CN105607076B - A kind of Beidou II B1 and B3 dual-frequency receivers - Google Patents
A kind of Beidou II B1 and B3 dual-frequency receivers Download PDFInfo
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- CN105607076B CN105607076B CN201510981198.0A CN201510981198A CN105607076B CN 105607076 B CN105607076 B CN 105607076B CN 201510981198 A CN201510981198 A CN 201510981198A CN 105607076 B CN105607076 B CN 105607076B
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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
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Abstract
A kind of Beidou II B1 and B3 dual-frequency receivers, including filtering and amplifying circuit, power-devided circuit, B1 narrow band filters, B3 narrow band filters, down coversion and analog-to-digital conversion sample circuit, crystal oscillator, digital intermediate frequency signal process circuit, measurement data pretreatment module, combined filter module, navigation positioning module.The present invention uses the civilian optional input of Beidou II B1, B3 two-frequency signal both-end, support to demodulate B1, B3 dual-frequency point signal and positioning calculation simultaneously, utilize adaptive differential location algorithm, avoid GPS system is relied on while, effectively increase the navigation and positioning accuracy using dipper system, simultaneously can also, usable satellite number poor in observation condition it is less in the case of, there is provided reliable positioning continuity and higher positioning precision.
Description
Technical field
The invention belongs to field of satellite navigation, is related to a kind of Beidou satellite navigation receiver.
Background technology
Beidou satellite navigation and positioning system is that China voluntarily develops, and provides the user fast positioning, brief digital message
Communication and new, round-the-clock, the zonal satellite navigation and location system of time service service.Beidou satellite navigation system is a Pang
Big system engineering, its technical sophistication, have a wide range of application, filled up the blank of China's navigation system, open China's space flight thing
The new journey of industry, makes China break away from the dependence to GPS system, to safeguard national security, promoting economic civilization development in an all-round way to carry
Important leverage is supplied.Beidou II global position system uses passive positioning method, can be with by the multi-frequency data of its transmission
High-precision relative positioning is carried out, this economic development to China is of great immediate significance.It is fixed to be obtained by big-dipper satellite
Position information, user just can learn the positional information of itself according to the location information of acquisition, realize the applications such as corresponding navigation or clothes
Business.
The ranging code of Big Dipper B1 frequency signals is modulated at 1561.098MHz carrier signal with 2.046Mcps bit rate
On, the ranging code of Big Dipper B3 frequency signals is modulated in 1268.52MHz carrier signal with 10.23Mcps bit rate.In phase
With in the case of, the bit rate of B3 frequencies is 5 times of B1 frequencies, therefore the positioning precision of single B3 frequencies can reach single B1 in theory
5 times of frequency, and in the case where observation condition is poor, usable satellite number is less, when carrying out big-dipper satellite pseudorange One-Point Location,
Single-frequency pseudorange One-Point Location performance drastically declines, but can preferably be constrained using B1, B3 double frequency pseudorange Point-positioning Precision
The discrete range of error, improve the positioning precision and availability of receiver.
But current Beidou navigation satellite system receiver can only largely receive the signal of single B1 frequencies, therefore in civil area
In, realize that a kind of navigation neceiver that can support Beidou II B1, B3 frequency simultaneously is very urgent.
The content of the invention
Present invention solves the technical problem that it is：Overcome the deficiencies in the prior art, there is provided one kind is navigated based on Beidou II
The dual-frequency receiver of civilian the B1 frequencies and B3 frequencies of system, being capable of, situation that usable satellite number less poor in observation condition
Under, provide reliable positioning continuity and higher Real-Time Positioning by double frequency difference.
The present invention technical solution be：A kind of Beidou II B1 and B3 dual-frequency receivers, including filtering and amplifying circuit,
Power-devided circuit, B1 narrow band filters, B3 narrow band filters, down coversion and analog-to-digital conversion sample circuit, crystal oscillator, intermediate frequency
Digital signal processing circuit, measurement data pretreatment module, combined filter module, navigation positioning module, wherein：
Filtering and amplifying circuit：Contain the radiofrequency signal of big-dipper satellite B1 frequencies and B3 frequencies while receiving outside input,
Radiofrequency signal is amplified and carries out bandpass filtering and obtains the full range segment signal comprising B1 frequencies and B3 frequencies, delivers to work(point electricity
Road；
Power-devided circuit：The full range segment signal received from filtering and amplifying circuit is divided into two-way, wherein delivering to B1 arrowbands all the way
Bandpass filter, another way deliver to B3 narrow band filters；
B1 narrow band filters：Bandpass filtering centered on B1 frequencies is carried out to the full range segment signal received, obtained
To B1 frequencies high-frequency signal and deliver to down coversion and analog-to-digital conversion sample circuit；
B3 narrow band filters：Bandpass filtering centered on B3 frequencies is carried out to the full range segment signal received, obtained
To B2 frequencies high-frequency signal and deliver to down coversion and analog-to-digital conversion sample circuit；
Crystal oscillator：Produce reference frequency signal and deliver to down coversion and analog-to-digital conversion sample circuit；
Down coversion and analog-to-digital conversion sample circuit：Lower change is carried out respectively to B1 frequencies high-frequency signal and B3 frequencies high-frequency signal
Frequently, the reference frequency signal and according to crystal oscillator provided builds synchronized sampling clock, using the synchronized sampling clock to down coversion
Signal afterwards synchronizes sampling, obtains B1 frequencies digital intermediate frequency signal and B3 frequency digital intermediate frequency signals, by B1 frequency intermediate frequencies
Data signal, B3 frequencies digital intermediate frequency signal and synchronized sampling clock deliver to digital intermediate frequency signal process circuit；
Digital intermediate frequency signal process circuit：B1 frequencies digital intermediate frequency signal and B3 frequencies digital intermediate frequency signal are carried out respectively
Acquisition and tracking, obtain the raw measurement data of B1 frequencies and the original measurement number of B3 frequencies of each big-dipper satellite effectively tracked
According to described raw measurement data includes code counting, carrier wave counts, Doppler and original text, wherein code count and carrier wave meter
Number is obtained by synchronized sampling clock；
Measurement data pretreatment module：The each measurement data transmitted for digital intermediate frequency signal process circuit, passes through
Code count it is cumulative obtains the observation time of satellite, with reference to raw pseudo range is calculated after carrier wave data correction, by Doppler with
Pseudorange rates are calculated in carrier wave data correction, by carrying out BCH decodings to original text, obtain demodulating text；From combined filter
Module obtains raw pseudo range correction and pseudorange rates correction, and raw pseudo range is modified and sent using raw pseudo range correction
To navigation positioning module, pseudorange rates are modified using pseudorange rates correction and deliver to navigation positioning module；
Navigation positioning module：According to the raw pseudo range of revised each aeronautical satellite, carry out respectively satellite clock correction amendment,
Ionospheric error amendment, ionosphere differential corrections, tropospheric error amendment, earth rotation error correction, can be ultimately utilized in
The amendment pseudorange of positioning；Meanwhile the satellite for resolving to obtain each satellite of B1 frequencies and each satellite of B3 frequencies by demodulating text is joined
Number, described satellite parametric reduction include position, speed, clock correction；Navigation number is calculated using pseudorange, satellite parametric reduction, pseudorange rates are corrected
Exported according to after the 1PPS times to outside；
Combined filter module：The navigation information exported using Kalman filtering algorithm to navigation positioning module, which is combined, leads
Boat filtering, filters the exceptional value in navigation information, with reference to the navigation after the speed of dual-frequency receiver, acceleration and filtering process
Information, calculate raw pseudo range correction and pseudorange rates correction and feed back to measurement data pretreatment module.
It is individual logical that described digital intermediate frequency signal process circuit includes capture configurator, FFT capturing units, passage configurator, n
Road, related operation unit and latch sampling unit, capture configurator carry out parameter configuration, FFT capturing units to FFT capturing units
Capture operation is carried out with B3 frequencies digital intermediate frequency signal to the B1 frequencies digital intermediate frequency signal of input according to configuration parameter, captured
Signal be admitted to passage configurator, passage configurator will select an idle channel to the signal that captures from n passage
It is tracked, related operation unit carries out correlation computations using associated clock to the signal of all n passage synchronizations, latches
Sampling unit carries out parameter tracking sampling to the signal of all n passage synchronizations using latch clock and latches sampled value,
Obtained with this from each passage and export B1 raw measurement datas and B3 raw measurement datas.
Described B1 narrow band filters or B3 narrow band filters are surface acoustic wave bandpass filter.
The present invention compared with prior art the advantages of be：
(1) present invention proposes the total solution of civilian Beidou II B1, B3 dual-frequency receiver, fundamentally solves
Dependence Problem of the conventional GNSS receiver for GPS system, effectively improves original Big Dipper generation receiver and Beidou II
The positioning precision of B1 frequency receivers, while making full use of Big Dipper B3 frequencies to effectively improve positioning precision, it is greatly improved
The reliability and stability of system；
(2) civilian Beidou II B1, B3 dual-frequency receiver proposed by the present invention, make full use of at the synchronization of two kinds of frequencies
Reason, while improving positioning precision using double frequency differential technique, effectively improve the reliability of system；
(3) civilian Beidou II B1, B3 dual-frequency receiver proposed by the present invention, inputted using the optional signal of dual-port, branch
The selection input of two-way mixed signal is held, is keeping the consistent external interface of conventional GNSS receiver scheme simultaneously by input interface
One times of extension, it is adapted to the more complicated application systems such as single antenna, double antenna and the input of different frequent points antenna combination；
(4) civilian Beidou II B1, B3 dual-frequency receiver proposed by the present invention, radio frequency processing link design low noise, height
Gain, broadband and narrow-band filtering and the combined Match circuits method of automatic gain control, two kinds of letters of B1, B3 are effectively ensured
Number transmission quality, compared to traditional GPS receiver and B1 frequency receivers, while signal transmission high-gain low-noise is ensured
The bandwidth of link processing signal is greatly relaxed, the complete process of two frequency bins signal can be achieved with separating；
(5) B1, B3 signal measurement data are carried out double frequency Differential positioning by the present invention, the high letter itself having using B3 frequencies
Number precision feature, ionosphere and tropospheric error are eliminated using double frequency difference, while using carrier phase auxiliary pseudorange positioning side
Method, greatly improve positioning precision.
Brief description of the drawings
Fig. 1 is the theory diagram of inventive receiver；
Fig. 2 is that a kind of hardware of inventive receiver realizes structured flowchart；
Fig. 3 is the amplification filter design schematic diagram of inventive receiver；
Fig. 4 is the down coversion and analog-to-digital conversion sampling Design schematic diagram of inventive receiver；
Fig. 5 is the Digital IF Processing design principle figure of inventive receiver；
Fig. 6 is the measurement data pretreatment design schematic diagram of inventive receiver；
Fig. 7 is the navigator fix design principle figure of inventive receiver；
Fig. 8 is the time synchronized design principle figure of inventive receiver.
Embodiment
High accuracy, stability and the small form factor requirements that the present invention positions for civil navigation, with reference to triones navigation system
Ability and feature, devise a kind of civilian Beidou II B1, B3 dual-frequency receiver.By to the civilian frequency of Beidou II B1, B3
Signal received, handled, using Differential positioning, realize quick high accuracy navigator fix purpose.
1st, scheme Design
As shown in figure 1, put for civilian Beidou II B1, the B3 dual-frequency receiver of the present invention, including signal combiner, radio frequency
Big filter circuit, radio frequency down-conversion and modulus turn sampling and change circuit, digital intermediate frequency signal process circuit, measurement data pretreatment mould
Block, navigation positioning module, temperature compensating crystal oscillator, combined filter module etc..Receiver design uses the optional input mode of both-end, and two defeated
Inbound port can separately or simultaneously input B1, B3 frequency navigation satellite signal, and the signal of two input ports is synthesized one by combiner
Lu Hou, mixed signal is by entering radio frequency filtering and amplifying circuit after wideband filtered gas, by two-stage amplification and wideband filtered circuit
Afterwards, mixed signal is divided into 2 tunnels amplification mixed signal into power splitter；Wherein：Amplification mixed signal passes through narrow band filter all the way
Effect becomes B1 frequency signals, and another way then becomes B3 frequency signals by narrow band filter effect；Final two paths of signals is simultaneously
Into down coversion and analog-to-digital conversion sample circuit, the frequency high-frequency signal of B1, B3 two is led to after down-converted twice respectively
Over-sampling becomes digital medium-frequency signal, while during by phaselocked loop by synchronized sampling is exported after temperature compensating crystal oscillator input clock frequency conversion
Clock.Enter digital intermediate frequency signal process circuit after digital medium-frequency signal generation, by FFT fast Acquisitions, obtain B1, B3 two respectively
The rough carrier doppler and code phase values of frequency signal, and different satellite-signals are tracked respectively from code ring using carrier wave ring, and
Extract original observation information.Measurement data pretreatment module enters B1, B3 frequency text of each satellite in original observation information
Row demodulation computing obtains Real telegram, while calculates the raw pseudo range of each satellite.In navigation positioning module, ephemeris number is used
According to calculating the real time position and speed of each satellite, then by weighted least-squares meter after the pseudorange of each satellite is modified
Calculate, obtain local position, velocity information, local clock correction and the clock drift obtained using positioning is modified to obtain essence to local zone time
True local zone time simultaneously exports pps pulse per second signal.
A kind of as shown in Fig. 2 hardware configuration for dual-frequency receiver of the present invention：Put using feed selecting switch, low noise
The small size element composite module design such as big device, SAW filter, single-ended transfer difference balun, impedance matching circuit, is realized
The high frequency signals such as combining, amplification, noise reduction, work(point and filtering after the input of two-way radiofrequency signal；Using inside comprising secondary
The radiofrequency signal process chip of the complete circuits such as down coversion, amplifier, wave filter, AGC, phaselocked loop realizes that down coversion and modulus turn
Change function；Use the internal SOC for including digital signal processing circuit, clock system, processor, memory and external interface circuit
Digital baseband chip, realize the acquisition and tracking of data signal, navigator fix resolves and outbound data and signal output；Use corpusculum
Universal external 5V power supplies and internal required 3.3V, 1.8V, 1.2V Power convert and control are realized in product LDO digital power combinations.
2nd, filter design is amplified
Antenna receives and is transferred to the Big Dipper satellite signal of filtering and amplifying circuit input, each comprising the received Big Dipper
The summation of satellite-signal and other various noises and interference, as shown in formula (1), wherein n (t) represents all noisinesses, appoints
The signal s that one big-dipper satellite (its PRN's is encoded to i) is broadcasti(t) can be expressed as shown in formula (2), wherein A represents letter
Shown in number amplitude such as formula (3), and θiShown in the initial phase such as formula (4) for representing the signal received.WhereinConnect for antenna
The mean receiving power of i-th satellite-signal received, xi(t) the C/A codes broadcast for the satellite, Di(t) it is numeric data code, τi
For the propagation delay of signal,For the Doppler shift of signal, f0The carrier frequency of signal is broadcast for satellite,For carrier wave first phase
Position.
As shown in figure 3, the design of receiver filtering and amplifying circuit is supported to the mixed signal containing Big Dipper B1, B3 frequency simultaneously
Carry out signal amplification and bandpass filtering operation.Wherein, Amplifier Design uses low-noise amplifier, its Enlargement Design gain amplifier
For 30~35dB；Wave filter design uses surface acoustic wave (SAW) bandpass filter (BPF), and its bandpass range should be completely covered
B1, B3 frequency and its bandwidth range, at the same to design it is appropriate retain Doppler shift width, filter signal loss about-
1.5dB.As shown in formula (5), Δ f is band logical frequency, f needed for bandpass filter1With f3For B1 frequencies and B3 frequencies center frequency
Rate, w1With w3For B1 frequencies and B3 frequency bandwidth, d1With d3To receive the Doppler shift of B1 frequencies and B3 frequency signals.
Δ f=(f1+w1+d1)-(f3-w3-d3) (5)
3rd, down coversion and analog-to-digital conversion sampling Design
As shown in figure 4, because B1 differs 300MHz or so with B3 frequency signals, tundish contains longer grass, therefore nothing
The direct broadband down coversion of method and sampling.Therefore mixed signal is divided into needs to give birth to by different narrow band filters after two-way
Into the independent signal of B1 frequencies and B3 frequencies, as shown in formula (6), (7).
Δf1=(f1+w1+d1)-(f1-w1-d1) (6)
Δf3=(f3+w3+d3)-(f3-w3-d3) (7)
Two-stage down-conversion operation further is carried out to B1, B3 two paths of signals, then is amplified gain 100dB, is sent into afterwards
AGC carries out signal gain and automatically adjusted.By the primary signal after amplification, (temperature compensation is brilliant with local oscillator using frequency mixer for down coversion
Shake) caused by local oscillation signal be multiplied, after the radio-frequency component in filtering out product, frequency of carrier signal is from radio frequency drops to
Frequently, therefore it is changed into retaining original satellite-signal modulation data by the high-frequency signal for being not suitable for direct sample variance to be adapted in sampling
Frequency signal.Local oscillation signal sLO(t) as shown in formula (8), wherein ALOFor local oscillation signal amplitude, fLOFor local oscillation signal frequency, θLOFor
Local oscillation signal initial phase.After mixing intermediate-freuqncy signal s is generated by narrow-band filteringIF(t) such as formula (9) is shown, wherein intermediate-freuqncy signal
Amplitude AIFAs shown in formula (10), initial phase θIFThen as shown in formula (11), A is satellite emission signal amplitude, fIFFor in again and again
Rate, fdFor the Doppler shift of signal, D (t) is numeric data code, and θ represents the digital medium-frequency signal phase of input Base-Band Processing.Twice
IF-FRE after down coversion is about 15MHz.
sLO(t)=ALOsin(2πfLOt+θLO) (8)
sIF(t)=AIFx(t-τ)D(t-τ)sin(2π(fIF+fd)t+θIF) (9)
θIF=θ-θLO+90° (11)
4bit samplings are carried out to signal afterwards, sampling clock design uses 65MHz and not for the integral multiple of intermediate-freuqncy signal, most
The tunnel intermediate-freuqncy signals of difference synchronism output B1 tetra- and the tunnel intermediate-freuqncy signals of B3 tetra- eventually.Shown in digital medium-frequency signal such as formula (12), wherein
Satellite i signalForDiscrete quantized form, as shown in formula (13), wherein n represents n-th of discrete point, ω
Represent the digital medium-frequency signal frequency of input Base-Band Processing.
4th, digital medium-frequency signal processing design
As shown in figure 5, the road intermediate frequency inputs of B1 and B3 signals Ge You tetra-, one FFT unit of design are used for signal capture, passed through
The control of configurator so that FFT unit can travel through 16 big-dipper satellites of B1, B3 two frequency bins, capture computing every time and meet
After threshold condition, then rough the carrier doppler and code phase that get are sent directly into passage configurator, tracking channel design
For parallel independent synchronization passage, each passage is used equally for the synchronized tracking of various frequencies and satellite-signal.Passage configurator root
Real-time tracking is carried out to capture signal according to order selector channel according to the running situation of tracking channel.Tracking channel design is using certainly
Loop design is adapted to, carrier wave ring design uses delay phase-locked loop using frequency locking auxiliary phase-locked loop, code ring design.In real time according to letter
Number correlation result is tracked function selection to signal, completes bit synchronization, frame synchronization eventually enters into the tenacious tracking stage.Text
Offer in " GPS principles design with receiver ", be discussed in detail to having in carrier wave ring, code ring and related operation etc..Passing through tracking
During passage is to the tenacious tracking of digital medium-frequency signal, correlation computations are carried out to all passages using associated clock, produced each
The early code E of individual passage I, Q branch roadi、Eq, i.e. time-code Pi、Pq, late code Li、Lq, it is sent into code ring and carries out loop calculating with carrier wave ring, makes
The code counting, carrier wave counting, doppler values of all passages are latched in synchronization with latch clock, at the same it is steady in signal
During fixed tracking, extract C/A codes in signal and form original text, most code counting, carrier wave counting, Doppler, original electricity at last
Text, which exports, gives measurement data pretreatment module.Passage designs synchronous related operation and latches sampling clock, when ensureing each interchannel
Prolong and be less than a clock cycle.
5th, measurement data pretreatment design
As shown in fig. 6, each raw measurement data of B1, B3 frequency, including code counting, carrier wave counting, Doppler and original
Beginning text.Count to add up by code and obtain the moonscope time, original is then obtained by asking difference to be scaled distance again with local zone time
Beginning pseudorange, as shown in formula (14), wherein ρ represents raw pseudo range, and c represents the light velocity, tuRepresent local zone time, tsRepresent satellite sight
Survey the time；Meanwhile carrier wave counts and is scaled distance after integer ambiguity again by eliminating and also can obtain raw pseudo range, such as formula
(15) shown in, wherein λ is wavelength,For local replica carrier signal phase,For the satellite carrier signal phase received, N
For integer ambiguity.A kind of pseudorange in formula (14) or formula (15), stack combinations are selected according to operation reserve in receivers
The correction that filtration module obtains, finally provide shown in raw pseudo range such as formula (16), wherein ρΔFor pseudorange correction amount.Feeding is led
Navigate locating module.
ρ=c (tu-ts) (14)
ρ=ρ+ρΔ (16)
The light velocity is multiplied by using Doppler to obtain shown in pseudorange rates such as formula (17), wherein λ is wavelength, and f is Doppler, simultaneously
The variable quantity counted by two subcarriers is scaled distance and can also obtained shown in pseudorange rates such as formula (18), whereinWith
The respectively front and rear carrier wave observed twice counts.Selected in receivers according to operation reserve in formula (17) or formula (18)
A kind of pseudorange rates, the correction that stack combinations filtration module obtains, finally provide shown in raw pseudo range rate such as formula (19), wherein
ΔρΔFor pseudorange correction amount.One of which pseudorange is selected to be sent into navigation positioning module according to operation reserve in receivers.
Δ ρ=λ f (17)
Δ ρ=Δ ρ+Δ ρΔ (19)
Original decoded message is obtained into demodulation text, document " dipper system spacing wave interface control using BCH decoder modules
File processed " gives detailed description to BCH encoding and decoding.Final raw pseudo range, pseudorange rates, demodulation text are finally delivered into navigation
Locating module.
6th, navigator fix designs
As shown in fig. 7, described navigation positioning module, according to the raw pseudo range of each aeronautical satellite after amendment, enters respectively
The amendment of row satellite clock correction, ionospheric corrections, troposphere amendment, earth rotation amendment, differential errors amendment, can be ultimately utilized in
Shown in the amendment pseudorange such as formula (20) of positioning, wherein, r represents amendment pseudorange, and c is the light velocity, δ t(s)Represent satellite clock correction, I generations
Table ionosphere delay pseudorange error, T represent tropospheric delay pseudorange error, ερRepresent earth rotation pseudorange error, IDRepresent ionization
Layer differential corrections pseudorange error.Ionosphere differential corrections pseudorange error is calculated as shown in formula (21), wherein f1With f3Respectively B1
And B3 frequency centre frequencies, ρ1With ρ3For B1 and B3 frequency raw pseudo ranges.Demodulation text resolves to obtain the ephemeris of satellite by text
And almanac, the satellite parametric reduction of each satellite, including the position of satellite, speed, clock correction, such as formula are calculated using real time ephemeris
(22) shown in, wherein Ps,Vs,t(s)The position of satellite, speed, clock correction are represented respectively, and eph represents ephemeris, passes through parameter in almanac
Correct Ionospheric Parameters and carry out satellite distribution and be expected；Pseudorange, satellite parametric reduction, pseudorange rates are most corrected at last, it is minimum by weighting
Two, which multiply iterative calculation, obtains local position, speed and time correction, to using star in document " GPS principles design with receiver "
Go through and give detailed description with almanac calculating satellite parametric reduction.Result of calculation is led using forming regulation interface after Kalman filtering
Boat data.
R=ρ-c δ t(s)-I-T-ερ-ID (20)
{Ps,Vs,t(s)}=F { eph } (22)
7th, combined filter designs
Combined filter design uses kalman filter method, and the navigation data that navigation positioning module calculates is filtered
Ripple, Kalman filtering can obtain estimate and calibration corrections, establish Kalman's estimation equation, as formula (23) show shape
State vector x protection three-dimensional position px,py,pz, three-dimensional velocity vx,vy,vz, clock correction δ tu, frequency drift δ f, establish estimation equation such as (24)
It is shown to obtain prior estimation state valueWherein subscript k represents kth time data point, and subscript ∧ represents estimate, and superscript-
Represent priori amount, I3×3Represent the unit matrix of unit 3 × 3, TsWhen representing the interval between kth data point and the data point of kth -1
Between.Eventually through obtaining evaluated error after the checking with current actual valueAs shown in formula (25), wherein K increases for Kalman
Beneficial steady-state value, R are covariance matrix, are defined as constant value symmetrical matrix,For time of day amount, chooseIn clock correction and frequency
Drift correction feeds back to measurement data pretreatment module and is modified.The process noise covariance matrix Q that clock models are establishedcSuch as
Shown in formula (26), wherein StFor the power spectral density of clock correction noise, SfFor the power spectral density of frequency drift noise.
X=[px,py,pz,vx,vy,vz,δtu,δfu]T (23)
8th, time synchronized and output scheme design
As shown in figure 8, time synchronized designs dipper system by T during the Big Dipper in output in receiverBDSWhen being synchronized with satellite
Between tsAs shown in formula (27), wherein δ usFor time complexity curve amount on star, satellite time tsGround installation is issued by satellite-signal,
Receiver obtains satellite time by receiving satellite-signal, using satellite time to local zone time trInitialized such as formula
(28), wherein δ u0For the initial signal propagation time, constant is arranged to, meanwhile, receiver is by local zone time trWith being connect according to signal
Time receiving carves the satellite time t obtainedsDifference is asked to obtain pseudorange time Δ tρAs shown in formula (29), determined by the navigation in previous step
Position resolves, and obtains local zone time correction δ ur, by time complexity curve amount δ urFeedback modifiers local zone time trAs shown in formula (30),
By obtaining accurate local zone time t after iterative calculationrAnd with Big Dipper time TBDSBe synchronised such as formula (31), most at last this
Ground time trIt is converted to UTC time such as formula (32), wherein δ uBDS-UTCTo be corrected partially with the fixed of standard UTC time during the Big Dipper
Difference.Receiver is allowd to provide the user time service service eventually through output UTC time and pps pulse per second signal.
ts=TBDS+δus (27)
tr=ts+δu0 (28)
Δtρ=tr-ts (29)
tr=tr-δur (30)
tr≈TBDS (31)
tUTC=tr-δuBDS-UTC (32)
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (3)
1. a kind of Beidou II B1 and B3 dual-frequency receivers, it is characterised in that including：Filtering and amplifying circuit, power-devided circuit, B1 are narrow
Band bandpass filter, B3 narrow band filters, down coversion and analog-to-digital conversion sample circuit, crystal oscillator, digital intermediate frequency signal processing
Circuit, measurement data pretreatment module, combined filter module, navigation positioning module, wherein：
Filtering and amplifying circuit：Contain the radiofrequency signal of big-dipper satellite B1 frequencies and B3 frequencies while receiving outside input, to penetrating
Frequency signal, which is amplified and carries out bandpass filtering, obtains the full range segment signal comprising B1 frequencies and B3 frequencies, delivers to power-devided circuit；
Power-devided circuit：The full range segment signal received from filtering and amplifying circuit is divided into two-way, wherein delivering to B1 narrow-band bandpass all the way
Wave filter, another way deliver to B3 narrow band filters；
B1 narrow band filters：Bandpass filtering centered on B1 frequencies is carried out to the full range segment signal received, obtains B1
Frequency high-frequency signal simultaneously delivers to down coversion and analog-to-digital conversion sample circuit；
B3 narrow band filters：Bandpass filtering centered on B3 frequencies is carried out to the full range segment signal received, obtains B2
Frequency high-frequency signal simultaneously delivers to down coversion and analog-to-digital conversion sample circuit；
Crystal oscillator：Produce reference frequency signal and deliver to down coversion and analog-to-digital conversion sample circuit；
Down coversion and analog-to-digital conversion sample circuit：Down coversion is carried out respectively to B1 frequencies high-frequency signal and B3 frequencies high-frequency signal,
And according to crystal oscillator provide reference frequency signal build synchronized sampling clock, using the synchronized sampling clock to down coversion after
Signal synchronizes sampling, obtains B1 frequencies digital intermediate frequency signal and B3 frequency digital intermediate frequency signals, by B1 frequency intermediate frequency digitals
Signal, B3 frequencies digital intermediate frequency signal and synchronized sampling clock deliver to digital intermediate frequency signal process circuit；
Digital intermediate frequency signal process circuit：B1 frequencies digital intermediate frequency signal and B3 frequencies digital intermediate frequency signal are captured respectively
Tracking, the raw measurement data of B1 frequencies and the raw measurement data of B3 frequencies of each big-dipper satellite effectively tracked are obtained,
Described raw measurement data includes code counting, carrier wave counts, Doppler and original text, wherein code count to count with carrier wave and led to
Cross the acquisition of synchronized sampling clock；
Measurement data pretreatment module：The each measurement data transmitted for digital intermediate frequency signal process circuit, is counted by code
Number is cumulative to obtain the observation time of satellite, with reference to raw pseudo range is calculated after carrier wave data correction, passes through Doppler and carrier wave
Pseudorange rates are calculated in data correction, by carrying out BCH decodings to original text, obtain demodulating text；From combined filter module
Raw pseudo range correction and pseudorange rates correction are obtained, raw pseudo range is modified and delivered to using raw pseudo range correction and is led
Navigated locating module, and pseudorange rates are modified using pseudorange rates correction and deliver to navigation positioning module；
Navigation positioning module：According to the raw pseudo range of revised each aeronautical satellite, satellite clock correction amendment, ionization are carried out respectively
Layer error correction, ionosphere differential corrections, tropospheric error amendment, earth rotation error correction, obtain can be ultimately utilized in positioning
Amendment pseudorange；Meanwhile the satellite parametric reduction for resolving to obtain each satellite of B1 frequencies and each satellite of B3 frequencies by demodulating text, institute
The satellite parametric reduction stated includes position, speed, clock correction；Using correct pseudorange, satellite parametric reduction, pseudorange rates calculate navigation data and
Exported after 1PPS to outside；
Combined filter module：The navigation information exported using Kalman filtering algorithm to navigation positioning module is combined navigation filter
Ripple, the exceptional value in navigation information is filtered, with reference to the navigation letter after the speed of dual-frequency receiver, acceleration and filtering process
Breath, calculates raw pseudo range correction and pseudorange rates correction and feeds back to measurement data pretreatment module.
2. a kind of Beidou II B1 according to claim 1 and B3 dual-frequency receivers, it is characterised in that：Described middle frequency
Word signal processing circuit includes capture configurator, FFT capturing units, passage configurator, n passage, related operation unit and lock
Sampling unit is deposited, capture configurator carries out parameter configuration to FFT capturing units, and FFT capturing units are according to configuration parameter to input
B1 frequencies digital intermediate frequency signal and B3 frequencies digital intermediate frequency signal carry out capture operation, the signal captured is admitted to passage and matched somebody with somebody
Device is put, passage configurator will select an idle channel to be tracked the signal captured from n passage, related operation list
Member carries out correlation computations using associated clock to the signal of all n passage synchronizations, when latching sampling unit using latching
Clock carries out parameter tracking sampling to the signal of all n passage synchronizations and latches sampled value, is obtained with this from each passage
Take and export B1 raw measurement datas and B3 raw measurement datas.
3. a kind of Beidou II B1 according to claim 1 or 2 and B3 dual-frequency receivers, it is characterised in that：Described B1
Narrow band filter or B3 narrow band filters are surface acoustic wave bandpass filter.
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