CN105717524B - A kind of Beidou navigation satellite system receiver pseudo range measurement improved method based on FPGA and DSP - Google Patents
A kind of Beidou navigation satellite system receiver pseudo range measurement improved method based on FPGA and DSP Download PDFInfo
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- CN105717524B CN105717524B CN201610062969.0A CN201610062969A CN105717524B CN 105717524 B CN105717524 B CN 105717524B CN 201610062969 A CN201610062969 A CN 201610062969A CN 105717524 B CN105717524 B CN 105717524B
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of pseudo range measurement improved method of the Beidou navigation satellite system receiver based on FPGA and DSP, belong to technical field of satellite navigation.This method is directed to the non-GEO satellite of the Big Dipper for navigation message period of sub-frame with 6 seconds, with with 0.6 second Big Dipper GEO satellite for period of sub-frame, by detecting its subframe frame head respectively, the square-wave response that a cycle is 0.2 second is triggered respectively, counted by FPGA, the pseudo-time that satellite navigation signals are propagated in space is obtained, pseudorange value is calculated after reading this time by DSP, so as to realize positioning.This method can effectively avoid because Big Dipper GEO satellite and non-GEO satellite period of sub-frame is inconsistent or sequential amendment after, the phenomenon of caused pseudorange saltus step suddenly in position fixing process, so as to better profit from Beidou satellite navigation system, more accurate, stable navigation effect is realized.
Description
Technical field
The present invention relates to one kind to be based on FPGA（Field programmable gate array）And DSP（Digital signal processor）The Big Dipper lead
Boat receiver pseudo range measurement improved method, belongs to technical field of satellite navigation.
Background technology
It is well known that GPS is very important dimensional information's basic installation.Satellite navigation system is not
Military, the mitigation disaster relief and public safety field are can be applied only to, also gradually in personal navigation, traffic administration, telecommunications, fishery etc.
Numerous civil areas play huge effect.In Satellite Navigation Technique, the stability of receiver pseudorange resolving, to continuous good
Positioning has vital influence.
Existing Beidou navigation satellite system receiver, in order to realize while utilize GEO satellite（Geostationary orbit satellite）With non-GEO
Satellite is positioned, in order to realize the calculating to pseudorange, as shown in Fig. 2 make non-GEO satellite subframe head trigger 1 second be the cycle
Square wave, make GEO satellite subframe head trigger 0.6 second be the cycle square wave, while produce 1 second be the cycle TIC_1 signals（It is fixed
Position observation data latch enable signal 1）.Counter in tracking channel, when the rising edge for running into the square wave triggered by subframe head
When, counter starts counting up；When running into the rising edge of TIC_1 signals, counter stops counting, and count results is put into slow
Storage, the light velocity is multiplied by using this count results to calculate pseudorange value.Because the rising edge original position of TIC_1 signals is random
, after positioning is realized, clock correction can be obtained, using clock correction as feedback quantity, FPGA is fed back to and TIC_1 initial time is made
Go out adjustment, so circulation is carried out so that clock correction iteration, is tapered into.
The defects of this calculating pseudorange method, is, because the cycle that the subframe head of non-GEO satellite triggers square wave is 1 second,
And the cycle of the subframe head triggering square wave of GEO satellite is 0.6 second, so, to be entered simultaneously using GEO satellite and non-GEO satellite
Row positioning, must just make the adjustment in corresponding sequential to their counter reading value.And after sequential adjustment is made,
The hopping phenomenon of pseudorange value in position fixing process sometime, will be produced, causes position fixing process to be not sufficiently stable, positioning is tied
The precision of fruit impacts.
The content of the invention
The present invention in order to overcome because the period of sub-frame of non-GEO satellite and GEO satellite is different, it is necessary to sequential adjustment and trigger
In position fixing process the problem of pseudorange value unexpected saltus step, it is proposed that a kind of Beidou navigation satellite system receiver pseudorange based on FPGA and DSP is surveyed
Improved method is measured, neighborhood is positioned suitable for satellite navigation.
The present invention adopts the following technical scheme that to solve its technical problem：
A kind of Beidou navigation satellite system receiver pseudo range measurement improved method based on FPGA and DSP, comprises the following steps：
The first step：On the basis of the capture and tracking of Beidou navigation satellite-signal is realized, to the subframe head of signal
" 11100010010 " make detection；
Second step：After detecting subframe head, the subframe head of non-GEO satellite and GEO satellite trigger respectively it is respective, with 0.2
Second is Frame_D1 the and Frame_D2 square-wave signals in cycle, is the TIC_1 signals in cycle at 1 second caused by existing FPGA
On the basis of, frequency dividing produces 0.2 second TIC_2 signal for the cycle；
3rd step：After the counter in FPGA obtains the rising edge of Frame_D1 or Frame_D2 square-wave signals, start
It is counted respectively with 32 times of 1.023MHz, until when the rising edge of TIC_2 signals arrives, stops counting, and meter
Numerical valueWithCaching waits DSP to read to latch；
4th step：DSP takes out count value from FPGAWith, this in each passage is calculated using count value conversion
The pseudorange value of satellite, then carry out positioning calculation；The clock correction obtained after resolvingWith, as feedback quantity, FPGA is returned to,
For adjusting the rising edge initial time of TIC_2 signals, until itself and UTC, i.e. international coordination time align；
5th step：Performed by the multiple circulation of the above-mentioned first step to the 4th step, progressively the clock correction and puppet of corrected received machine
Away from value.
In 4th step, when DSP takes out the count value of non-GEO satellite and GEO satellite respectively from FPGA latch
WithAfterwards, with formula：
To obtain the pseudorange value of satellite；Wherein, when the satellite tracked in passage is non-GEO satellite, numerical valueRepresent, when
When the satellite tracked in passage is GEO satellite, numerical valueRepresent；For the light velocity。
Beneficial effects of the present invention are as follows：
(1) this method is the Beidou navigation satellite system receiver pseudo range measurement method linguistic term based on FPGA and DSP, available for changing
Kind Beidou navigation satellite system receiver locating effect.Compared with the pseudo range measurement method applied at present, this method can avoid pseudorange value
Hopping phenomenon, make that receiver is more perfect, stably utilizes the non-GEO satellite of the Big Dipper and GEO satellite to carry out positioning calculation.
(2) the inventive method, can by the analysis of the positioning calculation result, pseudorange resolving value that are exported to DSP serial ports
With the validity of preferably assessment algorithm.
Brief description of the drawings
Fig. 1 is the overall flow figure of this method.
Before Fig. 2 improves for modification, clock signal square wave figure caused by FPGA.
After Fig. 3 improves for modification, clock signal square wave figure caused by FPGA.
Fig. 4 is pseudo range measurement schematic diagram.
Embodiment
The invention is described in further details below in conjunction with the accompanying drawings.
The basis of the present invention be the Nanjing Aero-Space University navigation FPGA that is possessed of research center deep combination seminar and
DSP hardware platform, and the complete complete Beidou receiver program of seminar's establishment.In order that the non-GEO satellite of the Big Dipper and
GEO satellite, simultaneously participate in come among positioning calculation, just must the period of sub-frame of solution GEO satellite by no means be 6 seconds, and GEO is defended
The problem of period of sub-frame of star is 0.6 second.As described in the background art, former method is to count to get two class satellites letter using FPGA
Number propagation time, by the objective logic relation between two propagation times, the sequential of two class satellite-signals is carried out corresponding
Adjustment, so as to reach the purpose that the non-GEO satellite and GEO satellite of the Big Dipper simultaneously participate in positioning calculation.However, this method meeting
Cause after positioning is realized, the larger saltus step of deviation is sometime occurring for pseudorange result, influences positioning precision and stability.
Accordingly, it is considered to the cycle for the square-wave signal that the subframe head of non-GEO satellite and GEO satellite is triggered all is modified to
0.2 second.The TIC_2 signals that a cycle is also 0.2 second are added simultaneously（Location observation data latch enable signal 2）, go to read
The propagation time count value of each satellite-signal.In this way, the integrality that satellite-signal is read can both have been ensured（GEO is defended
Star signal propagation time is at 120 milliseconds or so, and non-GEO satellite signal propagation time is at 70 milliseconds or so）, while when turn avoid
Adjustment in sequence is so as to preventing the generation of pseudorange resolving value saltus step.
The overall flow figure of this method as shown in figure 1, by capture, tracking satellite signal, peel off carrier wave and pseudo-code it
Afterwards, navigation message is obtained.After detecting navigation message frame head, frame information square wave is triggered.After obtaining pseudorange propagation time count value,
Calculate pseudorange and carry out positioning calculation.Need to complete following work：
Sub- preamble detecting
The synchronous code of Beidou satellite navigation text subframe is included in the 1st to 11 of the first character code telemetry code of each subframe
Bit, it is worth for " 11100010010 ".By detecting this 11 bits, it may be determined that the position of subframe head.Because subframe is week
Phase circulation, so can also even detect frame head by way of frame head recursion, then after the circulation of integral multiple period of sub-frame,
Frame header position should be returned to, detects frame head again, to ensure the correctness of preamble detecting.
When the design of base generation module
Originally had the when base square-wave signal TIC_1 that a cycle is 1 second in system（Cycle is the square-wave signal of 1 second）.
On the basis of this signal, fifth harmonic rate is divided to obtain the when base square-wave signal TIC_2 that a cycle is 0.2 second（Cycle is 0.2
The square-wave signal of second）.
Then, after the subframe head of non-GEO satellite and GEO satellite is detected, it is all 0.2 second to trigger the cycle respectively
Frame_D1（The square-wave signal of non-GEO satellite subframe head triggering）And Frame_D2（The square wave letter of GEO satellite subframe head triggering
Number）Square-wave signal.As shown in Figure 3.It is 0.2 second why to select the sub-frame signals cycle of two class satellites, is in order in non-GEO
The period of sub-frame of satellite 6 seconds and the period of sub-frame of GEO satellite search out their minimum common factor between 0.6 second, while again full
Objective condition of the sufficient GEO satellite signal propagation time at 120 milliseconds or so.These comprehensive factors, we select a sub-frame signals
Cycle be arranged to 0.2 second, so can both break away from the adjustment in sequential, but improve to a certain extent pseudorange resolving essence
Degree.
Satellite in different passages has its respective counter.The rising edge for the signal that subframe head triggered is made as FPGA
Counter resets count value and the signal that starts counting up again, make the cycle for 0.2 second when base square-wave signal TIC_2 rising
Along the signal as the count value read and in latching accumulator.
Pseudo range measurement principle
Pseudorange is with range deviation, the distance between measurement point and satellite where user, and it is to resolve user's point position
The basic data of coordinate.
As shown in Figure 4, it is pseudo range measurement method used in the present invention.
When initial, the original position of TIC_2 signal rising edges is arbitrary, it will be assumed that it is satellite-signal from sky
Between at the time of send on satellite.Simultaneously, it is assumed that the rising edge of frame synchronizing signal is that receiver user receives satellite hair on ground
At the time of the corresponding frame signal gone out.
29 digit counters in FPGA are continuously counted with 32 times of 1.023MHz frequency, when it by
Frame_D1 or Frame_D2（The sub-frame signals of i.e. non-GEO satellite and GEO satellite）After the rising edge triggering of signal, by counter
Interior count value is reset, and is counted from zero.When counter is triggered by TIC_2 signals rising edge, just current in counter
Count value be latched into latch.
DSP reads out this count value from latch（The count value of non-GEO satellite and GEO satellite is expressed asWith
）, then pseudorange valueAs：
（1）
WhereinFor the light velocity。
After obtaining pseudorange value, it is possible to carry out positioning calculation.The three-dimensional position in user location is obtained by positioning calculation
Put coordinate and receiver clock-offsets.Clock correction is fed back to FPGA, for adjusting the position of TIC_2 signal rising edge times, so as to one
Secondary amendment pseudorange value, loop iteration carry out positioning calculation.
By the experimental data sent from DSP serial ports, we can be found that no longer there occurs receive for the saltus step of pseudorange value
Machine, which realizes, more stablizes accurate positioning result.
Claims (2)
1. a kind of Beidou navigation satellite system receiver pseudo range measurement improved method based on FPGA and DSP, it is characterised in that including following step
Suddenly：
The first step：On the basis of the capture and tracking of Beidou navigation satellite-signal is realized, to the subframe head of signal
" 11100010010 " make detection；
Second step：After detecting subframe head, the subframe head of non-GEO satellite and GEO satellite trigger respectively it is respective, with 0.2 second be
Frame_D1 the and Frame_D2 square-wave signals in cycle, on 1 second caused by the existing FPGA basis for the TIC_1 signals in cycle
On, frequency dividing produces 0.2 second TIC_2 signal for the cycle；
3rd step：After the counter in FPGA obtains the rising edge of Frame_D1 or Frame_D2 square-wave signals, start with 32
1.023MHz again counts to it respectively, until when the rising edge of TIC_2 signals arrives, stops counting, and count value
WithCaching waits DSP to read to latch；
4th step：DSP takes out count value from FPGAWith, this satellite in each passage is calculated using count value conversion
Pseudorange value, then carry out positioning calculation；The clock correction obtained after resolvingWith, as feedback quantity, FPGA is returned to, is used for
The rising edge initial time of TIC_2 signals is adjusted, until itself and UTC, i.e. international coordination time align；
5th step：Performed by the multiple circulation of the above-mentioned first step to the 4th step, progressively the clock correction and pseudorange value of corrected received machine.
2. according to a kind of Beidou navigation satellite system receiver pseudo range measurement improved method based on FPGA and DSP described in claim 1,
Characterized in that, in the 4th step, when DSP takes out the counting of non-GEO satellite and GEO satellite respectively from FPGA latch
ValueWithAfterwards, with formula：
Obtain the pseudorange value of satellite；Wherein, when the satellite tracked in passage is non-GEO satellite, numerical valueIt is equal to/(32*
1.023MHz), when the satellite tracked in passage is GEO satellite, numerical valueIt is equal to/(32*1.023MHz)；For the light velocity。
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| CN111123331B (en) * | 2019-10-23 | 2023-07-25 | 湖北三江航天险峰电子信息有限公司 | Beidou navigation pseudo-range monitoring method and system |
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| CN104865587A (en) * | 2015-06-15 | 2015-08-26 | 中国人民解放军国防科学技术大学 | Quick locating method based on GEO constellation coarse location for Beidou receiver |
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