CN105785402A - GNSS signal simulator time delay calibration system and GNSS signal simulator time delay calibration method - Google Patents
GNSS signal simulator time delay calibration system and GNSS signal simulator time delay calibration method Download PDFInfo
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Abstract
The invention discloses a GNSS signal simulator time delay calibration system and a GNSS signal simulator time delay calibration method. The GNSS signal simulator time delay calibration system comprises an isolation amplifier, a satellite navigation signal simulator, a data acquisition module, and a signal processing module. The isolation amplifier is used to divide an external clock signal into a first clock signal and a second clock signal. The satellite navigation signal simulator adopts the first clock signal as the working clock, and is used to output a radio frequency navigation signal and a second pulse signal in a normal simulation scene that the receiving device is in the static state, and the simulator pseudo-range is time-varying. The data acquisition module adopts the second clock signal as the sampling clock, and is used to acquire the radio frequency navigation signal and the second pulse signal. The signal processing module is used to calculate the pseudo-range corresponding to the radio frequency navigation signal and the pseudo-range recorded by the simulation epoch moment simulator disposed on the rising edge of the second pulse signal based on the acquired radio frequency navigation signal and the acquired second pulse signal, and then the own time delay of the satellite navigation signal simulator can be acquired. By adopting the technical scheme, the special scene of the zero pseudo-range or the fixed pseudo-range is not required, and the calibration of the simulator time delay can be realized under the condition of the simulator normal simulation scene signal output.
Description
Technical field
The present invention relates to a kind of time delay calibrating method.More particularly, to a kind of system and method for GNSS signal simulator time-delay calibration.
Background technology
GPS (GNSS, GlobalNavigationSatelliteSystem) is the round-the-clock radio navigation system utilizing aeronautical satellite to set up, and it is widely used in fields such as Mapping remote sensing technology, time service and navigator fixs.GNSS signal simulator (hereinafter referred to as simulator) is a kind of high-precision standard signal source, can simulate and generate aeronautical satellite transmitting the navigation signal through spatial transmission arrival navigation neceiver in actual environment, there is provided signal simulation scene for receiver, be the key test equipment in receiver R & D design.By simulating different signal simulation scenes, the different performance index of receiver can be tested and verify by simulator.
As the standard signal source of test receiver, the calibration of simulator inherent parameters index is particularly significant.Simulator time delay is one of most important parameter of simulator.Calibration to simulator time delay, current existing method is based on the distinctive signal simulating scenes that simulator output pseudorange is zero, then pass through high-speed oscilloscope eye-observation or signals collecting post processing to judge the delay inequality between the pulse per second (PPS) rising edge of simulator and signal pseudo-code initial code phase positions, after deducting the time delay influence of cable and joint again, the calibration value of simulator time delay can be obtained.But test in the detection calibration of especially receiver time delay at receiver indices, the not pseudorange of simulator output is the distinctive signal simulating scenes of zero, but the output time dependent normal signal simulating scenes of pseudorange, the concordance of both scene Imitating device time delays cannot ensure；Judge that between pulse per second (PPS) rising edge and pseudo-code initial code phase positions, the method for time delay also can introduce subjective reading error additionally, observed by high-speed oscilloscope, it is impossible to ensure the standardization of calibration operation.
Therefore, need to provide a kind of system and method for GNSS signal simulator time-delay calibration, do not need to arrange the special screne of zero pseudorange, ensure that the concordance of signal simulation scene used by simulator time-delay calibration and receiver index test, and within calibration resolving power can be made to reach 1ns, this resolving power is primarily limited to sample rate and the data storage capacities thereof of apparatus for acquiring and storing.
Summary of the invention
It is an object of the invention to provide a kind of in the system and method for satellite navigation signals hardware simulator time-delay calibration, solve to need when being calibrated to arrange zero pseudorange special screne Problems existing at present, when simulator normal state simulation exports, both simulator time delay can be calibrated, and within calibration resolving power can be made to reach 1ns.
For reaching above-mentioned purpose, the present invention adopts following technical proposals:
A kind of system for GNSS signal simulator time-delay calibration, this system includes satellite navigation signal simulator and data acquisition module, and this system described farther includes isolated amplifier, signal processing module；
Described isolated amplifier, is divided into the first clock signal and second clock signal by external timing signal；
Described satellite navigation signal simulator, first clock signal of self-isolation amplifier is as work clock in the future, is export radio frequency navigation signal and pps pulse per second signal under resting state and the time dependent normal signal simulating scenes of satellite navigation signal simulator pseudorange at receiver；
Described data acquisition module, the second clock signal of self-isolation amplifier is as sampling clock in the future, is used for gathering the radio frequency navigation signal from satellite navigation signal simulator and pps pulse per second signal；
Described signal processing module, based on the radio frequency navigation signal collected and pps pulse per second signal, calculate the pseudorange obtaining pseudorange and described pps pulse per second signal rising edge place emulation moment epoch simulator record corresponding to described radio frequency navigation signal, obtain the self time-delay of satellite navigation signal simulator.
Preferably, described signal processing module includes
Pps pulse per second signal leading edge position determine unit and
Navigation signal acquisition and tracking unit；
Described pps pulse per second signal leading edge position determines that unit is for determining the sampled point corresponding to pps pulse per second signal rising edge；
Described navigation signal acquisition and tracking unit is used for determining the carrier frequency of described radio frequency navigation signal and initial code phase positions information and launching the tracking to signal according to this information.
Preferably, described signal processing module farther includes
Week counting and week in the second determine unit and
Track loop solving unit；
Count in described week and in week, the second determines unit, for obtaining all countings and the second in week of pps pulse per second signal rising edge place radio frequency navigation signal, and then obtain the pseudorange of this emulation moment epoch simulator record；
Described track loop solving unit, pps pulse per second signal as receiver clock and is calculated the pseudorange of radio frequency navigation signal described in pps pulse per second signal rising edge place, the pseudorange of described pps pulse per second signal rising edge place emulation moment epoch simulator record is deducted based on described pseudorange, again divided by the light velocity, namely obtain the simulator time delay value without cable and joint time delay correction.
Preferably, described in
Data acquisition module gathers described radio frequency navigation signal and pps pulse per second signal respectively through the first cable and the second cable；
Described signal processing module according to deducting the time delay value of described first cable and the time delay value of the second cable according to the described simulator time delay value without cable and joint time delay correction, obtains the time delay value of satellite navigation signal simulator further.
Preferably, this system described farther includes vector signal source, and for receiving second clock signal from isolated amplifier as work clock, output is not less than the frequency signal of 1GHz and is delivered to data acquisition module.
Preferably, this system described farther includes atomic clock, is used for providing external timing signal.
Preferably, described data acquisition module need to gather radio frequency navigation signal and the pps pulse per second signal that the described satellite navigation signal simulator no less than 40s exports respectively.
A kind of method for GNSS signal simulator time-delay calibration, described the method includes
Same external timing signal is respectively supplied to satellite navigation signal simulator and data acquisition module；
Described external timing signal as work clock, is export radio frequency navigation signal and pps pulse per second signal under resting state and the time dependent normal signal simulating scenes of satellite navigation signal simulator pseudorange at receiver by satellite navigation signal simulator；
Described external timing signal as sampling clock, is used for gathering radio frequency navigation signal and the pps pulse per second signal of satellite navigation signal simulator output by data acquisition module simultaneously；
Based on the radio frequency navigation signal collected and pps pulse per second signal, it is determined that sampled point corresponding to pps pulse per second signal rising edge and determine the carrier frequency of radio frequency navigation signal and initial code phase positions information and launch the tracking to signal according to this information；
Calculate and obtain the pseudorange of radio frequency navigation signal described in described pps pulse per second signal rising edge place and emulation moment epoch, and then obtain the pseudorange of this emulation moment epoch simulator record, obtain the self time-delay of satellite navigation signal simulator.
Preferably, described the method farther includes
Count in week and in week, the second determines algorithm, for obtaining all countings and the second in week at pps pulse per second signal rising edge place, and then obtain the pseudorange of this emulation moment epoch simulator record；
Tracking algorithm, pps pulse per second signal as receiver clock and is calculated the pseudorange of radio frequency navigation signal described in pps pulse per second signal rising edge place, the pseudorange of pps pulse per second signal rising edge place emulation moment epoch simulator record is deducted based on described pseudorange, again divided by the light velocity, namely obtain the simulator time delay value without cable and joint time delay correction.
Preferably, described the method farther includes
Data acquisition module gathers described radio frequency navigation signal and pps pulse per second signal respectively through the first cable and the second cable；
Deduct the time delay value of described first cable and the time delay value of the second cable according to the described simulator time delay value without cable and joint time delay correction, obtain the time delay value of satellite navigation signal simulator.
Beneficial effects of the present invention is as follows:
Technical scheme advantage of the present invention is in that: the present invention need not arrange the special screne of zero pseudorange when calibration, when simulator normal state simulation exports, the radio frequency navigation signal and the benchmark second pulse signal that export simulator are acquired by dual channel high speed apparatus for acquiring and storing, the satellite navigation signals gathered, by catching and track algorithm, after track loop enters locking, moment epoch is exported using the pulse per second (PPS) rising edge that collects as the pseudorange of loop, record and preserve the pseudorange that loop calculates, the pseudorange that the pseudorange calculated by loop calculates with simulator mathematics simulation system compares, time difference corresponding between the two, remove the time delay that cable and joint etc. introduce again, it is the time delay value of simulator self.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 illustrates a kind of device schematic diagram for GNSS signal simulator time-delay calibration in the embodiment of the present invention；
Fig. 2 illustrates in the embodiment of the present invention a kind of for processing the schematic diagram gathering signal in the device of GNSS signal simulator time-delay calibration；
Fig. 3 illustrates a kind of method flow diagram for GNSS signal simulator time-delay calibration in the embodiment of the present invention.
Detailed description of the invention
In order to be illustrated more clearly that the present invention, below in conjunction with preferred embodiments and drawings, the present invention is described further.Parts similar in accompanying drawing are indicated with identical accompanying drawing labelling.It will be appreciated by those skilled in the art that following specifically described content is illustrative and be not restrictive, should not limit the scope of the invention with this.
As shown in Figure 1, the invention discloses a kind of system for GNSS signal simulator time-delay calibration, this system includes atomic clock 1, isolation distribution amplifier 2, vector signal source 3, data acquisition equipment 4, satellite navigation signal simulator 5, cable A6, cable B7 and computer 8.
Atomic clock 1 provides external timing signal for this system, and external timing signal is divided into first via clock signal and the second tunnel clock signal by isolation distribution amplifier 2；The first via clock signal of satellite navigation signal simulator 5 self-isolation distribution amplifier 2 in the future, as work clock, is export radio frequency navigation signal and pps pulse per second signal under resting state and the time dependent normal signal simulating scenes of satellite navigation signal simulator pseudorange at receiver；Vector signal source 3 receives the second tunnel clock signal of self-isolation distribution amplifier 2 as work clock, and output is not less than the frequency sampling signal of 1GHz and is delivered to data acquisition equipment 4；Data acquisition equipment 4, using the sampled signal being not less than 1GHz from vector signal source 3 as sampling clock, and gathers radio frequency navigation signal and pps pulse per second signal respectively through cable A6 and cable B7；nullAs shown in Figure 2，Described computer 8 includes determining that the pps pulse per second signal leading edge position of the sampled point corresponding to pps pulse per second signal rising edge is determined unit and determines the carrier frequency of described radio frequency navigation signal and initial code phase positions information and launch the navigation signal acquisition and tracking unit of the tracking to signal according to this information，Described computer 8 farther includes to count in week determines unit and track loop solving unit with the second in week，Count in described week and in week, the second determines unit，Calculate and count and the second in week in the week obtaining pps pulse per second signal rising edge place navigation signal，And then obtain the pseudorange of this emulation moment epoch simulator record，Described track loop solving unit，Pps pulse per second signal as receiver clock and is calculated the pseudorange of radio frequency navigation signal described in pps pulse per second signal rising edge place，The pseudorange of described pps pulse per second signal rising edge place emulation moment epoch simulator record is deducted based on described pseudorange，Again divided by the light velocity，Namely the simulator time delay value without cable and joint time delay correction is obtained.
Local atomic clock 1 separates two-way 10MHz frequency signal by isolating distribution amplifier 2, as external reference clock, one road signal is input to satellite navigation signal simulator 5, replace simulator internal clocking as work clock, another road signal input vector signal source 3 generates sampling clock and is input to data acquisition equipment 4, purpose is to make whole calibration system be operated under unified high stable frequency standard, the measurement error that elimination brings due to accuracy and the degree of stability difference of each measurement device Nei Shiji, eliminate the internal phaselocked loop of Usage data collection equipment 4 simultaneously and produce the error that sampling clock introduces.Satellite navigation signal simulator 5 exports a road radio frequency navigation signal and a road pps pulse per second signal, radio frequency navigation signal is by a road acquisition channel of cable A6 output to data acquisition equipment 4, pps pulse per second signal is delivered to another road acquisition channel of data acquisition equipment 4 by cable B7, and two paths of signals gathers simultaneously；The two paths of signals data gathered are given computer 8 and are carried out resolving process, obtain the simulator time delay value without cable and joint time delay correction.The delay error of cable A6 and cable B7 also to be revised when processing by data, and cable A6 and cable B7 length of delay can measure by vector network analyzer in advance.Finally, the impact that deduction cable and joint postpone, namely obtain the time-delay calibration value of satellite navigation signal simulator self.
As it is shown on figure 3, based on said apparatus, the present invention discloses again a kind of method for satellite navigation signals hardware simulator time-delay calibration, and the method includes
S1, same external timing signal is respectively supplied to satellite navigation signal simulator and data acquisition module；
Described external timing signal as work clock, is under resting state and the time dependent normal signal simulating scenes of satellite navigation signal simulator pseudorange at receiver by S2, satellite navigation signal simulator, exports radio frequency navigation signal and pps pulse per second signal；
Described external timing signal as sampling clock, is used for gathering radio frequency navigation signal and the pps pulse per second signal of satellite navigation signal simulator output by S3, data acquisition module simultaneously；
S4, based on the radio frequency navigation signal collected and pps pulse per second signal, it is determined that sampled point corresponding to pps pulse per second signal rising edge and determine the carrier frequency of radio frequency navigation signal and initial code phase positions information and launch the tracking to signal according to this information；
S5, calculating obtain counting in week and the second in week of pps pulse per second signal rising edge place, and then obtain the pseudorange of this emulation moment epoch simulator mathematics simulation system record and pps pulse per second signal as receiver clock and is calculated the pseudorange of radio frequency navigation signal described in pps pulse per second signal rising edge place, the pseudorange of simulator record corresponding to emulation moment epoch corresponding to pps pulse per second signal rising edge place is deducted based on described pseudorange, divided by the light velocity, deduct the time delay value of described cable A and the time delay value of cable B again, namely obtain the self time-delay of satellite navigation signal simulator
In conjunction with said apparatus and method, embodiment of the present invention is described further:
The first step, accesses unified external frequency standard for all devices.
The 10MHz signal exported by outside atomic clock 1, is divided into two-way by isolating distribution amplifier 2: a road is input to satellite navigation signal simulator 5, replaces simulator internal clocking as work clock；One tunnel is input to vector signal source 3, and arranges vector signal source output and be not less than the frequency signal of 1GHz, inputs to data acquisition equipment 4, as sampling clock.Whole system is made to be operated under unified high stable frequency standard, it is possible to the measurement error that elimination brings due to accuracy and the degree of stability difference of each measurement device Nei Shiji；By using vector signal source 3 to produce sampling clock, it is possible to eliminating the internal phaselocked loop of Usage data collection equipment 4 and produce the error that sampling clock introduces, above operation can ensure that high accuracy and the high accuracy of calibration result.
Second step, the simulating scenes of simulator is arranged.
In order to ensure satellite navigation signal simulator 5 time-delay calibration and the concordance of two kinds of situation Imitating device time delays of receiver test, simulating scenes when should arrange the signal simulation scene of simulator with receiver test keeps consistent: be set to resting state by receiver, satellite navigation signal simulator 5 export normal constellation dynamically under signal simulation scene, simultaneously close off ephemeris error, star clock error, ionosphere, troposphere and multipath equal error item, and make each visible satellite signal that simulator mathematics simulation system calculates recorded in file by certain format at the pseudorange value emulating moment epoch.
The collection of the 3rd step, pps pulse per second signal and satellite navigation signals and storage.
Adopting the collecting device 4 of high sampling rate, pps pulse per second signal and radio frequency navigation signal to satellite navigation signal simulator 5 output are acquired simultaneously.In the present embodiment, the size of sample rate directly influences the accuracy of judgement degree of pulse per second (PPS) rising edge, and therefore, the sample rate that data acquisition uses is preferably not below 1GHz；And due to simulator 5 output be normal signal simulating scenes, in order to calculate simulator time delay by pseudorange comparison, emulation moment epoch that the navigation signal that needs to solve collection is corresponding, i.e. week counting and the second in week, so the navigation signal gathered needs a complete packet prime frame containing navigation message, for GPS and Beidou satellite navigation system, the navigation data of 36s gets final product complete packet containing a prime frame, it is therefore desirable to gather 40s or the navigation data of longer time.
4th step, pps pulse per second signal and satellite navigation signals to gathering process and resolve.
First, to the pps pulse per second signal gathered, the sampled point corresponding in order to find out rising edge more accurately, interpolation can be passed through and improve the judgement precision of pps pulse per second signal rising edge；Then, to the satellite navigation signals gathered, utilizing receiver that it is carried out acquisition and tracking, first rough calculation goes out carrier frequency and the initial code phase positions estimated value of satellite-signal, afterwards, estimating carrier frequencies value and initial code phase positions estimated value is used to initialize carrier tracking loop and code tracking loop.In order to eliminate the dynamic stress error of signal trace loop under normal signal simulating scenes, carrier tracking loop being set to third order pll, code tracking loop is set to scond-order lag locking ring, and uses carrier tracking loop auxiliary code tracking loop.
Enter after lock-out state until loop, using gather pps pulse per second signal rising edge as code tracking loop pseudorange export moment epoch, pseudorange output moment epoch corresponding simulator emulation moment epoch then by resolve navigation signal pulse per second (PPS) rising edge place week counting and week in the second obtain.After tracking is entered lock-out state, the pseudorange of code ring output deducts the corresponding pseudorange emulating moment epoch of simulator record in step 2, then divided by the light velocity, namely obtains the simulator time delay value without cable and joint time delay correction.
5th step, measures the time delay value of each additional components and final simulator time-delay calculation.
Owing to the pps pulse per second signal of simulator output is all linked into collecting device by cable with radio frequency navigation signal, the time delay of two sections of cables and joint is measured also just particularly important.The length of delay of each cable can adopt vector network analyzer to measure, and this value can measure in advance, directly deducts when final data process, thus obtaining final simulator self time-delay value.
In sum, technical scheme of the present invention, when calibration, zero pseudorange or the special screne of fixing pseudorange need not be set, when simulator normal state simulation exports, the satellite navigation signals and the benchmark second pulse signal that export simulator are acquired by dual channel high speed apparatus for acquiring and storing, the satellite navigation signals gathered, by catching and track algorithm, after track loop enters locking, moment epoch is exported using the pulse per second (PPS) rising edge that collects as the pseudorange of loop, record and preserve the pseudorange that loop calculates, the pseudorange that the pseudorange calculated by loop calculates with simulator mathematics simulation system compares, time difference corresponding between the two, remove the time delay that cable and joint etc. introduce again, it is the time delay value of simulator self.
Obviously; the above embodiment of the present invention is only for clearly demonstrating example of the present invention; and be not the restriction to embodiments of the present invention; for those of ordinary skill in the field; can also make other changes in different forms on the basis of the above description; here cannot all of embodiment be given exhaustive, every belong to apparent change that technical scheme extended out or the variation row still in protection scope of the present invention.
Claims (10)
1., for a system for GNSS signal simulator time-delay calibration, this system includes satellite navigation signal simulator and data acquisition module, it is characterised in that this system described farther includes isolated amplifier, signal processing module；
Described isolated amplifier, is divided into the first clock signal and second clock signal by external timing signal；
Described satellite navigation signal simulator, first clock signal of self-isolation amplifier is as work clock in the future, is export radio frequency navigation signal and pps pulse per second signal under resting state and the time dependent normal signal simulating scenes of satellite navigation signal simulator pseudorange at receiver；
Described data acquisition module, the second clock signal of self-isolation amplifier is as sampling clock in the future, is used for gathering the radio frequency navigation signal from satellite navigation signal simulator and pps pulse per second signal；
Described signal processing module, based on the radio frequency navigation signal collected and pps pulse per second signal, calculate the pseudorange obtaining pseudorange and described pps pulse per second signal rising edge place emulation moment epoch simulator record corresponding to described radio frequency navigation signal, obtain the self time-delay of satellite navigation signal simulator.
2. time delay calibration system according to claim 1, it is characterised in that described signal processing module includes
Pps pulse per second signal leading edge position determine unit and
Navigation signal acquisition and tracking unit；
Described pps pulse per second signal leading edge position determines that unit is for determining the sampled point corresponding to pps pulse per second signal rising edge；
Described navigation signal acquisition and tracking unit is used for determining the carrier frequency of described radio frequency navigation signal and initial code phase positions information and launching the tracking to signal according to this information.
3. time delay calibration system according to claim 1, it is characterised in that described signal processing module farther includes
Week counting and week in the second determine unit and
Track loop solving unit；
Count in described week and in week, the second determines unit, for obtaining all countings and the second in week of pps pulse per second signal rising edge place radio frequency navigation signal, and then obtain the pseudorange of this emulation moment epoch simulator record；
Described track loop solving unit, pps pulse per second signal as receiver clock and is calculated the pseudorange of radio frequency navigation signal described in pps pulse per second signal rising edge place, the pseudorange of described pps pulse per second signal rising edge place emulation moment epoch simulator record is deducted based on described pseudorange, again divided by the light velocity, namely obtain the simulator time delay value without cable and joint time delay correction.
4. time delay calibration system according to claim 1, it is characterised in that described in
Data acquisition module gathers described radio frequency navigation signal and pps pulse per second signal respectively through the first cable and the second cable；
Described signal processing module according to deducting the time delay value of described first cable and the time delay value of the second cable according to the described simulator time delay value without cable and joint time delay correction, obtains the time delay value of satellite navigation signal simulator further.
5. time delay calibration system according to claim 1, it is characterised in that this system described farther includes
Vector signal source, for receiving second clock signal from isolated amplifier as work clock, output is not less than the frequency signal of 1GHz and is delivered to data acquisition module.
6. time delay calibration system according to claim 1, it is characterised in that this system described farther includes atomic clock, is used for providing external timing signal.
7. time delay calibration system according to claim 1, it is characterised in that described data acquisition module need to gather radio frequency navigation signal and the pps pulse per second signal that the described satellite navigation signal simulator no less than 40s exports respectively.
8. one kind is used for GNSS signal simulator time delay calibrating method, it is characterised in that described the method includes
Same external timing signal is respectively supplied to satellite navigation signal simulator and data acquisition module；
Described external timing signal as work clock, is export radio frequency navigation signal and pps pulse per second signal under resting state and the time dependent normal signal simulating scenes of satellite navigation signal simulator pseudorange at receiver by satellite navigation signal simulator；
Described external timing signal as sampling clock, is used for gathering radio frequency navigation signal and the pps pulse per second signal of satellite navigation signal simulator output by data acquisition module simultaneously；
Based on the radio frequency navigation signal collected and pps pulse per second signal, it is determined that sampled point corresponding to pps pulse per second signal rising edge and determine the carrier frequency of radio frequency navigation signal and initial code phase positions information and launch the tracking to signal according to this information；
Calculate and obtain the pseudorange of radio frequency navigation signal described in described pps pulse per second signal rising edge place and emulation moment epoch, and then obtain the pseudorange of this emulation moment epoch simulator record, obtain the self time-delay of satellite navigation signal simulator.
9. time delay calibrating method according to claim 8, it is characterised in that described the method farther includes
Count in week and in week, the second determines algorithm, for obtaining all countings and the second in week at pps pulse per second signal rising edge place, and then obtain the pseudorange of this emulation moment epoch simulator record；
Tracking algorithm, pps pulse per second signal as receiver clock and is calculated the pseudorange of radio frequency navigation signal described in pps pulse per second signal rising edge place, the pseudorange of pps pulse per second signal rising edge place emulation moment epoch simulator record is deducted based on described pseudorange, again divided by the light velocity, namely obtain the simulator time delay value without cable and joint time delay correction.
10. time delay calibrating method according to claim 8, it is characterised in that described the method farther includes
Data acquisition module gathers described radio frequency navigation signal and pps pulse per second signal respectively through the first cable and the second cable；
Deduct the time delay value of described first cable and the time delay value of the second cable according to the described simulator time delay value without cable and joint time delay correction, obtain the time delay value of satellite navigation signal simulator.
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