CN105467409A - Universal navigational satellite capturing method and universal navigational satellite capturing system - Google Patents
Universal navigational satellite capturing method and universal navigational satellite capturing system Download PDFInfo
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Abstract
The invention discloses a universal navigational satellite capturing method which comprises the steps of generating a local code synchronizing signal according to a pseudocode control word, and generating a local code set and an actual code according to a local code synchronizing signal; performing down-conversion on a navigation signal by means of an intermediate-frequency carrier wave; performing first correlated accumulation operation on the navigation signal after down-conversion by means of a local code set and an actual code; performing fast Fourier transform (FFT) operation on the result of the first correlated accumulation operation, performing second correlated accumulation on the result of the FFT operation, determining a carrier wave Doppler and a code phase which correspond with a second correlated maximal value in the whole period, performing code Doppler compensation on a code frequency control word of the actual code by means of the carrier wave Doppler, and outputting the carrier wave Doppler and the code phase information. The invention further discloses a universal navigational satellite capturing system. The universal navigational satellite capturing method and the universal navigational satellite capturing system can realize quick capturing for satellite signals.
Description
Technical field
The invention belongs to satellite application field, relate to a kind of multi-frequency multi-mode universal navigation star catching method, can be used for the fast Acquisition of the multiple navigation signal such as GPSL1CA/L5I/L5Q, BD2B1/B2/B3, GalileoE5a/E5b, GlonassL1f/L2f.
Background technology
Along with the expansion of scope and the raising of scientific and technological level are explored in mankind's activity, GPS (Global Position System) relies on its global, round-the-clock, continuous and high-precision feature, plays an important role in national defence, national security, economic security and social life.At present, the main spacefaring nation in the world do not stint huge fund development satellite navigation system, the system wherein built up comprises the Big Dipper (BD-1) region satellite navigation system of the GPS of the U.S., Muscovite GLONASS and China; The system implementing development & construction comprises the Galileo of European Union (Galileo) system, and the Big Dipper No. two (BD-2) satellite navigation systems etc. of China.
At present most widely used is in the world GPS, but the GNSS receiver in future and correlation technique thereof will towards multi-functional, high-performance, the future developments such as integrated, software implementation, many constellations are compatible.The knowledge of multiple professional domains such as satellite navigation, radio communication, embedded system, Spatial Information Technology has been merged in the design of GNSS receiver, and its technical threshold is relatively high, needs input long-term in a large number.The high performance receiver of a new generation's multisystem compatibility constantly shows complexity to be deepened and construction cycle urgent two major features, within the shorter time limit, more function, higher performance, abundant technology content to be integrated in developed products, advanced designing and developing and testing authentication method, platform and instrument must be depended on.In addition, along with satellite spread spectrum is in navigation, location and the widespread use of communication aspects, the feature such as large Doppler frequency deviation, Larger Dynamic condition is possessed for satellite spread-spectrum signal, also more and more higher to the requirement of signal capture.In this context, GNSS software receipt machine platform fast Capture Technique rises comprehensively.
The current disclosed nautical star quick capturing method based on the process of satellite-based navigation receiver baseband signal, only support the navigation signal of one or both navigation constellations, be only Doppler or code phase one of them in parallel search, computational complexity is large, which kind of mode all has its weak point, poor universality or search speed slowly, have certain limitation.
Summary of the invention
In order to solve at least one problem above-mentioned and/or deficiency, and provide at least one advantage following.The invention provides a kind of universal navigation star catching method and system, adopt the present invention can realize fast Acquisition to the satellite-signal of the frequencies such as GPSL1CA/L5I/L5Q, BD2B1/B2/B3, GalileoE5a/E5b, GlonassL1f/L2f, adopt the mode of parallel search while of carrier doppler and code phase, the carrier doppler of Real-time Obtaining input signal and code phase information, make code phase have very low blur level.
For solving the problems of the technologies described above, one aspect of the present invention discloses a kind of universal navigation star catching method, comprising:
Local code synchronizing signal is generated according to pseudo-code control word, and generate local code character and actual code according to described local code synchronizing signal, wherein said local code character has M road chip, and described actual code is for representing the large probable value of the actual carrier Doppler of captured satellite, code Doppler and code phase
Generate local intermediate frequency carrier, and utilize described intermediate frequency carrier to carry out down coversion to navigation signal;
Described local code character and described actual code is utilized to carry out the first relevant accumulating operation to the navigation signal after described down coversion;
FFT computing is carried out to the result of the described first relevant accumulating operation, and the result of described FFT computing is carried out second relevant cumulative, determine the carrier doppler that the relevant cumulative maximal value of described second in the whole cycle is corresponding and code phase, utilize the code frequency control word of described carrier doppler to described actual code to carry out a yard Doppler effect correction, and just described carrier doppler and described code phase information export.
Further, in the above-mentioned methods, each road in the M road chip of described local code character has identical code value and different code phases.
Further, in the above-mentioned methods, described first relevant to be accumulated as:
Choose arbitrarily the data of very first time length in navigation signal after described down coversion, and carry out segmentation division;
Carry out relevant cumulative to each section after described segmentation divides, obtain the relevant accumulated value of corresponding each section described respectively.
Further, in the above-mentioned methods, described FFT computing is carry out FFT computing to each section after relevant cumulative through first.
Further, in the above-mentioned methods, described second relevant repeatedly noncoherent accumulation is accumulated as.
On the other hand, the invention discloses a kind of universal navigation star capture systems, comprising: generally catch pseudo-code generation module, carrier wave accumulation process module and spectrum analysis module soon,
Describedly generally catch pseudo-code generation module soon, for generating local code synchronizing signal according to pseudo-code control word, and generate local code character and actual code according to described local code synchronizing signal, wherein, described local code character has M road chip, and described actual code is for representing the large probable value of the actual carrier Doppler of captured satellite, code Doppler and code phase
Described carrier wave accumulation process module, for generating local intermediate frequency carrier according to the carrier frequency of input, and utilize described intermediate frequency carrier to carry out down coversion to navigation signal, utilize described local code character to carry out the first relevant accumulating operation to the navigation signal after described down coversion;
Described spectrum analysis module, for carrying out FFT computing to the result of described relevant accumulating operation, and the result of described FFT computing is carried out second relevant cumulative, determine the carrier doppler that the relevant cumulative maximal value of described second in the whole cycle is corresponding and code phase, utilize the code frequency control word of described carrier doppler to described actual code to carry out a yard Doppler effect correction, and just carrier doppler and code phase information export.
Further, in said system, each road in the M road chip of described local code character has identical code value and different code phases.
Further, first relevant to be accumulated as described in said system:
Choose arbitrarily the data of very first time length in navigation signal after described down coversion, and carry out segmentation division;
Carry out relevant cumulative to each section after described segmentation divides, obtain the relevant accumulated value of corresponding each section described respectively.
Further, in said system, described FFT computing is carry out FFT computing to each section after relevant cumulative through described first.
Further, in said system, described second is correlated with is accumulated as repeatedly noncoherent accumulation.
Adopt technique scheme of the present invention, be applicable to and fast Acquisition is carried out to the navigation signal of the large navigation constellation of GPS, BD2, Galileo, Glonass tetra-, there is very strong compatibility and practicality.Meanwhile, when catching, auxiliary code during the carrier doppler fructufy of catching simultaneously at carrier frequency and code phase two dimensions parallel search simultaneously, and is caught by the present invention, and flexible operation, search speed is fast.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing the embodiment of the present invention is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the content of the embodiment of the present invention and these accompanying drawings.
Fig. 1 is embodiment of the present invention universal navigation star capture systems schematic diagram;
Fig. 2 a ~ 2b is embodiment of the present invention universal navigation star capture systems module operation schematic diagram
Fig. 3 is embodiment of the present invention universal navigation star catching method schematic diagram.
Embodiment
The technical matters solved for making the present invention, the technical scheme of employing and the technique effect that reaches are clearly, be described in further detail below in conjunction with the technical scheme of accompanying drawing to the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those skilled in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The universal navigation star quick capturing method of the embodiment of the present invention and system are applicable to the navigational satellite system of multi-frequency multi-mode, thus can be used for designing the navigation neceiver utilizing multiple navigation constellation to carry out navigation signal fast Acquisition.The present invention, by inserting the control information such as code frequency control word, original phase information, search chip adjustment control word for different navigation constellation, different satellite number to general module of catching soon, can support that the fast Acquisition for the frequencies such as GPSL1CA/L5I/L5Q, BD2B1/B2/B3, GalileoE5a/E5b, GlonassL1f/L2f 10 kinds of pseudo-code navigation signals operates.
Fig. 1 is embodiment of the present invention universal navigation star capture systems schematic diagram.
Fig. 2 a ~ 2b is embodiment of the present invention universal navigation star capture systems module operation schematic diagram.
With reference to figure 1, in the embodiment of the present invention, universal navigation star capture systems comprises and generally catches pseudo-code generation module, carrier wave accumulation process module, spectrum analysis module soon.
With reference to figure 2a, generally catch pseudo-code generation module soon, can be used for the pseudo-code generating the modulation of different navigation constellation.In embodiments of the present invention, pseudo-code generation module input code frequency control word can be caught soon to general, original phase information, the pseudo-code control words such as search chip adjustment control word, and a yard NCO accumulation operations is carried out to it obtain a yard NCO accumulation amount, and then produce local code synchronizing signal, local code code character and actual code is generated under the driving of code synchronizing signal, wherein local code code character has M road chip, represent M code phase, M code phase is continuous phase, the spacing difference of M road chip is in half-chip, actual code represents the actual carrier Doppler of caught satellite, the large probable value of code Doppler and code phase, after fast Acquisition completes, make the blur level of code phase reach minimum, actual code obtains code Doppler effect correction by catching the carrier doppler obtained soon.In the present embodiment, the quantity of M road chip chooses M=28, thus 28 road chips carry out delay disposal, makes the spacing difference of chip in half-chip.
Carrier wave accumulation process module, for adding up to the carrier wave of nautical star, with reference to figure 2b, in the present embodiment, according to the frequency of intermediate frequency navigation signal, generate local carrier to carrier wave accumulation process module incoming carrier frequency control word, reappear local mid-frequency sinusoidal carrier wave, cosine carrier, and by completing the Digital Down Convert of navigation signal to base band with navigation signal (AD data) mixing, obtain I, Q two-way mixing data.Local code that pseudo-code generation module produces is caught soon and actual code carries out the first relevant accumulating operation to these two-way mixing data for I, Q two-way mixing data separate is general.
In embodiments of the present invention, when utilizing local code and actual code to carry out the first relevant accumulating operation, for the M road chip in local code code character, with I road mixing data instance, the data of very first time length are chosen arbitrarily in these road mixing data, then segmentation division is carried out to the data of this very first time length, obtain with the segmentation of M section after data, utilize M road chip to carry out relevant accumulating operation respectively respectively for the segmentation of M section.For Q road mixing data, adopt the operation identical with I road mixing data.The multiple results produced after first relevant accumulating operation, can utilize storer to preserve, and after the complete a complete cycle first relevant accumulating operation, can do further process by carrier wave accumulation process module.
Carrier wave accumulation process module, reads the result after the first relevant accumulating operation stored in memory, and carries out FFT computing to the result read, after the result utilizing FFT computing by reading transforms to frequency domain, carry out the second accumulating operation.Corresponding to M the first relevant accumulation result of the road mixing data of I, Q of carrier wave accumulation process CMOS macro cell, after completing the second related operation, M the second relevant accumulating operation result can be obtained equally, this M the second relevant accumulating operation result is judged, determines the second relevant cumulative maximal value that the second relevant accumulating operation obtains.Utilize this to determine second relevant cumulative maximal value determination carrier doppler and code phase.A yard Doppler effect correction is carried out for the code frequency control word of carrier doppler to the actual code of above-mentioned acquisition, then the carrier doppler after compensation and code phase can be exported.
In embodiments of the present invention, when FFT computing is carried out to the result read, carry out FFT computing respectively for M the first relevant accumulation result.And to through FFT computing the relevant accumulation result of M first respectively square after be added again to the square value that its corresponding next organize the first relevant accumulation result, this second accumulating operation of being correlated with is repeatedly noncoherent accumulation.
Fig. 3 is embodiment of the present invention universal navigation star catching method schematic diagram.
With reference to figure 3, in step 301, generate local code synchronizing signal according to pseudo-code control word, this pseudo-code control word comprises code frequency control word for various constellations pseudo-code and code phase control word.A yard NCO accumulation operations is carried out to pseudo-code control word, generated code NCO accumulation amount, hopping edge is asked for code NCO accumulation amount, generate local code synchronizing signal.
Under the driving of above-mentioned local code synchronizing signal, carry out G1 Count of Status, when count value reaches the G1 status number initial value of inserting in advance, G1 state counter resets, and the G1 that resets.Meanwhile, under the driving of code synchronizing signal, carry out G1G2 Count of Status, when count value reaches the G1G2 status number initial value of inserting in advance, G1G2 state counter resets, and G1 and G2 that reset, produce reset signal.Local code synchronizing signal drives G1 and G2 to carry out shifting function, and the shift-out bit of G1 and G2 generates local code by XOR sum operation.After having caught, obtain actual code frequency control word according to catching the doppler values obtained, by code NCO Accumulating generation actual code synchronizing signal, drive G1 and G2 to carry out shifting function, the shift-out bit of G1 and G2 generates actual code by XOR sum operation.This actual code is used for after fast Acquisition completes, make the blur level of code phase reach minimum, and actual code can obtain the Doppler effect correction of carrier wave.
In step 302, completed the intermediate frequency reproduction of local sinusoidal carrier and cosine carrier by carrier frequency control word, utilize the local carrier of reproduction to carry out Digital Down Convert to the intermediate frequency navigation signal received.
In step 303, the local code utilizing above-mentioned steps 301 to produce carries out the first relevant accumulation operations to the navigation signal after the down coversion generated after step 302 process, and this first relevant accumulation operations is identical with above-mentioned record.
In step 304, further spectrum analysis is carried out to the result after relevant cumulative through first, namely to through first relevant cumulative after result carry out FFT computing.Then, the result after FFT computing is carried out second relevant cumulative, thus determine corresponding carrier doppler and code phase according to the maximal value of the second relevant accumulation result, thus realize catching carrier doppler and code phase.Wherein, carrier doppler is also for compensating the code frequency of actual code.In this step 304, the second relevant accumulation operations is identical with the second relevant accumulation operations of above-mentioned record.
(1) all or part of content in the technical scheme that provides of above embodiment can be realized by software programming, and its software program is stored in the storage medium that can read, storage medium such as: the hard disk in computing machine, CD or floppy disk.
Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute and can not protection scope of the present invention be departed from.Therefore, although be described in further detail invention has been by above embodiment, the present invention is not limited only to above embodiment, when not departing from the present invention's design, can also comprise other Equivalent embodiments more, and scope of the present invention is determined by appended right.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (10)
1. a universal navigation star catching method, is characterized in that:
Local code synchronizing signal is generated according to pseudo-code control word, and generate local code character and actual code according to described local code synchronizing signal, wherein said local code character has M road chip, and described actual code is for representing the large probable value of the actual carrier Doppler of captured satellite, code Doppler and code phase
Generate local intermediate frequency carrier, and utilize described intermediate frequency carrier to carry out down coversion to navigation signal;
Described local code character and described actual code is utilized to carry out the first relevant accumulating operation to the navigation signal after described down coversion;
FFT computing is carried out to the result of the described first relevant accumulating operation, and the result of described FFT computing is carried out second relevant cumulative, determine the carrier doppler that the relevant cumulative maximal value of described second in the whole cycle is corresponding and code phase, utilize the code frequency control word of described carrier doppler to described actual code to carry out a yard Doppler effect correction, and just described carrier doppler and described code phase information export.
2. method as claimed in claim 1, it is characterized in that, each road in the M road chip of described local code character has identical code value and different code phases.
3. method as claimed in claim 1, is characterized in that, described first is relevantly accumulated as:
Choose arbitrarily the data of very first time length in navigation signal after described down coversion, and carry out segmentation division;
Carry out relevant cumulative to each section after described segmentation divides, obtain the relevant accumulated value of corresponding each section described respectively.
4. method as claimed in claim 3, is characterized in that, described FFT computing be to through first relevant cumulative after each section carry out FFT computing.
5. method as claimed in claim 1, is characterized in that, described second is relevantly accumulated as repeatedly noncoherent accumulation.
6. a universal navigation star capture systems, is characterized in that, comprising: generally catch pseudo-code generation module, carrier wave accumulation process module and spectrum analysis module soon,
Describedly generally catch pseudo-code generation module soon, for generating local code synchronizing signal according to pseudo-code control word, and generate local code character and actual code according to described local code synchronizing signal, wherein, described local code character has M road chip, and described actual code is for representing the large probable value of the actual carrier Doppler of captured satellite, code Doppler and code phase
Described carrier wave accumulation process module, for generating local intermediate frequency carrier according to the carrier frequency of input, and utilize described intermediate frequency carrier to carry out down coversion to navigation signal, utilize described local code character to carry out the first relevant accumulating operation to the navigation signal after described down coversion;
Described spectrum analysis module, for carrying out FFT computing to the result of described relevant accumulating operation, and the result of described FFT computing is carried out second relevant cumulative, determine the carrier doppler that the relevant cumulative maximal value of described second in the whole cycle is corresponding and code phase, utilize the code frequency control word of described carrier doppler to described actual code to carry out a yard Doppler effect correction, and just carrier doppler and code phase information export.
7. system as claimed in claim 6, it is characterized in that, each road in the M road chip of described local code character has identical code value and different code phases.
8. system as claimed in claim 6, is characterized in that, described first is relevantly accumulated as:
Choose arbitrarily the data of very first time length in navigation signal after described down coversion, and carry out segmentation division;
Carry out relevant cumulative to each section after described segmentation divides, obtain the relevant accumulated value of corresponding each section described respectively.
9. system as claimed in claim 8, is characterized in that, described FFT computing be to through described first relevant cumulative after each section carry out FFT computing.
10. system as claimed in claim 6, is characterized in that, described second is relevantly accumulated as repeatedly noncoherent accumulation.
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