second frequency mixer is connected by power controller and digital analog converter
It connects.
The control method of Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite, including a system starting step, one
System preparation step, a system operating procedure and a system finishing step：
System starting step：After the starting of pseudo satellite, pseudolite device power-on, main equipment is carried out according to the setting parameter that the last time saves
Interface setting and initial work, and working condition detection is carried out, guarantee that the operating status of each operational module is normal, detection is outer
Whether portion's clock information is normal；
System preparation step：After system normally starts, the control instruction of tube hub to be shipped is waited, passes through data communication first
Time synchronization between link completion system；According to the control instruction of fortune guard system after pseudo satellite, pseudolite equipment deadline synchronic command
Complete the parameter configuration of pseudo satellite, pseudolite；
System operating procedure：Pseudo satellite, pseudolite receives the navigation message data of fortune guard system, according to data content, realizes navigation letter
Number emulation, by antenna equipment by navigate radiofrequency signal broadcast test site formulate range；
System finishing step：After pseudo satellite, pseudolite receives test END instruction, current test parameter setting state is saved, and
Terminate this emulation, system, which enters, waits the operation phase, waits artificial tasks next time.
The control method of Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite further includes between pseudo satellite, pseudolite and fortune tube hub
High-accuracy network time service step：Two bag datas of transmission altogether are communicated between pseudo satellite, pseudolite and fortune tube hub every time, pseudo satellite, pseudolite sends one
A request data package, one reply data packet of loopback after fortune tube hub receives, two data packets all have timestamp, according to this two
The timestamp of a data band determines time error；
In the transmission mode of data packet, using pseudo satellite, pseudolite and the fortune one-to-one point-to-point mode of tube hub, pseudo satellite, pseudolite exists
When initial and fortune tube hub carries out point-to-point brief information exchange, carries out quantization judgement to round trip delay time accordingly, and according to the
The judgment value correction time of primary information exchange；Physical connection is carried out using optical fiber link between pseudo satellite, pseudolite and fortune tube hub.
The beneficial effects of the invention are as follows：The Pseudolite signal of analog dipper system realizes single satellite output signal
Physical simulation；Pseudo satellite, pseudolite navigation signal pseudo noise code is chosen from the Big Dipper satellite signal puppet code space having not been used, and existing
Satellite-signal is irrelevant；High-precision inter-satellite link time synchronization is realized by time calibration in network.
Detailed description of the invention
Fig. 1 is pseudo satellite, pseudolite structural schematic block diagram of the present invention；
Fig. 2 is pseudo satellite, pseudolite data flow diagram of the present invention；
Fig. 3 is pseudo satellite, pseudolite external interface block diagram；
Fig. 4 is pseudo satellite, pseudolite communication network schematic illustration of tissue；
Fig. 5 is Pseudolite signal flow graph；
Fig. 6 is communication data packet format chart；
Fig. 7 is that baseband module constitutes figure；
Fig. 8 is pseudo satellite, pseudolite work flow diagram；
Fig. 9 is time calibration in network illustraton of model.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite, for realizing single satellite output signal
Physical simulation, including interface module, control module, baseband module, radio-frequency module and antenna, the input terminal of interface module respectively with
Data-signal and clock signal are connected, and the output end of interface module is connect with control module, and an output end of control module is straight
It connected radio-frequency module to connect with antenna, the another output of control module is connect by baseband module with radio-frequency module, is penetrated
Frequency module is connect with antenna；
For interface module for receiving pseudo satellite, pseudolite external signal, signal kinds are divided into two class of clock signal and data-signal：When
Clock signal provides the clock sync signal and frequency signal (1PPS, 10M) of pseudo satellite, pseudolite, and data-signal includes that pseudo satellite, pseudolite sends data
And its operating mode controls data, parameter configuration data；
Control module is used for the received information of Processing Interface module, coordinates modules and works together, realizes each module
Parameter configuration, including the configuration of baseband module signal parameter, the power setting of radiofrequency signal, radio-frequency emission power, frequency point on-off control
System；
Baseband module in numeric field for completing the data and pseudo-code modulation of Beidou B1 and B3 frequency point, obtained symbol letter
Breath is modulated to digital intermediate frequency baseband signal by DDS, while pulse pseudo satellite, pseudolite navigation letter when jumping is generated according to corresponding slot table
Number；
Radio-frequency module is used to complete the configuration to frequency synthesizer, generates local oscillation signal, and receives baseband module output
Analog signal generates radiofrequency signal after being multiplied with local oscillation signal, complete the combining of two-way B1/B3 frequency point signal；Receive control mould
The control instruction of block controls the size of transmitting signal power by programmable attenuator；
Antenna is for sending navigation signal.
As shown in Fig. 2, the interface module includes data interface module and clock interface module, data interface module is used
In completing to exchange with fortune pipe parameter control data, receives navigational parameter information, time service information and control from fortune guard system and refer to
It enables, the control and data-driven to radiofrequency signal is converted by format；Clock interface module is used to receive from outside
Clock, frequency signal generate for radiofrequency signal and provide unified frequency reference, various local oscillation signals needed for generation system, and
Output-index requires defined frequency time signal, including 1pps and 10MHz.
The data interface module includes network interface, data preprocessing module, format converting module and customized total
Wire module, the output end of network interface pass sequentially through data preprocessing module and format converting module and self-defined bus module
Input terminal connection.
The major function of data interface module is to complete pseudo satellite, pseudolite and transport the data communication between guard system, receives fortune guard system
The data informations such as the control instruction, configuration parameter, location information, switching control instruction, the text that pass down pass through pretreatment and format
Conversion is forwarded to other functional modules inside pseudo satellite, pseudolite；
The content of transmission mainly includes：
1) pseudo satellite, pseudolite control instruction, starting, stopping, state-detection including pseudo satellite, pseudolite equipment etc.；
2) pseudo satellite, pseudolite time service information；
3) pseudo satellite, pseudolite location information；
4) pseudo satellite, pseudolite power contorl parameters；
5) Pseudolite signal correction amount；
6) pseudo satellite, pseudolite switch control information；
The data that each pseudo satellite, pseudolite is communicated with fortune guard system can be divided into following 5 class by type：
Business information：0x 01 is indicated：
Working condition：0x 02 is indicated：
Running parameter：0x 03 is indicated：
Control parameter：0x 04 is indicated：
Other information：0x 05 is indicated：
Data-interface uses TCP transmission agreement in transport layer, uses IP packet agreement in network layer：
Fortune guard system externally provides TCP service, waits the connection of client in designated port.Pseudo satellite, pseudolite is as TCP client
End sends connection request instruction by pseudo satellite, pseudolite interface module, establishes TCP connection and carry out two-way communication.Each connection setup success
Identification information is sent according to communication protocol content afterwards.It is automatic to reconnect after pseudo satellite, pseudolite equipment finds disconnecting, restore
Communication connection.
Data interface module and fortune guard system carry out information exchange, and various information is carried out by basic information unit (BIU) of data packet
Transmission, data packet format is as shown in fig. 6, data packet includes the following contents：
Packet header：Fixed value is 0xE25C4876；
Information source：Send the stay of two nights machine number of packet information；
The stay of two nights：The stay of two nights machine of received data packet information is numbered；
Sending instant：The sending instant of packet information is the Beidou time；
Serial number information：Serial number information includes that information source machine number is identical as information source number；
Packet length：To the total bytes of entire data packet tail portion since information group number；
Information composition：A kind of data content；
Information category：The number of information category；
Data length：Corresponding follow-up data segment length；
Data segment：Specifying information content；
Packet tail：Fixed value is 0x8B8B7474.
As shown in figure 3, the external interface of pseudo satellite, pseudolite equipment mainly includes：(pseudo satellite, pseudolite is by radio frequency for radiofrequency signal output interface
Signal is sent to test user terminal).Transport guard system state modulator, (fortune guard system will using network interface for data communication interface
The information such as parameter setting, navigation data, clock information parameter are sent to pseudo satellite, pseudolite equipment).Clock, frequency control interface (optical fiber
Clock, frequency information are sent to pseudo satellite, pseudolite equipment using clock interface by system).Power interface (uses standard 220V alternating current
Source is directly connected to pseudo satellite, pseudolite equipment by electric power connection line).
As shown in figure 4, pseudo satellite, pseudolite equipment is connect by special optic fibre communication network with fortune guard system, respectively in fortune guard system
Data are transmitted using commercial optical fiber link between each pseudo satellite, pseudolite.Each pseudo satellite, pseudolite is mutually indepedent to fortune guard system link,
Physical interface is 100BASE-RJ45 interface.
As shown in figure 5, pseudo satellite, pseudolite equipment is attached by clock interface module with data interface module and external system,
The acquisition of data and its clock signal is completed, baseband module and radio-frequency module are completed navigation signal and generated, will navigate by antenna
Signal issues.The above operating procedure is organized and coordinated by control module, completes the control of whole equipment internal process.
As shown in fig. 7, the baseband module includes that B1 frequency point baseband signal generation module and B3 frequency point baseband signal are raw
At module, B1 frequency point baseband signal generation module and B3 frequency point baseband signal generation module include C code generator, navigation message
Module, carrier generator, the first frequency mixer, the second frequency mixer, power controller and digital analog converter, C code generator are completed to survey
Generation away from code, navigation message module are used to complete layout and the caching of navigation message, and carrier generator is for generating specified frequency
The IF carrier of rate is simultaneously exported by orthogonal two-way, and power controller completes the power control of numeric field, and digital analog converter is completed to close
At the digital-to-analogue conversion of signal；C code generator and the output end of navigation message module are connect with the first frequency mixer respectively, the first mixing
The output end of device and carrier generator is connect with the second frequency mixer respectively, the output end of the second frequency mixer by power controller with
Digital analog converter connection.
The major function of baseband module is to receive the data from interface module, according to downlink signal protocol requirement, is realized
Single navigation satellite B3/B1 frequency point physical signal copying, time delay, power, carrier frequency, the bit rate of every satellite-signal
Controllably.Specifically include following functions：
1) generation for completing the road I spreading code is extracted；
2) signal modulation of BPSK is completed；
3) time delay, frequency and the power control of signal are completed；
4) control of pulse signal is completed；
5) generation of frequency point signal is completed；
6) digital-to-analogue conversion of signal is completed.
The design of pseudo satellite, pseudolite baseband module is used based on Parallel DSP/FPGA high-speed base band Data fusion technique and orthogonal
Intermediate frequency technology.Whole channels of each user calculate and synthesize in high performance software radio service platform in digital form,
The consistency between system channel is effectively raised, intersatellite error is eliminated, internal time error is also eliminated, ensure that
In high precision.The program increases the design difficulty of software radio numerical portion compared with radio frequency synthetic schemes, so that pseudorange control
Precision, Doppler's variation and amplitude processed etc. are calculated in data portion, are simplified radio frequency design, are avoided different by radio frequency time delay
The interchannel error and intersatellite clock deviation generated is caused, and numerical value calculates, clock deviation is controllable, the design that system has been effectively ensured refers to
Mark.Base-band software will have while handle the ability of Satellite Simulation data, and be output to high-speed DAC after being synthesized, using
Bandlimiting filtering is exported to orthogonal radio frequency medical treatment device.Output level passes through adjustable attenuation, and output area needed for reaching system utilizes
Digital compensation technique controls signal output level with base-band software in a certain range, guarantees that the power resolution of system is better than
System index 1dB, power control accuracy are better than system index 1dB.
The generation of digital intermediate frequency and radiofrequency signal：Pseudolite systems satellite navigation signals include carrier wave, ranging code and data
Three kinds of information components of code, expression formula are as follows：
In formula：
N indicates pseudo satellite, pseudolite number；
AC1：Indicate the common ranging code amplitude for being modulated to B1 frequency point carrier wave；
AC2：Indicate the common ranging code amplitude for being modulated to B3 frequency point carrier wave；
C1：Indicate the common ranging code of B1 frequency point；
C2：Indicate the common ranging code of B3 frequency point；
DC1：Indicate the numeric data code modulated on the common ranging code of B1 frequency point；
DC2：Indicate the numeric data code modulated on the common ranging code of B3 frequency point；
f1：Indicate B1 frequency point carrier frequency；
f2：Indicate B3 frequency point carrier frequency；
ФC1：Indicate B1 frequency point carrier wave first phase；
ФC2：Indicate B3 frequency point carrier wave first phase；
The carrier frequency of B1 frequency point is 1561.098MHz；
The carrier frequency of B3 frequency point is 1268.52MHz；
The ranging bit rate of B1 frequency point is 2.046Mcps, code length 2046；
The ranging bit rate of B3 frequency point is 10.23Mcps, code length 10230.
As shown in figure 8, the control method of Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite, including a system starting
Step, a system preparation step, a system operating procedure and a system finishing step：
System starting step：After the starting of pseudo satellite, pseudolite device power-on, main equipment is carried out according to the setting parameter that the last time saves
Interface setting and initial work, and working condition detection is carried out, guarantee that the operating status of each operational module is normal, detection is outer
Whether portion's clock information is normal；
System preparation step：After system normally starts, the control instruction of tube hub to be shipped is waited, passes through data communication first
Time synchronization between link completion system；According to the control instruction of fortune guard system after pseudo satellite, pseudolite equipment deadline synchronic command
Complete the parameter configuration of pseudo satellite, pseudolite；
System operating procedure：Pseudo satellite, pseudolite receives the navigation message data of fortune guard system, according to data content, realizes navigation letter
Number emulation, by antenna equipment by navigate radiofrequency signal broadcast test site formulate range；
System finishing step：After pseudo satellite, pseudolite receives test END instruction, current test parameter setting state is saved, and
Terminate this emulation, system, which enters, waits the operation phase, waits artificial tasks next time.
The control method of Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite further includes between pseudo satellite, pseudolite and fortune tube hub
High-accuracy network time service step：Two bag datas of transmission altogether are communicated between pseudo satellite, pseudolite and fortune tube hub every time, pseudo satellite, pseudolite sends one
A request data package, one reply data packet of loopback after fortune tube hub receives, two data packets all have timestamp, according to this two
The timestamp of a data band determines time error；
In the transmission mode of data packet, using pseudo satellite, pseudolite and the fortune one-to-one point-to-point mode of tube hub, pseudo satellite, pseudolite exists
When initial and fortune tube hub carries out point-to-point brief information exchange, carries out quantization judgement to round trip delay time accordingly, and according to the
The judgment value correction time of primary information exchange；Physical connection is carried out using optical fiber link between pseudo satellite, pseudolite and fortune tube hub.
Pseudo satellite, pseudolite obtains the clock of pseudolite systems Yu Beidou Navigation System satellite network by obtaining split-second precision information
Poor information, by adjusting local clock to complete the time synchronization with inter-satellite link.
To realize pseudo satellite, pseudolite and big-dipper satellite time synchronization, the synchronization of time second rank should ensure that first.Pass through pseudo satellite, pseudolite
Equipment has and transports guard system time calibration in network function, using time calibration in network mode integrated system whole moment second, to reach second grade
Other time synchronization function.
Time calibration in network NTP mode mode is as shown in Figure 9：
T1：Pseudo satellite, pseudolite sends inquiry request time (using pseudo satellite, pseudolite time system as reference)；
T2：Fortune tube hub receives inquiry request time (to transport tube hub time system as reference)；
T3：It transports tube hub turnaround time time information packet (to transport tube hub time system as reference)；
T4：Pseudo satellite, pseudolite time of receipt (T of R) time information packet (using pseudo satellite, pseudolite time system as reference)；
δ1：Solicited message time consumed by online propagate；
δ2：Return information time consumed by online propagate.
T1, T2,3, T4 are known, it is desirable to acquire θ to adjust pseudo satellite, pseudolite clock.
Assuming that request is identical with the time that reply is propagated on the net, i.e. δ 1=δ 2,
It can be solved by establishing an equation：
δ=(T4-T1)-(T3-T2)；
θ=((T2-T1)-(T3-T4))/2；
It can be seen that θ, δ are only related to T2, T1 difference, T3, T4 difference, and knot unrelated with T2, T3 difference, i.e., final
Fruit is unrelated with the time needed for fortune tube hub processing request.Accordingly, pseudo satellite, pseudolite can calculate time difference θ by T1, T2, T3, T4
Remove adjustment local clock.
Time calibration in network NTP mode is communicated with pseudo satellite, pseudolite and fortune tube hub.It communicates every time and amounts to two bag datas.Puppet is defended
Star sends a request data package, one reply data packet of loopback after fortune tube hub receives.Two data packets all have timestamp,
NTP determines time error according to the timestamp of the two data packet bands, and it is not true by series of algorithms to eliminate network transmission
Qualitatively influence.In the transmission mode of data packet, using having pseudo satellite, pseudolite and the fortune one-to-one point-to-point mode of tube hub, puppet is defended
Star carries out exchanging such as point-to-point brief information at the beginning with central station, carries out quantization judgement to round trip delay time accordingly.And
According to the judgment value correction time of first time information exchange.
Since pseudo satellite, pseudolite and fortune tube hub physical connection carry out physical connection, pseudo satellite, pseudolite and fortune tube hub using optical fiber link
Data transmission delay is in 0.3ns, therefore, by 2 times or more time synchronization data communications, it can be achieved that T1 and T4 time synchronization
To the second, meets and requirement in 1 second is higher than by network time service precision.
The above is only a preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be at this
In the text contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And those skilled in the art institute into
Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection scope of appended claims of the present invention
It is interior.
Claims (4)
1. Beidou ground base navigation network ground monitoring station pseudo satellite, pseudolite, for realizing the physical simulation of single satellite output signal,
It is characterized in that：Including interface module, control module, baseband module, radio-frequency module and antenna；The input terminal of the interface module point
It is not connected with data-signal and clock signal, the output end of the interface module is connect with control module, the control module
One output end directly passes through radio-frequency module and connect with antenna, the another output of control module by baseband module with it is described
Radio-frequency module connection, the radio-frequency module are connect with antenna；
The baseband module includes B1 frequency point baseband signal generation module and B3 frequency point baseband signal generation module, B1 frequency point base
Band signal generation module and B3 frequency point baseband signal generation module include C code generator, navigation message module, carrier wave generation
Device, the first frequency mixer, the second frequency mixer, power controller and digital analog converter, C code generator are completed the generation of ranging code, are led
Avionics text module is used to complete layout and the caching of navigation message, and carrier generator is used to generate the IF carrier of assigned frequency simultaneously
It is exported by orthogonal two-way, power controller completes the power control of numeric field, and the digital-to-analogue that digital analog converter completes composite signal turns
It changes；C code generator and the output end of navigation message module are connect with the first frequency mixer respectively, the first frequency mixer and carrier generator
Output end connect respectively with the second frequency mixer, the output end of the second frequency mixer is connected by power controller and digital analog converter
It connects；For the interface module for receiving pseudo satellite, pseudolite external signal, signal kinds are divided into two class of clock signal and data-signal：Clock
Signal provides the clock sync signal and frequency signal of pseudo satellite, pseudolite, and data-signal includes that pseudo satellite, pseudolite sends data and its operating mode
Control data, parameter configuration data；
The control module is used for the received information of Processing Interface module, coordinates modules and works together, realizes each module
Parameter configuration, including the configuration of baseband module signal parameter, the power setting of radiofrequency signal, radio-frequency emission power, frequency point on-off control
System；
The baseband module in numeric field for completing the data and pseudo-code modulation of Beidou B1 and B3 frequency point, obtained symbol letter
Breath is modulated to digital intermediate frequency baseband signal by DDS, while pulse pseudo satellite, pseudolite navigation letter when jumping is generated according to corresponding slot table
Number；
The radio-frequency module is used to complete the configuration to frequency synthesizer, generates local oscillation signal, and receives baseband module output
Analog signal generates radiofrequency signal after being multiplied with local oscillation signal, complete the combining of two-way B1/B3 frequency point signal, and receives control
The control instruction of module controls the size of transmitting signal power by programmable attenuator；
The antenna is for sending navigation signal；
Pseudolite systems satellite navigation signals include three kinds of carrier wave, ranging code and numeric data code information components, and expression formula is as follows：
In formula：
N indicates pseudo satellite, pseudolite number；
AC1Indicate the common ranging code amplitude for being modulated to B1 frequency point carrier wave；
AC2Indicate the common ranging code amplitude for being modulated to B3 frequency point carrier wave；
C1Indicate the common ranging code of B1 frequency point；
C2Indicate the common ranging code of B3 frequency point；
DC1Indicate the numeric data code modulated on the common ranging code of B1 frequency point；
DC2Indicate the numeric data code modulated on the common ranging code of B3 frequency point；
f1Indicate B1 frequency point carrier frequency；
f2Indicate B3 frequency point carrier frequency；
Indicate B1 frequency point carrier wave first phase；
Indicate B3 frequency point carrier wave first phase；
The carrier frequency of B1 frequency point is 1561.098MHz；
The carrier frequency of B3 frequency point is 1268.52MHz；
The ranging bit rate of B1 frequency point is 2.046Mcps, code length 2046；
The ranging bit rate of B3 frequency point is 10.23Mcps, code length 10230.
2. Beidou ground base navigation network ground monitoring according to claim 1 station pseudo satellite, pseudolite, it is characterised in that：Described connects
Mouth mold block includes data interface module and clock interface module, and data interface module is for completing and transporting the friendship of pipe parameter control data
It changes, receives navigational parameter information, time service information and control instruction from fortune guard system, converted by format and radio frequency is believed
Number control and data-driven；Clock interface module is used to receive from external clock, frequency signal, generates for radiofrequency signal
Unified frequency reference, various local oscillation signals needed for generation system, and output-index are provided and require defined temporal frequency letter
Number, including 1pps and 10MHz.
3. Beidou ground base navigation network ground monitoring according to claim 2 station pseudo satellite, pseudolite, it is characterised in that：The number
It include network interface, data preprocessing module, format converting module and self-defined bus module according to interface module, network interface
Output end passes sequentially through data preprocessing module and format converting module and connect with the input terminal of self-defined bus module.
4. the control method of Beidou ground base navigation network ground monitoring as claimed in any one of claims 1-3 station pseudo satellite, pseudolite,
It is characterized in that：Including a system starting step, a system preparation step, a system operating procedure, a pseudo satellite, pseudolite
High-accuracy network time service step and a system finishing step between fortune tube hub：
The system starting step, after the starting of pseudo satellite, pseudolite device power-on, main equipment is carried out according to the setting parameter that the last time saves
Interface setting and initial work, and working condition detection is carried out, guarantee that the operating status of each operational module is normal, detection is outer
Whether portion's clock information is normal；
The system preparation step waits the control instruction of tube hub to be shipped, passes through data communication first after system normally starts
Time synchronization between link completion system；According to the control instruction of fortune guard system after pseudo satellite, pseudolite equipment deadline synchronic command
Complete the parameter configuration of pseudo satellite, pseudolite；
The system operating procedure, pseudo satellite, pseudolite receive the navigation message data of fortune guard system, according to data content, realize navigation letter
Number emulation, by antenna equipment by navigate radiofrequency signal broadcast test site formulate range；
High-accuracy network time service step between the pseudo satellite, pseudolite and fortune tube hub communicates altogether every time between pseudo satellite, pseudolite and fortune tube hub
Transmitting two bag datas, pseudo satellite, pseudolite sends a request data package, one reply data packet of loopback after fortune tube hub receives, and two
Data packet all has timestamp, determines time error according to the timestamp of the two data packet bands；
In the transmission mode of data packet, using pseudo satellite, pseudolite and the fortune one-to-one point-to-point mode of tube hub, pseudo satellite, pseudolite is initial
When and fortune tube hub carry out point-to-point brief information exchange, quantization judgement is carried out to round trip delay time accordingly, and according to for the first time
The judgment value correction time of information exchange；Physical connection is carried out using optical fiber link between pseudo satellite, pseudolite and fortune tube hub；
The system finishing step saves current test parameter setting state after pseudo satellite, pseudolite receives test END instruction, and
Terminate this emulation, system, which enters, waits the operation phase, waits artificial tasks next time；
Pseudo satellite, pseudolite adjusts local clock according to time difference θ, and the time difference, θ was calculate by the following formula：
θ=((T2-T1)-(T4-T3))/2,
In formula, T1 indicates that pseudo satellite, pseudolite sends the inquiry request time, using pseudo satellite, pseudolite time system as reference；
T2 indicates that operation centre receives the inquiry request time, using operation centre's time system as reference；
T3 indicates operation centre's turnaround time time information packet, using operation centre's time system as reference；
T4 indicates pseudo satellite, pseudolite time of receipt (T of R) time information packet, using pseudo satellite, pseudolite time system as reference.
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| CN105119648B (en) * | 2015-07-09 | 2019-01-22 | 交通信息通信技术研究发展中心 | A kind of Beidou ground base navigation network fortune guard system |
| CN105093247A (en) * | 2015-07-09 | 2015-11-25 | 交通信息通信技术研究发展中心 | BeiDou based ground-based navigation signal networking system |
| CN105259558B (en) * | 2015-10-29 | 2017-12-12 | 交通信息通信技术研究发展中心 | A kind of half-duplex pseudo satellite, pseudolite device and its method of work based on Big Dipper RD functions |
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| CN108521324B (en) * | 2018-03-20 | 2021-07-13 | 中国科学院微电子研究所 | Synchronous clock device |
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