CN105242287A - Satellite navigation software receiver based on GPU and IMU and navigation method thereof - Google Patents
Satellite navigation software receiver based on GPU and IMU and navigation method thereof Download PDFInfo
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- CN105242287A CN105242287A CN201510714114.7A CN201510714114A CN105242287A CN 105242287 A CN105242287 A CN 105242287A CN 201510714114 A CN201510714114 A CN 201510714114A CN 105242287 A CN105242287 A CN 105242287A
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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
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code 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
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a satellite navigation software receiver based on a GPU and an IMU. The satellite navigation software receiver comprises an antenna module, a radio frequency front end module, an intermediate frequency digital signal acquisition module and a data processing module. The data processing module comprises a graphic processor, a central processor and an inertial navigation unit. The antenna module receives satellite navigation signals; the radio frequency front end module carries out low noise amplification and filtering processing on the received satellite navigation signals; and then, the intermediate frequency digital signal acquisition module carries out sampling on the received satellite navigation signals to obtain intermediate frequency sampling data; the intermediate frequency sampling data is then transmitted to the data processing module; the inertial navigation unit provides auxiliary data to reduce the frequency capture range; and the central processor and the graphic processor finish capture, tracking and calculation of the satellite navigation signals. The invention also provides a navigation method of the satellite navigation software receiver based on the GPU and the IMU; and operation time of capture is reduced, and capture speed is improved.
Description
Technical field
The present invention relates to satellite navigation signals to catch and Satellite Navigation Software receiver technical field, particularly relate to a kind of Satellite Navigation Software receiver based on GPU and IMU and air navigation aid thereof.
Background technology
Satellite navigation receiver receives the satellite navigation signals of satellite navigation system and the instrument of space of planes position definitely.The navigator fix signal that Navsat sends is a kind of information resources shared for user.For the users in land, ocean and space, can receive as long as have, follow the tracks of, convert and the receiving equipment of instrumented satellite navigation signal, i.e. satellite navigation receiver, can determine current position.
Satellite Navigation Software receiver utilizes general processor, processes and calculate signal.Compared to traditional hardware receiver, software receiver can adopt programmable, open platform, make the loading of calling program very convenient, can also upgrade simultaneously, study new algorithm, there is higher dirigibility, the algorithm facilitating implementation complexity higher when basic hardware platform is constant.
Inertial navigation unit (IMU) utilizes inertance element (accelerometer) to measure the acceleration of carrier itself, obtains speed and position through anomalous integral computing.Common commercial inertial navigation cell signal output frequency can reach 800 ~ 1000Hz.
(be a kind of pseudo-random code that gps satellite sends with C/A code, for bigness scale distance with catch gps satellite) identical, P code is also pseudo-random code, it is the accurate measurement code with C/A code correspondence, but the cycle reaches 266 days 9 hours, distribute to whole satellite, the P code cycle of every satellite is 7 days, and the code length of one-period is 6.187 × 10
12bit, compares C/A code and has higher spreading gain, stronger anti-interference and anti-fraud ability, can effectively improve satellite navigation receiver anti-fraud and antijamming capability, and obtain the higher navigator fix information of precision.
Graphic process unit (GPU) is a kind of microprocessor carrying out the work of 2D/3D image operation specially on PC, workstation and some mobile devices (as panel computer, smart mobile phone etc.).Because GPU has high-throughput compared to general CPU processor, has hundreds of hardware processing element and each processing unit degree of depth multithreading and have high memory bandwidth, so present GPU is no longer confined to 2D/3D graphics process, in the calculating of the part such as floating-point operation, parallel computation, and even GPU can provide decades of times hundreds of times in the performance of CPU.
Now, Satellite Navigation Software receiver has been a more popular navigation neceiver technology.Although software receiver has flexibly and easily, the feature of programmable, compared to hardware receiver, there is the positioning precision problem being difficult to break through always.Traditional software receiver navigation signal catching method from ephemeris, obtains precise time count information after utilizing C/A Code acquisition, on the basis of search volume of shortening P code phase, realizes catching of P code, finally realize location.But, C/A code anti-interference is poor, be interfered when cannot catch, just P Code acquisition cannot be realized, therefore, although P code has better anti-interference, the receiver positioning navigation based on P code under interference environment depends on C/A Code acquisition performance, for addressing this problem, P code Direct Acquisition technology must be adopted.But, due to the characteristic that the P code cycle is long, bit rate is high, cause code correlation computations amount in acquisition procedure excessive, be difficult to the fast Acquisition realizing satellite navigation spread-spectrum signal.For the equipment of high-speed mobile, the CPU computing speed of software receiver is also relative excessively slow, cannot meet the requirement of real-time needed for navigator fix, finally affect positioning precision.Now more processing mode substitutes CPU by GPU to calculate, but still there is GPU processing speed upper limit problem, improves GPU speed, also can increase chip cost cost if simple.
The present invention is exactly based on above technical characterstic, is optimized existing Satellite Navigation Software receiver, improves the positioning precision of software receiver.
Summary of the invention
One of the technical problem to be solved in the present invention, be to provide a kind of Satellite Navigation Software receiver based on GPU and IMU, add GPU and IMU, the parallel processing assisted by IMU, adopted GPU to carry out mass data drastically increases signal analysis and processing speed, decrease operation time needed for acquisition and tracking P code, improve the acquisition speed of satellite navigation signals P code, ensure anti-fraud and the antijamming capability of strengthening receiver under the prerequisite meeting navigation requirement of real-time.
One of problem of the present invention, be achieved in that a kind of Satellite Navigation Software receiver based on GPU and IMU, comprise Anneta module, RF front-end module, digital intermediate frequency signal acquisition module and data processing module, described data processing module comprises graphic process unit, central processing unit and inertial navigation unit, satellite navigation signals is received by described Anneta module, by described RF front-end module, low noise amplification and filtering process are carried out to the satellite navigation signals received again, and then by described digital intermediate frequency signal acquisition module, the satellite navigation signals received is sampled, obtain if sampling data, again these if sampling data are transferred to described data processing module, and provide auxiliary data to reduce frequency acquisition scope by described inertial navigation unit, catching of satellite navigation signals is completed by described central processing unit and described graphic process unit, follow the tracks of and resolve.
The technical problem to be solved in the present invention two, be the air navigation aid that a kind of Satellite Navigation Software receiver based on GPU and IMU is provided, add GPU and IMU, the parallel processing assisted by IMU, adopted GPU to carry out mass data drastically increases signal analysis and processing speed, decrease operation time needed for acquisition and tracking P code, improve the acquisition speed of satellite navigation signals P code, ensure anti-fraud and the antijamming capability of strengthening receiver under the prerequisite meeting navigation requirement of real-time.
Problem two of the present invention, be achieved in that a kind of air navigation aid of the Satellite Navigation Software receiver based on GPU and IMU, described method need provide above-mentioned a kind of Satellite Navigation Software receiver auxiliary based on GPU and IMU, and described method specifically comprises the steps:
Step 1, the clock current according to receiver are tentatively determined P code phase search scope, and are generated local P code by shift register;
Step 2, the size f of velocity information estimating Doppler frequency shift amount exported by described inertial navigation unit
v, meanwhile, the drift degree f ' of the acceleration information estimating Doppler frequency shift amount exported by described inertial navigation unit
v;
Step 3, described central processing unit read in velocity information and the acceleration information of the output of described inertial navigation unit, according to the size f of described local P code, described Doppler shift amount
vand the drift degree f ' of described Doppler shift amount
vestimate the P code frequency hunting zone [f of current epoch satellite navigation signals
v-f '
v, f
v+ f '
v], and then adjust the P code phase search scope [p of carrier wave NCO and local P code generator in thick acquisition procedure
1, p
2];
Step 4, receive satellite navigation signals by described Anneta module, by described RF front-end module, low noise amplification and filtering process are carried out to the satellite navigation signals received again, and then by described digital intermediate frequency signal acquisition module, the satellite navigation signals received is sampled, obtain if sampling data, after the length of described if sampling data being amplified according to the characteristic of P code, calculate the FFT result of described if sampling data, and get its conjugation and be designated as sequence s;
Step 5, by described P code phase search scope [p
1, p
2] be divided into N section, obtain every section of P code phase data, after the length of described P code phase data being amplified according to the characteristic of P code, carry out parallel computation by described graphic process unit, draw the FFT result of every section of described P code phase data, be designated as sequence r successively
1~ r
n;
Step 6, carry out parallel computation by described graphic process unit, by described sequence r
1~ r
nbe multiplied with described sequence s respectively, then each result be IFFT respectively, obtain the modulus value of whole result sequence, find out the maximal value in all modulus value;
Step 7, to separate from satellite navigation signals according to described maximal value and read navigation information data, then position according to this navigation information data and by described central processing unit and resolve, draw the current location of receiver.
Further, the length of described if sampling data amplified in described step 4, its multiple amplified is 2 times of original length.
Further, the length of described P code phase data amplified in described step 5, its multiple amplified is 2 times of original length.
Tool of the present invention has the following advantages:
1, add inertial navigation unit (IMU) and obtain the speed of receiver for ground, vector addition is carried out with the satellite velocities read from ephemeris, calculate the relative velocity of receiver and satellite more accurately, thus auxiliary receiver locking and tracking satellite navigation signal;
2, adopt P code Direct Acquisition technology to strengthen receiver anti-fraud and antijamming capability, and obtain the higher navigator fix information of precision;
3, GPU is adopted to replace CPU analyzing and processing P code digital medium-frequency signal, utilize the parallel processing capability that GPU is powerful, carry out Fast Fourier Transform (FFT) (FFT) and inverse fast Fourier transform (IFFT), greatly shorten the time of analytic signal, meet navigator fix real-time demand.
Accompanying drawing explanation
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the structural representation of a kind of Satellite Navigation Software receiver based on GPU and IMU of the present invention.
Fig. 2 is the air navigation aid flowchart of a kind of Satellite Navigation Software receiver based on GPU and IMU of the present invention.
Embodiment
Refer to shown in Fig. 1, a kind of Satellite Navigation Software receiver based on GPU and IMU of the present invention, comprise Anneta module, RF front-end module, digital intermediate frequency signal acquisition module and data processing module, described data processing module comprises graphic process unit, central processing unit and inertial navigation unit, satellite navigation signals is received by described Anneta module, by described RF front-end module, low noise amplification and filtering process are carried out to the satellite navigation signals received again, and then by described digital intermediate frequency signal acquisition module, the satellite navigation signals received is sampled, obtain if sampling data, again these if sampling data are transferred to described data processing module, and provide auxiliary data to reduce frequency acquisition scope by described inertial navigation unit, catching of satellite navigation signals is completed by described central processing unit and described graphic process unit, follow the tracks of and resolve.
Described Anneta module is for receiving satellite navigation signals; Described RF front-end module is used for carrying out low noise amplification and filtering process to the satellite navigation signals that Anneta module receives; Described digital intermediate frequency signal acquisition module amplifies for the automatic gain completing satellite navigation signals, down coversion and digital signal samples; Described digital intermediate frequency signal acquisition module is connected to described data processing module by multiple transmission link, described data processing module is provided with graphic process unit (GPU), central processing unit (CPU) and inertial navigation unit (IMU), described inertial navigation unit is used for providing auxiliary data (speed that receiver is current and acceleration magnitude and direction) to reduce frequency acquisition scope; Described central processing unit and described graphic process unit adopt the mode of collaborative work, complete catching, follow the tracks of and resolving of satellite navigation signals.
As shown in Figure 2, the air navigation aid of a kind of Satellite Navigation Software receiver based on GPU and IMU of the present invention, described method realizes based on above-mentioned Satellite Navigation Software receiver, and described method specifically comprises the steps:
Step 1, the clock current according to receiver are tentatively determined P code phase search scope, and are generated local P code by shift register;
Step 2, the size f of velocity information estimating Doppler frequency shift amount exported by described inertial navigation unit
v, meanwhile, the drift degree f ' of the acceleration information estimating Doppler frequency shift amount exported by described inertial navigation unit
v;
Step 3, described central processing unit read in velocity information and the acceleration information of the output of described inertial navigation unit, according to the size f of described local P code, described Doppler shift amount
vand the drift degree f ' of described Doppler shift amount
vestimate the P code frequency hunting zone [f of current epoch satellite navigation signals
v-f '
v, f
v+ f '
v], and then adjust the P code phase search scope [p of carrier wave NCO (numerically-controlled oscillator) and local P code generator in thick acquisition procedure
1, p
2]; (information utilizing inertial navigation unit to export reduces P code phase search scope, the above-mentioned size f to Doppler shift amount
vestimation, drift degree f ' to Doppler shift amount
vestimation and P code frequency hunting zone [f to current epoch satellite navigation signals
v-f '
v, f
v+ f '
v] estimation estimate based on Doppler's principle, those skilled in the art knows how to estimate)
Step 4, satellite navigation signals is received by described Anneta module, by described RF front-end module, low noise amplification and filtering process are carried out to the satellite navigation signals received again, and then the satellite navigation signals received is sampled by described digital intermediate frequency signal acquisition module with the frequency of 20.46MHz, obtain the if sampling data that length is 512bit, according to the characteristic of P code, the length of described if sampling data is enlarged into 2 times of original length, namely mend 0 at its binary end and form the if sampling data that length is 1024bit, calculate its FFT result, make the result of calculation of carrying out FFT more accurate, and get conjugation and be designated as sequence s,
Step 5, be 10.23MHz due to P code frequency, if the clock accuracy of receiver is ± 1ms, then consider the impact of Doppler shift, described P code phase search scope [p
1, p
2] length is approximately 20460 code elements, by described P code phase search scope [p
1, p
2] be divided into N section, every section of P code phase data length is 512bit, according to the characteristic of P code, the length of described P code phase data is enlarged into 2 times of original length, namely mend 0 at every section of end and form the P code phase data that length is 1024bit, logical described graphic process unit carries out parallel computation, draw the FFT result of every section of described P code phase data, make the result of calculation of carrying out FFT more accurate, be designated as sequence r successively
1~ r
n;
Step 6, carry out parallel computation by described graphic process unit, by described sequence r
1~ r
nbe multiplied with described sequence s respectively, then each result be IFFT respectively, obtain the modulus value of whole result sequence, find out the maximal value in all modulus value; (utilize GPU parallel processing to reduce FFT and convert required time, expand P code phase search scope, improve computing velocity)
Step 7, to separate from satellite navigation signals according to described maximal value and read navigation information data, then position according to described navigation information data and by described central processing unit and resolve, draw the current location of receiver.
In sum, advantage of the present invention is as follows:
1, add inertial navigation unit (IMU) and obtain the speed of receiver for ground, vector addition is carried out with the satellite velocities read from ephemeris, calculate the relative velocity of receiver and satellite more accurately, thus auxiliary receiver search, locking, synchronous and tracking satellite navigation signal;
3, adopt P code direct technology to strengthen receiver anti-fraud and antijamming capability, and obtain the higher navigator fix information of precision;
3, GPU is adopted to replace CPU analyzing and processing P code digital medium-frequency signal, utilize the parallel processing capability that GPU is powerful, carry out Fast Fourier Transform (FFT) (FFT) and inverse fast Fourier transform (IFFT), greatly shorten the time of analytic signal, meet navigator fix real-time demand.
Although the foregoing describe the specific embodiment of the present invention; but be familiar with those skilled in the art to be to be understood that; specific embodiment described by us is illustrative; instead of for the restriction to scope of the present invention; those of ordinary skill in the art, in the modification of the equivalence done according to spirit of the present invention and change, should be encompassed in scope that claim of the present invention protects.
Claims (4)
1. the Satellite Navigation Software receiver based on GPU and IMU, comprise Anneta module, RF front-end module, digital intermediate frequency signal acquisition module and data processing module, it is characterized in that: described data processing module comprises graphic process unit, central processing unit and inertial navigation unit, satellite navigation signals is received by described Anneta module, by described RF front-end module, low noise amplification and filtering process are carried out to the satellite navigation signals received again, and then by described digital intermediate frequency signal acquisition module, the satellite navigation signals received is sampled, obtain if sampling data, again these if sampling data are transferred to described data processing module, and provide auxiliary data to reduce frequency acquisition scope by described inertial navigation unit, catching of satellite navigation signals is completed by described central processing unit and described graphic process unit, follow the tracks of and resolve.
2. based on an air navigation aid for the Satellite Navigation Software receiver of GPU and IMU, it is characterized in that: described method need provide a kind of Satellite Navigation Software receiver based on GPU and IMU as claimed in claim 1, and described method specifically comprises the steps:
Step 1, the clock current according to receiver are tentatively determined P code phase search scope, and are generated local P code by shift register;
Step 2, the size f of velocity information estimating Doppler frequency shift amount exported by described inertial navigation unit
v, meanwhile, the drift degree f' of the acceleration information estimating Doppler frequency shift amount exported by described inertial navigation unit
v;
Step 3, described central processing unit read in velocity information and the acceleration information of the output of described inertial navigation unit, according to the size f of described local P code, described Doppler shift amount
vand the drift degree f' of described Doppler shift amount
vestimate the P code frequency hunting zone [f of current epoch satellite navigation signals
v-f'
v, f
v+ f'
v], and then adjust the P code phase search scope [p of carrier wave NCO and local P code generator in thick acquisition procedure
1, p
2];
Step 4, receive satellite navigation signals by described Anneta module, by described RF front-end module, low noise amplification and filtering process are carried out to the satellite navigation signals received again, and then by described digital intermediate frequency signal acquisition module, the satellite navigation signals received is sampled, obtain if sampling data, after the length of described if sampling data being amplified according to the characteristic of P code, calculate the FFT result of described if sampling data, and get its conjugation and be designated as sequence s;
Step 5, by described P code phase search scope [p
1, p
2] be divided into N section, obtain every section of P code phase data, after the length of described P code phase data being amplified according to the characteristic of P code, carry out parallel computation by described graphic process unit, draw the FFT result of every section of described P code phase data, be designated as sequence r successively
1~ r
n;
Step 6, carry out parallel computation by described graphic process unit, by described sequence r
1~ r
nbe multiplied with described sequence s respectively, then each result be IFFT respectively, obtain the modulus value of whole result sequence, find out the maximal value in all modulus value;
Step 7, to separate from satellite navigation signals according to described maximal value and read navigation information data, then position according to this navigation information data and by described central processing unit and resolve, draw the current location of receiver.
3. the air navigation aid of a kind of Satellite Navigation Software receiver based on GPU and IMU as claimed in claim 2, is characterized in that: the length of described if sampling data amplified in described step 4, and its multiple amplified is 2 times of original length.
4. the air navigation aid of a kind of Satellite Navigation Software receiver based on GPU and IMU as claimed in claim 2, is characterized in that: the length of described P code phase data amplified in described step 5, and its multiple amplified is 2 times of original length.
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Cited By (5)
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| CN106019334A (en) * | 2016-07-05 | 2016-10-12 | 上海交通大学 | Correlator implementation method for GPU-based navigation software receiver |
| CN108241159A (en) * | 2017-12-24 | 2018-07-03 | 北京卫星信息工程研究所 | Anti- Deceiving interference method based on bionical integrated navigation auxiliary |
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| CN116346197A (en) * | 2023-02-28 | 2023-06-27 | 北京扬铭科技发展有限责任公司 | UHF frequency band specific satellite signal analysis equipment and analysis method |
| CN116566468A (en) * | 2023-05-11 | 2023-08-08 | 北京扬铭科技发展有限责任公司 | Portable satellite signal monitoring device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019334A (en) * | 2016-07-05 | 2016-10-12 | 上海交通大学 | Correlator implementation method for GPU-based navigation software receiver |
| CN106019334B (en) * | 2016-07-05 | 2019-08-23 | 上海交通大学 | A kind of correlator implementation method of the navigation software receiver based on GPU |
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| CN110460346A (en) * | 2019-08-01 | 2019-11-15 | 智汇芯联(厦门)微电子有限公司 | Software radio receiver |
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| CN116346197A (en) * | 2023-02-28 | 2023-06-27 | 北京扬铭科技发展有限责任公司 | UHF frequency band specific satellite signal analysis equipment and analysis method |
| CN116346197B (en) * | 2023-02-28 | 2024-03-19 | 北京扬铭科技发展有限责任公司 | UHF frequency band specific satellite signal analysis equipment and analysis method |
| CN116566468A (en) * | 2023-05-11 | 2023-08-08 | 北京扬铭科技发展有限责任公司 | Portable satellite signal monitoring device |
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|---|---|
| CN105242287B (en) | 2017-11-10 |
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