CN105549043B - Carrier phase relationship detection method between a kind of each component of satellite navigation signals - Google Patents
Carrier phase relationship detection method between a kind of each component of satellite navigation signals Download PDFInfo
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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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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Abstract
Carrier phase relationship detection method between a kind of each component of satellite navigation signals, by carrying out rationally sampling and analyzing to signal, realize the detection carrier phase relationship each component of multi -components satellite navigation signals, QPSK satellite navigation signals can not only be detected, the complex modulation such as CBOC, AltBOC, TD AltBOC, Interplex, CASM, POCET, the signal of complex method can also be detected, includes the signal of the component of signal containing alien frequencies.Estimated by open loop demodulation high accuracy degree code phase, carrier phase, disclosure satisfy that the requirement that correctness and accuracy detection are realized to equipment such as navigation signal simulation source, aeronautical satellite payload.
Description
Technical field
The present invention relates to carrier phase relationship detection method between a kind of each component of satellite navigation signals, belong to satellite navigation skill
Art field.
Background technology
In navigation satellite signal, to meet different demands for services, multiple component of signals are loaded with each frequency.Such as
It is C/A codes and P code signals on earliest GPS L1, complex method, only two paths of signals component is modulated for QPSK, and after modernizing
GPS L1 on there is component of signal on many frequencies such as the road signal of C/A, P, M, L1C tetra-, Galileo systems, BDS to be all more than three
Road, and used the complex modulation complex method such as Interplex, CASM, POCET.
At present, the detection of navigation signal carrier phase relationship can be carried out by the following method：
Method 1, VSA；
Method 2, receiver tracking；
However, there are the following problems for the above method：
(1) method 1 uses all purpose instrument, and this method is only capable of the carrier wave to the standard digital modulation signal such as QPSK, 8PSK
Orthogonality of phase relation etc. provides result.And result can not be provided by modulating the complicated satellite navigation of complex method.
(2) method 2 is more common navigation signal carrier phase detection method, but Closed loop track receiver is only capable of providing
The information such as orthogonal, upset, this satellite navigation signals carrier wave phases containing alien frequencies component of such as AltBOC of complexity can not be provided
Position relation.
The content of the invention
The technology of the present invention solves problem：A kind of overcome the deficiencies in the prior art, there is provided each point of satellite navigation signals
The method that carrier phase relationship detects between amount, it can accurately distinguish same frequency and the alien frequencies component carrier of multi -components satellite navigation signals
Phase relativeness.
The present invention technical solution be：
Carrier phase relationship detection method between a kind of each component of satellite navigation signals, step are as follows：
(1) navigation signal is gathered：Collection navigation signal homologous with navigation signal generation source is simultaneously stored, such as can not be same
Source, then peel off Doppler contribution after gathering；
(2) component of signal for most easily obtaining start time information is chosen as guiding signal, by way of frequency domain search
Primarily determine that the signal carrier phase and code phase, domain search when carrying out again afterwards, obtain the final code phase of guiding signal and
Carrier phase；
(3) mobile data reading pointer open loop demodulating data, obtains being total to for all signals of the frequency to code phase section start
Same start time information；
(4) all component of signal pseudo-codes are generated using the start time information；
(5) according to all component of signal pseudo-codes generated in step (4), the final carrier phase record value of signal is calculated；
(6) each road component of signal carries out open loop demodulation, peels off codings at different levels, obtains frame head or text, distinguishes that text is overturn
State；
(7) carrier phase correction, united using the carrier phase in the text rollover states aligning step (5) in step (6)
Evaluation, so as to obtain carrier phase relationship between each component.
In step (1) during collection navigation signal, acquisition time is more than frame length, and sampling ADC digit is more than or equal to 8bit, sampling
The scope of speed is determined as follows：
(2.1) navigation signal frequency is the X1 of L-band：1575.42MHz ± BW1, X2：1191.795MHz ± BW2, X3：
1268.52MHz ± BW3, wherein, BW1, BW2 and BW3 are unilateral bandwidth, BW1>20.46MHz BW2>35MHz, BW3>
20.46MHz；
(2.2) according to the navigation signal frequency and bandwidth selected in (2.1), first each frequency is determined according to bandpass sample theory
Not aliasing sample frequency scope, then choose lap；
(2.3) frequency spectrum and phase rollover states and sampling rate scope of navigation signal are determined according to following table：
The phase bit flipping of table 1 selects with sample frequency
1 expression in its intermediate frequency spectrum and phase bit flipping is not overturn, -1 represents upset.
When frequency domain search is carried out in the step (2), local carrier frequency is set according to phase rollover states in step (1)
Symbol, when signal spectrum under the sampling rate and phase bit flipping are -1, local signal centre frequency symbol negates.
Domain search is specially when being carried out in the step (2)：
(4.1) setting coarse first phase is φ 0, and initial search frequency range is φ ± 0.1, step-size in search 0.01rad；
(4.2) it is signal progress of mobile and sampling the local code to peeling off carrier wave is related, ask for the carrier wave at maximum
Phase 1；
(4.3) it is first phase with φ 1, hunting zone is φ ± 0.01, step-size in search 0.001rad；
(4.4) iteration performs step (4.2)~(4.3), until carrier phase search time-code maximum correlation is more than or equal to
Two, terminate iteration, the carrier phase at maximum now obtained is the carrier phase for guiding signal final.
Step (3) the open loop demodulating data, is realized by the following method：
(5.1) offset data file starting point makes data be read since code phase starting point, with a data bit or subcode
The time of integration of the bit time as fixation, digital independent is carried out according to the time of integration of the fixation and utilizes carrier phase
Related operation is carried out, extracts the symbol of relevant peaks；
(5.2) subcode phase is searched on relevant peaks symbolic base, subcode is peeled off and carries out synchronizing sub-frame, obtain the frequency
The common start time information of all signals.
The step (5) is realized by the following method：
1) when component of signal pseudo-code phase is present more than 1 sampling point with the upper deviation, the position of carrier phase will be calculated
It is selected at a sampling point；
2) the complete permanent envelope baseband signal of local generation, a pseudo-code and letter using permanent envelope baseband signal as entirety
Number carry out related, ask for the combining signal pseudo-code phase, using this phase position as calculating carrier phase at the time of；
3) according to, as start time information, passing through frequency domain search at the time of the calculating carrier phase obtained in step 2)
Mode primarily determines that signal carrier phase and code phase；
4) domain search when carrying out again, the final code phase of signal and carrier phase are obtained, so as to obtain the final load of signal
Wave phase record value.
Carrier phase correction described in step (7), using in step (6) text rollover states calibration of the output results step (5)
Carrier phase statistical value, following table, which is defined, to be corrected：
The checking list of table 2
If carrier phase calculated valueMore than 2* π, then it is final carrier phase calculated value to subtract after 2* π.
Compared with the prior art, the invention has the advantages that：
(1)
The present invention consider because collection, caused by frequency conversion influence of the phase bit flipping to carrier phase, it is specified that navigation signal
The span of required sample frequency during this kind of performance detection；Pass through clear and definite spectral content and phase bit flipping situation, Ke Yizhun
Really provide carrier phase relationship symbol.
(2) present invention can detect the navigation signal of the component containing pattern signal, including the long-time because of two level coding introducing
Period code component of signal.Signal is guided by demodulating, text rollover states can be obtained by the gathered data of short period.
(3) present invention can detect carrier phase relationship each component of the navigation signal of the component of signal containing alien frequencies,
Including AltBOC signals and the constrained multi-band signal of signal time delay frequency.
(4) present invention is higher to carrier phase Evaluation accuracy, up to the limit under the fixed time of integration and sample frequency.
Brief description of the drawings
Fig. 1 carrier phase relationship detection method flow charts between each component of satellite navigation signals of the present invention；
Fig. 2 is code phase and carrier phase coarse search is frequency domain search signal flow diagram；
Fig. 3 is fine code phase search schematic diagram；
Fig. 4 is situation schematic diagram of the component of signal relevant peaks not at one；
Fig. 5 is that GPS L1 component of signals carrier phase relationship emulates schematic diagram；
Embodiment
The invention provides the method that carrier phase relationship between a kind of each component of satellite navigation signals detects, can accurately sentence
Same frequency and alien frequencies component carrier the phase relativeness of bright multi -components satellite navigation signals.Contemporary BDS, GPS, Galileo system,
GLONASS, QZSS satellite navigation system and the navigation signal of navigation signal simulation source generation all have a feature：One code week
Phase corresponds to integer carrier cycle.This is also the primary condition of this detection method application.
As shown in figure 1, carrier phase relationship detection method provided by the invention comprises the following steps：
(1) navigation signal collection, storage.
Collection navigation signal homologous with navigation signal generation source is simultaneously stored, such as can not be homologous, it is necessary to be peeled off after gathering
Doppler contribution；Acquisition time is more than frame length；Sampling ADC digit is more than or equal to 8bit, and sampling rate is by signal center frequency, band
Width determines that the scope of sampling rate is realized by the small step of following three：
1. navigation signal frequency and bandwidth are selected.GPS, Galileo system, GLONASS, QZSS, RNSS are mainly L-band
1575.42MHz ± BW1 (being represented with X1, BW1 is its unilateral bandwidth), 1191.795MHz ± BW2 (represented with X2, BW2 is it
Unilateral bandwidth), 1268.52MHz ± BW3 (being represented with X3, BW3 is its unilateral bandwidth), each frequency signal bandwidth is in 80MHz
Within.In view of modulation system and leave certain surplus, BW1>20.46MHz BW2>35MHz, BW3>20.46MHz.
2. aliasing sample frequency is not selected.According to the navigation signal frequency and bandwidth selected in 1., first determine according to bandpass sampling
Reason determines each frequency not aliasing sample frequency scope, then choose lap.
3. rollover states determine.After sample frequency selection range determines, for positioned at the 1st, 3,5,7 ... etc. odd Nai Kuisi
The signal in special zone domain, signal lower sideband spectral content and carrier phase will not be overturn.For positioned at the 2nd, 4,6,8 ... etc.
The signal of even Nyquist zone, signal lower sideband spectral content and carrier phase can be overturn.To obtaining sampling frequency
Rate selection range, corresponding frequency spectrum and phase rollover states are as shown in the table.The 1 of its intermediate frequency spectrum and phase bit flipping represents not overturn ,-
1 represents upset, gives the representative value of sample frequency selection in table simultaneously.
The phase bit flipping of table 1 selects with sample frequency
Sample frequency as high as possible is chosen according to hardware condition in practice, and sample frequency can not be bit rate, secondary load
The integral multiple of wave speed.
(2) signal code phase, carrier phase search are guided.Choose the component of signal conduct for most easily obtaining start time information
Signal is guided, can typically select short cycle people code signal, these signal periods are shorter, easily capture and demodulation text, such as GPS
L1C/A code signals, BDS B1I signals.It is fine in time domain afterwards using the frequency domain rough search signal carrier phase and code phase
Search, obtains accurate code phase and carrier phase.
First by frequency domain method coarse search code phase and carrier phase, as shown in Figure 2.The step code phase search precision arrives
Up to sampling point level.This step needs to set local carrier frequency symbol according to rollover states in step (1).When the sample frequency in (1)
When lower signal spectrum and phase bit flipping are -1, local signal centre frequency symbol negates.
Fine searching is carried out after coarse search, as shown in Figure 3.Code phase fine search：With real data sample rate to local code
Move and sample, obtain the sampled value after multigroup movement, it is related to real data progress using non-coherent integration, obtain essence
Thin code phase.Precision is relevant with sample frequency, bit rate, the time of integration, and these three parameters are bigger, and analysis precision is higher.The step
Code phase search precision up to sampling point below.
Carrier phase searches again for.Navigation signal component is numerous, and carrier wave can not also be extracted afterwards by peeling off pseudo-code.This, which is in, slightly searches
Rope obtains iteration fine search carrier phase on the basis of carrier phase and accurate code phase.
1) setting coarse first phase φ 0 (rad) (known), set initial search frequency range φ ± 0.1 (rad), step-size in search
0.01rad。
2) signal progress of the local code to peeling off carrier wave through accurate movement and sampling is related, asks for the carrier wave at maximum
Phase 1.
3) it is first phase with φ 1, hunting zone φ ± 0.01 (rad), step-size in search 0.001rad
4) with 2), 3) iteration, until carrier phase search time-code maximum correlation is more than or equal to two, now reach search
The limit, if to improve precision again, it is necessary to improve sample frequency.
(3) signal open loop demodulation is guided.Mobile data reading pointer open loop demodulating data, obtains to code phase section start
The common start time information of all signals of the frequency.
Open loop demodulates：
1. offset data file starting point makes data be read since code phase starting point, with a data bit (or subcodes
Bit the time of integration of the time) as fixation, digital independent is carried out with the step-length and carries out related operation using carrier phase,
Extract the symbol of relevant peaks.
2. searching for subcode phase on relevant peaks symbolic base, peel off subcode (if there is) and carry out synchronizing sub-frame, obtain
The common start time information of all signals of the frequency, as counted WN, second SOW, frame head starting sampling point position in week week.
(4) each component of signal code generation.All component of signal pseudo-codes are generated using start time information.
(5) each component of signal carrier phase extraction.Each component carrier phase search and record are carried out using method in (2).
Data content used in all component of signals must be completely the same during search every time.
Data are continuously read by the time of integration since the data sample position that start time information characterizes, utilize step
(2) method carries out each component of signal carrier phase calculating in, and each integration period is identical with other integration period first phases, each solely
It is vertical to extract and record each component of signal carrier phase.
1) when component of signal pseudo-code phase is present more than 1 sampling point with the upper deviation, as shown in figure 4, will believe alien frequencies
Number component carrier phase relation result of calculation produces considerable influence.Now need the position for calculating carrier phase being selected in a sample
At point.
2) the complete permanent envelope baseband signal (including intermodulation component) of local generation, using permanent envelope base band combining signal as
An overall pseudo-code (may be plural number) is related to signal progress, asks for the combining signal pseudo-code phase, using this starting point as
At the time of calculating carrier phase.
(6) each signal open loop demodulation.Each road component of signal carries out open loop demodulation by respective signal system form, peels off at different levels
Coding, obtains frame head or text, distinguishes text rollover states.
(7) carrier phase correction.The carrier phase statistical value in text rollover states correction (5) in (6) is utilized, is obtained each
Carrier phase relationship between component：
Following table, which is defined, to be corrected.
The checking list of table 2
On the basis of wherein carrier phase angle is 0 signal all the way, the other signals component carrier phase calculation value-road
Signal carrier phase calculated value, obtains relative phase relation.If carrier phase calculated valueMore than 2* π, it is after subtracting 2* π then
Final carrier phase calculated value.
The present invention is applied to navigation signal simulation source, satellite navigation load signal detection occasion, and signal carrier phase is closed
System realizes that demodulation of the accuracy relation to user to multi signal component uses, and the detection method that the invention is related to can be examined accurately
Survey the index.
Implementation process of the present invention can illustrate by taking GPS L1 signals as an example.Planning has 4 tunnel component of signals on GPS L1 signals：C/
A code signals, P code signals, L1C signals, M code signals.4 tunnel component of signals have certain carrier phase relationship, it is assumed that for 0 °, 90 °,
0°、90°.Then for signal imitation source and load, it is necessary to detect the carrier phase relationship, weigh it and realize precision.
GPS L1 centre frequencies are 1575.42MHz, and bandwidth is chosen as 20.46MHz, then sample frequency is chosen as according to (1)
650MHz, now signal spectrum content and phase are not overturn.
C/A code signals are disclosed civilian, short code signal, and text most easily obtains, and select it as guiding signal.Carry out code-phase
Position and carrier phase search.
Mobile data reading pointer to code phase section start, open loop demodulating data, acquisition week counts WN and second SOW in week,
And the signal such as frame head, phase sampling point, the common start time information as all signals of the frequency.
All component of signal pseudo-codes, including C/A code signals, L1C signals, M codes letter are generated using above-mentioned start time information
Number, P code signal component pseudo-codes.
Data are read by the time of integration, calculate the final carrier phase record value of signal；Each component of signal obtains one group
Value, such as θ 1, θ 2, θ 3, θ 4.
Each road component of signal carries out open loop demodulation, peels off codings at different levels, obtains frame head or text, distinguishes text flip-like
State；Each component of signal obtains a class value corresponding with above-mentioned carrier phase, and such as c1, c2, c3, c4, its value takes+1 or -1.
Carrier phase correction is carried out to θ 1, θ 2, θ 3, θ 4 with c1, c2, c3, c4 using table 2, it is final to obtain 4 component of signals
Carrier phase relationship, simulation result are as shown in Figure 5.
Claims (6)
1. carrier phase relationship detection method between a kind of each component of satellite navigation signals, it is characterised in that step is as follows：
(1) navigation signal is gathered：Collection navigation signal homologous with navigation signal generation source is simultaneously stored, such as can not be homologous, then
Doppler contribution is peeled off after collection；
(2) component of signal for most easily obtaining start time information is chosen as guiding signal, it is preliminary by way of frequency domain search
The signal carrier phase and code phase are determined, domain search when carrying out again afterwards, obtains guiding signal final code phase and carrier wave
Phase；
(3) mobile data reading pointer is to code phase section start, open loop demodulating data, obtains the common of all signals of the frequency
Start time information；
(4) all component of signal pseudo-codes are generated using the start time information；
(5) according to all component of signal pseudo-codes generated in step (4), data are continuously read, calculate the final load of component of signal
Wave phase value simultaneously records；
(6) each road component of signal carries out open loop demodulation, peels off codings at different levels, obtains frame head or text, distinguishes text rollover states；
(7) carrier phase correction, using the carrier phase statistical value in the text rollover states aligning step (5) in step (6),
So as to obtain carrier phase relationship between each component；
In step (1) during collection navigation signal, acquisition time is more than frame length, and sampling ADC digit is more than or equal to 8bit, sampling rate
Scope be determined as follows：
(2.1) navigation signal frequency is the X1 of L-band：1575.42MHz ± BW1, X2：1191.795MHz ± BW2, X3：
1268.52MHz ± BW3, wherein, BW1, BW2 and BW3 are unilateral bandwidth, BW1>20.46MHz BW2>35MHz, BW3>
20.46MHz；
(2.2) according to the navigation signal frequency and bandwidth selected in (2.1), first determine that each frequency does not mix according to bandpass sample theory
Folded sample frequency scope, then choose lap；
(2.3) frequency spectrum and phase rollover states and sampling rate scope of navigation signal are determined according to following table：
The phase bit flipping of table 1 selects with sample frequency
1 expression in its intermediate frequency spectrum and phase bit flipping is not overturn, -1 represents upset.
2. carrier phase relationship detection method between each component of a kind of satellite navigation signals according to claim 1, its feature
It is：When carrying out frequency domain search in the step (2), local carrier frequency is set to accord with according to phase rollover states in step (1)
Number, when signal spectrum under the sampling rate and phase bit flipping are -1, local signal centre frequency symbol negates.
3. carrier phase relationship detection method between each component of a kind of satellite navigation signals according to claim 1, its feature
It is：Domain search is specially when being carried out in the step (2)：
(4.1) setting coarse first phase is φ 0, and initial search frequency range is φ ± 0.1, step-size in search 0.01rad；
(4.2) it is signal progress of mobile and sampling the local code to peeling off carrier wave is related, ask for the carrier phase at maximum
φ1；
(4.3) it is first phase with φ 1, hunting zone is φ ± 0.01, step-size in search 0.001rad；
(4.4) iteration performs step (4.2)~(4.3), until carrier phase search time-code maximum correlation is more than or equal to two,
Terminate iteration, the carrier phase at maximum now obtained is the carrier phase for guiding signal final.
4. carrier phase relationship detection method between each component of a kind of satellite navigation signals according to claim 1, its feature
It is：Step (3) the open loop demodulating data, is realized by the following method：
(5.1) offset data file starting point makes data be read since code phase starting point, with a data bit or subcode bit
Time as fixation the time of integration, according to the time of integration of the fixation carry out digital independent and using carrier phase progress
Related operation, extract the symbol of relevant peaks；
(5.2) subcode phase is searched on relevant peaks symbolic base, subcode is peeled off and carries out synchronizing sub-frame, obtain the frequency and own
The common start time information of signal.
5. carrier phase relationship detection method between each component of a kind of satellite navigation signals according to claim 1, its feature
It is：The step (5) is realized by the following method：
1) when component of signal pseudo-code phase is present more than 1 sampling point with the upper deviation, the position for calculating carrier phase is selected in
At one sampling point；
2) the complete permanent envelope baseband signal of local generation, a pseudo-code and letter using permanent envelope base band combining signal as entirety
Number carry out related, ask for the combining signal pseudo-code phase, using this phase position as calculating carrier phase at the time of；
3) according at the time of the calculating carrier phase obtained in step 2) as start time information, by way of frequency domain search
Primarily determine that signal carrier phase and code phase；
4) domain search when carrying out again, the final code phase of signal and carrier phase are obtained, so as to obtain the final carrier wave phase of signal
Position record value.
6. carrier phase relationship detection method between each component of a kind of satellite navigation signals according to claim 1, its feature
It is：Carrier phase correction described in step (7), utilize the carrier wave in step (6) text rollover states calibration of the output results step (5)
Phase statistical value, following table, which is defined, to be corrected：
The checking list of table 2
If carrier phase calculated valueMore than 2* π, then it is final carrier phase calculated value to subtract after 2* π.
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