CN105242287B - Satellite Navigation Software receiver and its air navigation aid based on GPU and IMU - Google Patents

Satellite Navigation Software receiver and its air navigation aid based on GPU and IMU Download PDF

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Publication number
CN105242287B
CN105242287B CN201510714114.7A CN201510714114A CN105242287B CN 105242287 B CN105242287 B CN 105242287B CN 201510714114 A CN201510714114 A CN 201510714114A CN 105242287 B CN105242287 B CN 105242287B
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satellite navigation
gpu
navigation
imu
satellite
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CN105242287A (en
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丁祥
余卫平
苏航宇
陈旭迪
程千涛
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Fujian Xinghai Communication Technology Co Ltd
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Fujian Xinghai Communication Technology Co Ltd
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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 present invention provides a kind of Satellite Navigation Software receiver based on GPU and IMU, including Anneta module, RF front-end module, digital intermediate frequency signal acquisition module and data processing module, data processing module includes graphics processor, central processing unit and inertial navigation unit, satellite navigation signals are received by Anneta module, low noise amplification and filtering process are carried out to the satellite navigation signals received by RF front-end module again, then the satellite navigation signals received are sampled by digital intermediate frequency signal acquisition module again, obtain if sampling data, the if sampling data are transferred to data processing module again, and assistance data is provided to reduce frequency acquisition scope by inertial navigation unit, the capture of satellite navigation signals is completed by central processing unit and graphics processor, tracking and resolving.The present invention also provides a kind of air navigation aid of the Satellite Navigation Software receiver based on GPU and IMU, reduces operation time needed for capture, improves acquisition speed.

Description

Satellite Navigation Software receiver and its air navigation aid based on GPU and IMU
Technical field
The present invention relates to satellite navigation signals capture and Satellite Navigation Software receiver technical field, more particularly to a kind of base In GPU and IMU Satellite Navigation Software receiver and its air navigation aid.
Background technology
Satellite navigation receiver is to receive the satellite navigation signals of satellite navigation system and determine the instrument of ground space position Device.The navigator fix signal that aeronautical satellite is sent, is a kind of information resources for being available for users to share.For land, ocean and sky Between users, as long as possessing the receiving device that can receive, track, convert and measure satellite navigation signals, i.e. satellite is led Navigate receiver, you can it is determined that current position.
Satellite Navigation Software receiver utilizes general processor, and signal is handled and calculated.It is hard compared to traditional Part receiver, software receiver can use programmable, open platform so that the loading of program is very convenient, while may be used also To upgrade, study new algorithm, there is higher flexibility, facilitate implementation complexity in the case where basic hardware platform is constant Higher algorithm.
Inertial navigation unit (IMU) measures the acceleration of carrier in itself using inertance element (accelerometer), passes through Integration and computing obtain speed and position.Common commercial inertial navigation unit signal output frequency is up to 800~1000Hz.
With C/A codes (be a kind of pseudo noise code that gps satellite is sent, for bigness scale away from capture gps satellite) identical, P codes And pseudo noise code, be with C/A codes corresponding to accurate measurement code, but the cycle be up to 9 hours 266 days, distribute to whole satellites, every The P code cycles of satellite are 7 days, and the code length of a cycle is 6.187 × 1012Bit, compared to C/A codes there is higher spread spectrum to increase Beneficial, stronger anti-interference and anti-fraud ability, can effectively improve satellite navigation receiver anti-fraud and antijamming capability, and obtain Obtain the higher navigator fix information of precision.
Graphics processor (GPU), be it is a kind of specially PC, work station and some mobile devices (such as tablet personal computer, Smart mobile phone etc.) on carry out 2D/3D image operation work microprocessor.Because GPU has compared to general CPU processor High-throughput, possess hundreds of hardware processing elements and each processing unit depth multithreading and there is high memory bandwidth, So present GPU has been no longer limited to 2D/3D graphics process, in terms of the part calculating such as floating-point operation, parallel computation, GPU can provide decades of times or even up to a hundred times of CPU performance.
Now, Satellite Navigation Software receiver has been the popular navigation neceiver technology of a comparison.Although software connects Receipts machine has the characteristics of flexible, programmable, but compared to hardware receiver, there is the positioning accurate for being difficult to break through always Degree problem.Traditional software receiver navigation signal catching method is that the accurate time is obtained from ephemeris after utilizing C/A Code acquisitions Count information, on the basis of the search space of P code phases is shortened, the capture of P codes is realized, it is final to realize positioning.But C/A Code anti-interference is poor, is interfered when can not capture, just can not realize P Code acquisitions, therefore, although P codes have it is preferably anti-dry Immunity, but the receiver based on P codes progress location navigation under interference environment depends on C/A Code acquisition performances, to solve this Problem, it is necessary to using P code Direct Acquisition technologies.However, due to the characteristic that the P code cycles are long, bit rate is high, cause in acquisition procedure It is excessive that code-phase closes amount of calculation, it is difficult to realizes the fast Acquisition of satellite navigation spread-spectrum signal.For the equipment of high-speed mobile, software connects The CPU calculating processing speed of receipts machine is also relatively excessively slow, can not meet the requirement of real-time needed for navigator fix, final to influence positioning Precision.Now more processing mode is to substitute CPU by GPU to calculate, but still suffers from GPU processing speed upper limit problems, if single Pure raising GPU speed, can also increase chip cost cost.
The present invention is namely based on above technical characterstic, and existing Satellite Navigation Software receiver is optimized, and improves software The positioning precision of receiver.
The content of the invention
One of the technical problem to be solved in the present invention, it is that providing a kind of Satellite Navigation Software based on GPU and IMU receives Machine, GPU and IMU are added, aided in by IMU, signal point is drastically increased using the parallel processing of GPU progress mass data Processing speed is analysed, reduces operation time needed for acquisition and tracking P codes, the acquisition speed of satellite navigation signals P codes is improved, is ensureing Meet the anti-fraud and antijamming capability for strengthening receiver on the premise of navigation requirement of real-time.
One of the problem of of the invention, it is realized in：A kind of Satellite Navigation Software receiver based on GPU and IMU, bag Include Anneta module, RF front-end module, digital intermediate frequency signal acquisition module and data processing module, the data processing module Including graphics processor, central processing unit and inertial navigation unit, satellite navigation signals are received by the Anneta module, Low noise amplification and filtering process are carried out to the satellite navigation signals that receive by the RF front-end module again, then again by The digital intermediate frequency signal acquisition module samples to the satellite navigation signals received, obtains if sampling data, then will The if sampling data are transferred to the data processing module, and provide assistance data by the inertial navigation unit to reduce frequency Rate capture range, capture, tracking and the resolving of satellite navigation signals are completed by the central processing unit and the graphics processor.
The second technical problem to be solved by the present invention, it is that providing a kind of Satellite Navigation Software based on GPU and IMU receives The air navigation aid of machine, adds GPU and IMU, is aided in by IMU, is greatly carried using the parallel processing of GPU progress mass data High signal analysis and processing speed, reduces operation time needed for acquisition and tracking P codes, improves the capture of satellite navigation signals P codes Speed, strengthen the anti-fraud and antijamming capability of receiver on the premise of ensureing to meet navigation requirement of real-time.
The two of the problem of of the invention, are realized in：A kind of Satellite Navigation Software receiver based on GPU and IMU Air navigation aid, methods described need to provide a kind of above-mentioned Satellite Navigation Software receiver aided in based on GPU and IMU, the side Method specifically comprises the following steps：
Step 1, P code phase search scopes are primarily determined that according to the current clock of receiver, and generated by shift register Local P codes；
The size f of step 2, the velocity information estimating Doppler frequency shift amount exported by the inertial navigation unitv, together When, the drift degree f ' of the acceleration information estimating Doppler frequency shift amount exported by the inertial navigation unitv；
Step 3, the central processing unit read in the velocity information and acceleration information of the inertial navigation unit output, root According to the local P codes, the size f of the Doppler frequency shift amountvAnd the drift degree f ' of the Doppler frequency shift amountvEstimation is current The P code frequencies hunting zone [f of epoch satellite navigation signalsv-f′v,fv+f′v], and then adjust in thick acquisition procedure carrier wave NCO and The P code phase search scopes [p of local P code generators1,p2]；
Step 4, satellite navigation signals are received by the Anneta module, then by the RF front-end module to receiving Satellite navigation signals carry out low noise amplification and filtering process, then again by the digital intermediate frequency signal acquisition module to receiving To satellite navigation signals sampled, if sampling data are obtained, according to the characteristic of P codes by the length of the if sampling data After degree is amplified, the FFT result of the if sampling data is calculated, and take its conjugation to be designated as sequence s；
Step 5, by the P code phase search scope [p1,p2] it is divided into N sections, every section of P code phase data is obtained, according to P codes Characteristic the length of the P code phase datas is amplified after, parallel computation is carried out by the graphics processor, drawn every The FFT result of Duan Suoshu P code phase datas, is designated as sequence r successively1~rN；
Step 6, by the graphics processor carry out parallel computation, by the sequence r1~rNRespectively with the sequence s phases Multiply, each result is then done into IFFT respectively, obtain the modulus value of whole result sequences, find out the maximum in all modulus value；
Step 7, navigation information data interpreted from satellite navigation signals according to the maximum, believed further according to the navigation Cease data and positioning calculation is carried out by the central processing unit, draw the current location of receiver.
Further, the length of the if sampling data is amplified in the step 4, its multiple amplified is original Carry out length 2 times.
Further, the length of the P code phase datas is amplified in the step 5, its multiple amplified is original Carry out length 2 times.
The invention has the advantages that：
1st, add inertial navigation unit (IMU) and obtain speed of the receiver for ground, with the satellite speed read from ephemeris Degree carries out vector addition, more accurately calculates the relative velocity of receiver and satellite, so as to which auxiliary receiver locks and tracks Satellite navigation signals；
2nd, receiver anti-fraud and antijamming capability are strengthened using P code Direct Acquisitions technology, and obtains that precision is higher to be led Boat location information；
3rd, CPU analyzing and processing P code digital medium-frequency signals are replaced using GPU, using the powerful parallel processing capabilities of GPU, entered Row Fast Fourier Transform (FFT) (FFT) and inverse fast Fourier transform (IFFT), greatly shorten the time of analytic signal, meet to lead Boat positioning real-time demand.
Brief description of the drawings
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is a kind of structural representation of the Satellite Navigation Software receiver based on GPU and IMU of the present invention.
Fig. 2 is a kind of air navigation aid execution flow chart of the 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 invention, including antenna mould Block, RF front-end module, digital intermediate frequency signal acquisition module and data processing module, the data processing module include figure Processor, central processing unit and inertial navigation unit, satellite navigation signals are received by the Anneta module, then by described RF front-end module carries out low noise amplification and filtering process to the satellite navigation signals received, then again by the middle frequency Word signal acquisition module samples to the satellite navigation signals received, obtains if sampling data, then by the if sampling Data are transferred to the data processing module, and provide assistance data by the inertial navigation unit to reduce frequency acquisition model Enclose, capture, tracking and the resolving of satellite navigation signals are completed by the central processing unit and the graphics processor.
The Anneta module is used to receive satellite navigation signals；The RF front-end module is used to receive Anneta module Satellite navigation signals carry out low noise amplification and filtering process；The digital intermediate frequency signal acquisition module is led for completing satellite Automatic gain amplification, down coversion and the digital signal samples of boat signal；The digital intermediate frequency signal acquisition module can be by a variety of Transmission link is connected to the data processing module, and graphics processor (GPU), centre are provided with the data processing module Manage device (CPU) and inertial navigation unit (IMU), the inertial navigation unit is used to providing assistance data, and (receiver is current Speed and acceleration magnitude and direction) reduce frequency acquisition scope；The central processing unit and the graphics processor use The mode of collaborative work, complete the capture, tracking and resolving of satellite navigation signals.
As shown in Fig. 2 a kind of air navigation aid of Satellite Navigation Software receiver based on GPU and IMU of the present invention, described Method is realized based on above-mentioned Satellite Navigation Software receiver, and methods described specifically comprises the following steps：
Step 1, P code phase search scopes are primarily determined that according to the current clock of receiver, and generated by shift register Local P codes；
The size f of step 2, the velocity information estimating Doppler frequency shift amount exported by the inertial navigation unitv, together When, the drift degree f ' of the acceleration information estimating Doppler frequency shift amount exported by the inertial navigation unitv；
Step 3, the central processing unit read in the velocity information and acceleration information of the inertial navigation unit output, root According to the local P codes, the size f of the Doppler frequency shift amountvAnd the drift degree f ' of the Doppler frequency shift amountvEstimation is current The P code frequencies hunting zone [f of epoch satellite navigation signalsv-f′v,fv+f′v], and then adjust carrier wave NCO in thick acquisition procedure The P code phase search scopes [p of (numerically-controlled oscillator) and local P code generators1,p2]；(exported using inertial navigation unit Information reduce P code phase search scopes, the above-mentioned size f to Doppler frequency shift amountvEstimation, the drift to Doppler frequency shift amount Shifting degree f 'vEstimation and the P code frequencies hunting zone [f to current epoch satellite navigation signalsv-f′v,fv+f′v] estimation be Estimated based on doppler principle, how those skilled in the art is estimated if both knowing about)
Step 4, satellite navigation signals are received by the Anneta module, then by the RF front-end module to receiving Satellite navigation signals carry out low noise amplification and filtering process, then believed again with 20.46MHz frequency by the intermediate frequency digital Number acquisition module samples to the satellite navigation signals received, the if sampling data that length is 512bit is obtained, according to P The length of the if sampling data is enlarged into 2 times of original length by the characteristic of code, i.e., mending 0 at its binary end forms Length is 1024bit if sampling data, calculates its FFT result so that it is more accurate to carry out FFT result of calculation, and takes altogether Yoke is designated as sequence s；
Step 5, due to P code frequencies it is 10.23MHz, if the clock accuracy of receiver is ± 1ms, considers further that Doppler The influence of frequency displacement, the P code phase search scope [p1,p2] length is about 20460 symbols, by the P code phase search model Enclose [p1,p2] it is divided into N sections, every section of P code phase datas length is 512bit, according to the characteristic of P codes by the P code phase datas Length is enlarged into 2 times of original length, i.e., 0 is mended at every section of end and forms the P code phase datas that length is 1024bit, is led to described Graphics processor carries out parallel computation, draws the FFT result of every section of P code phase data so that carry out FFT result of calculation It is more accurate, sequence r is designated as successively1~rN；
Step 6, by the graphics processor carry out parallel computation, by the sequence r1~rNRespectively with the sequence s phases Multiply, each result is then done into IFFT respectively, obtain the modulus value of whole result sequences, find out the maximum in all modulus value；(profit The time required to reducing FFT with GPU parallel processings, expand P code phase search scopes, improve calculating speed)
Step 7, navigation information data interpreted from satellite navigation signals according to the maximum, further according to the navigation Information data simultaneously carries out positioning calculation by the central processing unit, draws the current location of receiver.
In summary, advantages of the present invention is as follows：
1st, add inertial navigation unit (IMU) and obtain speed of the receiver for ground, with the satellite speed read from ephemeris Degree carries out vector addition, more accurately calculates the relative velocity of receiver and satellite, so as to auxiliary receiver search, locking, Synchronous and tracking satellite navigation signal；
3rd, receiver anti-fraud and antijamming capability are strengthened using P codes direct technology, and obtains the higher navigation of precision and determine Position information；
3rd, CPU analyzing and processing P code digital medium-frequency signals are replaced using GPU, using the powerful parallel processing capabilities of GPU, entered Row Fast Fourier Transform (FFT) (FFT) and inverse fast Fourier transform (IFFT), greatly shorten the time of analytic signal, meet to lead Boat positioning real-time demand.
Although the foregoing describing the embodiment of the present invention, those familiar with the art should manage Solution, the specific embodiment described by us are merely exemplary, rather than for the restriction to the scope of the present invention, are familiar with this The equivalent modification and change that the technical staff in field is made in the spirit according to the present invention, should all cover the present invention's In scope of the claimed protection.

Claims (3)

  1. A kind of 1. air navigation aid of the Satellite Navigation Software receiver based on GPU and IMU, it is characterised in that：Methods described is specific Comprise the following steps：
    Step 1, P code phase search scopes are primarily determined that according to the current clock of receiver, and local P is generated by shift register Code；
    The size f of step 2, the velocity information estimating Doppler frequency shift amount exported by inertial navigation unitv, meanwhile, by described The drift degree f of the acceleration information estimating Doppler frequency shift amount of inertial navigation unit outputv'；
    Step 3, central processing unit read in the velocity information and acceleration information of the inertial navigation unit output, according to described The size f of ground P codes, the Doppler frequency shift amountvAnd the drift degree f of the Doppler frequency shift amountv' estimation current epoch satellite The P code frequencies hunting zone [f of navigation signalv-fv',fv+fv'], and then adjust carrier wave NCO and local P codes in thick acquisition procedure The P code phase search scopes [p of generator1,p2]；
    Step 4, satellite navigation signals are received by Anneta module, then the satellite navigation received is believed by RF front-end module Number low noise amplification and filtering process are carried out, then again by digital intermediate frequency signal acquisition module to the satellite navigation signals that receive Sampled, obtain if sampling data, after according to the characteristic of P codes, the length of the if sampling data is amplified, meter The FFT result of the if sampling data is calculated, and takes its conjugation to be designated as sequence s；
    Step 5, by the P code phase search scope [p1,p2] it is divided into N sections, every section of P code phase data is obtained, according to the spy of P codes Property the length of the P code phase datas is amplified after, by graphics processor carry out parallel computation, draw every section of P The FFT result of code phase data, sequence r is designated as successively1~rN；
    Step 6, by the graphics processor carry out parallel computation, by the sequence r1~rNIt is multiplied respectively with the sequence s, Then each result is done into IFFT respectively, obtains the modulus value of whole result sequences, find out the maximum in all modulus value；
    Step 7, navigation information data interpreted from satellite navigation signals according to the maximum, further according to the navigation information number Positioning calculation is carried out according to and by the central processing unit, draws the current location of receiver.
  2. 2. a kind of air navigation aid of the Satellite Navigation Software receiver based on GPU and IMU as claimed in claim 1, its feature It is：The length of the if sampling data is amplified in the step 4, its multiple amplified is 2 times of original length.
  3. 3. a kind of air navigation aid of the Satellite Navigation Software receiver based on GPU and IMU as claimed in claim 1, its feature It is：The length of the P code phase datas is amplified in the step 5, its multiple amplified is 2 times of original length.
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CN108241159B (en) * 2017-12-24 2021-12-28 北京卫星信息工程研究所 Anti-deception jamming method based on bionic combined navigation assistance
CN110460346B (en) * 2019-08-01 2024-04-02 智汇芯联(厦门)微电子有限公司 Software radio receiver
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
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