CN106125117B - A kind of hypercompact combination local signal control amount generation method of inertia/satellite - Google Patents
A kind of hypercompact combination local signal control amount generation method of inertia/satellite Download PDFInfo
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- CN106125117B CN106125117B CN201610456885.5A CN201610456885A CN106125117B CN 106125117 B CN106125117 B CN 106125117B CN 201610456885 A CN201610456885 A CN 201610456885A CN 106125117 B CN106125117 B CN 106125117B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000003862 health status Effects 0.000 claims description 3
- 239000005436 troposphere Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of hypercompact combination local signal control amount generation methods of inertia/satellite, this method provides the control amount generation method of local code signal and carrier signal respectively, and proposes that a kind of method using initial phase adjustment guarantees the moderately good tracking of carrier signal；The present invention describes source and the processing means of each physical quantity in detail, to Project Realization by extraordinary reference value；The hypercompact combined system of inertia/satellite that the present invention is suitable in the kinds of platform such as DSP+FPGA platform, MATLAB platform, C++ platform is built；The method is suitable for the combination of a variety of satellite navigation systems such as GPS, Beidou and multi-frequency and multi-system satellite navigation system and inertia system.
Description
Technical field
The present invention relates to a kind of hypercompact combination local signal control amount generation methods of inertia/satellite, belong to integrated navigation side
The technical field of method.
Background technique
Inertial navigation system and satellite navigation system have good complementarity, and building inertia/satellite combined guidance system can
Realize global range in round-the-clock, round-the-clock high-precision continuous navigation, be airmanship in recent years and future considerably long one
The Main way developed in section period is to solve the weapon system-of-systems navigation problem such as Aeronautics and Astronautics, land, the water surface, underwater
Technical way has important application value in national defence and civilian equal fields.
In recent years, under the traction of the navigation needs such as high dynamic environment adaptability and anti-interference, high-precision, inertia/satellite
It is several important to experienced pine combination, tight integration, hypercompact combination (also referred to as deep combination) for the information fusion mode of integrated navigation system
Stage.Currently, hypercompact combination technique has become a research hotspot of external integrated navigation field, being characterized in that will be defended
The design of star navigation neceiver and inertial navigation system carry out information depth coupling, realize the two-way of inertia and satellite reception machine information
Auxiliary changes integrated navigation system in the information flow architecture design level of integrated navigation system.
Local signal control amount generation technique is the key technology during hypercompact combination is realized, is missed inertia by controlling unit
Difference introduces inside satellite receiver, realizes the depth integration of signal；The estimated accuracy of carrier wave and code phase has determined loop simultaneously
It can work normally, therefore need to consider the influence of a variety of margins of error in calculating process.
Summary of the invention
The technical problems to be solved by the present invention are: it is raw to provide a kind of hypercompact combination local signal control amount of inertia/satellite
At method, the control amount generation method of local code signal and carrier signal is provided respectively, describes each physical quantity in detail
Source and processing means have extraordinary reference value to Project Realization.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of hypercompact combination local signal control amount generation method of inertia/satellite, includes the following steps:
Step 1, strapdown inertial navigation system and satellite navigation receiver are initialized, wherein at the beginning of strapdown inertial navigation system
Beginningization includes initial alignment, and satellite navigation receiver initialization includes that receiver parameters are arranged；
Step 2, satellite navigation receiver the satellite-signal received is captured, code and carrier track, navigation message
Decoding, pseudorange estimation, position and speed resolving processing；
Step 3, satellite navigation receiver carries out status condition judgement to track loop, when track loop does not have loop losing lock
And when meeting the switching condition of hypercompact combination control, step 4 is gone to, otherwise, goes to step 2；
Step 4, satellite ephemeris information is obtained, resolves satellite ephemeris parameter according to ephemeris format；
Step 5, inertial navigation position, speed, posture information are calculated according to strap-down inertial computation；
Step 6, the satellite ephemeris parameter and inertial navigation position, speed, posture information obtained according to step 4 and step 5,
Calculate local code and carrier signal control amount；
Step 7, local signal numerically-controlled oscillator is written in the local code and carrier signal control amount step 6 obtained,
Generate local code and carrier signal.
As a preferred solution of the present invention, the Rule of judgment of loop losing lock described in step 3 be the following conditions in extremely
It is one few:
1) 1 second intercarrier phase demodulation value is greater than 45 degree of number, if judging loop losing lock more than 10 times；
2) in 6 seconds the adjacent two sub-values contrary sign of I branch number, the time interval between two consecutive values is 1ms, if number
Less than 4 times or it is greater than 400 times, then judges loop losing lock.
As a preferred solution of the present invention, described in step 3 it is hypercompact combination control switching condition be simultaneously satisfaction with
Lower condition:
A) track loop meets bit synchronization and frame synchronization state；
B) health status of tracking satellite is good；
C) pseudo-range information obtained is effective；
D) carrier-to-noise ratio value is greater than 34；
E) in 1 second I branch integrated value accumulated value greater than 3 times of Q branch integrated value accumulated value.
As a preferred solution of the present invention, the calculating step of local code signal controlled variable described in step 6 are as follows:
I)Δts=af0+af1(t-toc)+af2(t-toc)2, Δ tsFor the correction of satellite clock relative system standard time
Amount, af0、af1、af2、tocIt is provided by the first data block of satellite navigation message, t is satellite time；
ΔtrFor the correcting value of relativistic effect, esFor eccentricity of satellite orbit, asIt is long by half for track
Diameter, EkFor eccentric anomaly, F is constant, andμ=3.986005 × 1014, c is
The light velocity；
TGDFor group's wave delay corrected value, provided by the first data block of satellite navigation message；
II)δts=Δ ts+Δtr-TGD, δ tsFor the total clock deviation of satellite clock；
III)ρIi=r+c (δ tu-δts)+cT+cI, ρIiFor the pseudorange of estimation, r is carrier and intersatellite geometric distance,xI,yI,zIFor the position coordinates of the carrier of strapdown inertial navigation system output, xsi,
ysi,zsiFor the position coordinates of satellite, c is the light velocity, δ tuFor receiver clock-offsets, δ tsFor satellite clock correction, T, I be respectively troposphere,
Ionospheric propagation influences；
IV) For the new code phase to be solved, φcode,iTo receive
True form phase in machine, Δ φ are the code phase difference of estimation, ρIiFor the pseudorange of estimation, ρGiFor receiver pseudorange, λcode,iFor code
Wavelength.
As a preferred solution of the present invention, the calculating step of local carrier signal control amount described in step 6 are as follows:
A)δfsFor satellite clock frequency drift, af1、af2、tocBy satellite navigation message
The first data block provide, t is satellite time,esFor eccentricity of satellite orbit, asIt is long by half for track
Diameter, EkFor eccentric anomaly, F is constant, andμ=3.986005 × 1014, c is
The light velocity；
B) For geometric distance change rate, xs、vsThe respectively position of satellite, speed, x, v
Respectively carrier positions, the speed of strapdown inertial navigation system output；
C)fcarrFor the carrier frequency to be solved, fIFFor in
Frequent rate, λcarrFor carrier wavelength, δ fuFor receiver clock frequency drift, δ fsFor satellite clock frequency drift, Δ θ is carrier wave phase discriminator value,
Δ T is loop control periods.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1, the hypercompact combination local signal control amount generation method of inertia/satellite of the present invention, provide respectively local code signal and
The control amount generation method of carrier signal, and propose that a kind of method using initial phase adjustment guarantees the moderately good of carrier signal
Tracking, realizes the depth integration of satellite navigation system and inertial navigation system.
2, the hypercompact combination local signal control amount generation method of inertia/satellite of the present invention, describes each physics in detail
The source of amount and processing means have extraordinary reference value to Project Realization.
3, the hypercompact combination local signal control amount generation method of inertia/satellite of the present invention, be suitable for DSP+FPGA platform,
The hypercompact combined system of inertia/satellite in the kinds of platform such as MATLAB platform, C++ platform is built；It is more suitable for GPS, Beidou etc.
The combination of kind satellite navigation system and multi-frequency and multi-system satellite navigation system and inertia system.
Detailed description of the invention
Fig. 1 is the step flow chart of the hypercompact combination local signal control amount generation method of inertia/satellite of the present invention.
Fig. 2 is the embodiment device knot for realizing the hypercompact combination local signal control amount generation method of inertia/satellite of the present invention
Structure schematic diagram.
Fig. 3 is I, Q value scatter plot in loop of the present invention.
Fig. 4 is navigation message schematic diagram of the present invention.
Fig. 5 is local signal control effect schematic diagram of the present invention, wherein (a) is the output of carrier wave phase discriminator, (b) code phase demodulation
Device output.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings.Below by
The embodiment being described with reference to the drawings is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
The present invention provides a kind of hypercompact combination local signal control amount generation method of inertia/satellite, steps flow chart such as Fig. 1
It is shown, after satellite navigation receiver completes signal capture, tracking, position/frame synchronization, positioning constant speed resolving, carries out loop circuit state and sentence
It is disconnected, if loop normally tracks and meet hypercompact combination switching condition, obtains ephemeris information and inertial navigation information carries out this
Finally the digital control oscillation of local signal is written in the control amount of calculating by the calculating of the control amount of ground code signal and carrier signal
Device completes the generation of local signal.
Fig. 2 is the apparatus structure schematic diagram of the embodiment of the present invention, and the present invention can be realized with the present apparatus, but be not limited to figure
2 shown devices.Whole device includes: antenna, radio-frequency module and baseband processing module.Baseband processing module is by DSP (digital signal
Processor), FPGA (field programmable gate array) and peripheral chip composition.Wherein FPGA and DSP cooperates the completion present invention jointly
Local signal control amount systematic function, by FPGA realize multi-channel parallel processing, the operation and peripheral information of DSP control flow
Transmitting-receiving.
Specific steps are as follows:
Step 1 initializes strapdown inertial navigation system and satellite navigation receiver, wherein strap-down inertial system
System initialization includes initial alignment, satellite navigation receiver system initialization include initialization hardware parameter, channel correlated variables,
Loop filter parameters etc..
Step 2, satellite navigation receiver capture the satellite-signal received, code and carrier track, navigation message
Decoding, pseudorange estimation, position and speed resolving processing.
Step 3 carries out status condition judgement to track loop, if the channel loop tracks normal (not having loop losing lock)
And meet the switching condition of hypercompact combination control, 4 are thened follow the steps, otherwise return step 2.
The Rule of judgment of loop losing lock specifically:
[1] it counts 1 second intercarrier phase demodulation value and is greater than 45 degree of number, if it exceeds 10 times, then it is assumed that carrier track is unstable
It is fixed；
[2] number for counting I branch current value and previous value contrary sign in 6 seconds, if number is less than 4 times or is greater than
400 times, then it is assumed that loop tracks are lost.
The switching condition of the hypercompact combination control of loop is while meeting the following conditions:
[a] loop meets bit synchronization and frame synchronization state；
The health status of [b] this channels track satellite is good；
[c] obtains effective pseudo-range information；
[d] carrier-to-noise ratio value is greater than 34；
The accumulated value of Q branch integrated value of the accumulated value of I branch integrated value greater than 3 times in [e] 1 second.
Step 4 obtains satellite ephemeris information, resolves relevant parameter according to ephemeris format.
Step 5 calculates inertial navigation result according to strap-down inertial computation.
Step 6, in conjunction with ephemeris information and inertial navigation as a result, calculate local code signal controlled variable.
It is specific to calculate are as follows:
[I]ΔtsFor the correcting value of satellite clock relative system standard time, Δ ts=af0+af1(t-toc)+af2(t-toc
)2, wherein af0、af1、af2、tocIt is provided by the first data block of satellite navigation message, t is satellite time；
ΔtrFor the correcting value of relativistic effect,Wherein, esFor eccentricity of satellite orbit, asFor rail
Road major radius, EkValue for eccentric anomaly, constant F isμ=3.986005 ×
1014, c is the light velocity；
TGDFor group's wave delay corrected value, provided by the first data block of satellite navigation message；
[II]δtsFor the total clock deviation of satellite clock, δ ts=Δ ts+Δtr-TGD；
[III]ρIiFor the pseudorange of estimation, ρIi=r+c (δ tu-δts)+cT+cI, wherein r is carrier and intersatellite geometry
Distance,xI,yI,zIPosition for the carrier of strapdown inertial navigation system output is sat
Mark, xsi,ysi,zsiFor the position coordinates of satellite；C is the light velocity；δtuFor receiver clock-offsets, obtained by receiver positioning calculation；δts
For satellite clock correction；T, I is respectively troposphere, ionospheric propagation influence, is solved by satellite navigation message information binding model；
[IV]For the new code phase to be solved,Wherein, φcode,i
For the true form phase in receiver；Δ φ is the code phase difference of estimation；ρIiFor the pseudorange of estimation；ρGiFor receiver pseudorange；
λcode,iFor code wavelength.
Step 7, in conjunction with ephemeris information and inertial navigation as a result, calculate local carrier signal control amount.
It is specific to calculate are as follows:
[A]δfsFor satellite clock frequency drift,Wherein, af1、af2、tocIt is led by satellite
First data block of avionics text provides, and t is satellite time,Wherein, esFor eccentricity of satellite orbit, as
For track major radius, EkValue for eccentric anomaly, constant F isμ=
3.986005×1014, c is the light velocity；
[B]For geometric distance change rate,Wherein, xs、vsThe respectively position of satellite, speed
Degree, x, v are respectively the carrier positions of strapdown inertial navigation system output, speed；
[C]fcarrFor the carrier frequency to be solved,Wherein,
fIFFor IF frequency, λcarrFor carrier wavelength, δ fuFor receiver clock frequency drift, is resolved and obtained by receiver positioning constant speed, δ fsFor
Satellite clock frequency drift, Δ θ are carrier wave phase discriminator value, and Δ T is loop control periods.
Step 8, according to step 7 calculate local code and carrier signal control amount, be written the digital control oscillation of local signal
Device generates local code and carrier signal.
Generate implementation method step based on apparatus above and hypercompact combination local signal control amount, using DSP and FPGA into
Row in-circuit emulation, shown in simulation result such as (a) of Fig. 3, Fig. 4 and Fig. 5, (b).By simulation result it can be seen that using the present invention
Hypercompact combination local signal control amount generation method control local signal generate after, the separation of I, Q value in loop is more apparent, carries
Wave phase demodulation value and code phase demodulation value are generated within the scope of nominal error, therefore using hypercompact combination local signal control amount of the invention
Implementation method can reliablely and stablely realize local loop control.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (4)
1. a kind of hypercompact combination local signal control amount generation method of inertia/satellite, which comprises the steps of:
Step 1, strapdown inertial navigation system and satellite navigation receiver are initialized, wherein strapdown inertial navigation system initialization
Including being initially aligned, satellite navigation receiver initialization includes that receiver parameters are arranged；
Step 2, satellite navigation receiver the satellite-signal received is captured, code and carrier track, navigation message decoding,
Pseudorange estimation, position and speed resolving processing；
Step 3, satellite navigation receiver to track loop carry out status condition judgement, when track loop do not have loop losing lock and
When meeting the switching condition of hypercompact combination control, step 4 is gone to, otherwise, goes to step 2；
The switching condition of the hypercompact combination control is while meeting the following conditions:
A) track loop meets bit synchronization and frame synchronization state；
B) health status of tracking satellite is good；
C) pseudo-range information obtained is effective；
D) carrier-to-noise ratio value is greater than 34；
E) in 1 second I branch integrated value accumulated value greater than 3 times of Q branch integrated value accumulated value；
Step 4, satellite ephemeris information is obtained, resolves satellite ephemeris parameter according to ephemeris format；
Step 5, inertial navigation position, speed, posture information are calculated according to strap-down inertial computation；
Step 6, the satellite ephemeris parameter and inertial navigation position, speed, posture information obtained according to step 4 and step 5, calculates
Local code and carrier signal control amount；
Step 7, local signal numerically-controlled oscillator is written in the local code and carrier signal control amount step 6 obtained, generates
Local code and carrier signal.
2. the hypercompact combination local signal control amount generation method of inertia/satellite according to claim 1, which is characterized in that step
The Rule of judgment of the rapid 3 loop losing lock is at least one of the following conditions:
1) 1 second intercarrier phase demodulation value is greater than 45 degree of number, if judging loop losing lock more than 10 times；
2) in 6 seconds the adjacent two sub-values contrary sign of I branch number, the time interval between two consecutive values is 1ms, if number is less than
4 times or be greater than 400 times, then judge loop losing lock.
3. the hypercompact combination local signal control amount generation method of inertia/satellite according to claim 1, which is characterized in that step
The calculating step of the rapid 6 local code signal controlled variable are as follows:
I)Δts=af0+af1(t-toc)+af2(t-toc)2, Δ tsFor the correcting value of satellite clock relative system standard time, af0、
af1、af2、tocIt is provided by the first data block of satellite navigation message, t is satellite time；
ΔtrFor the correcting value of relativistic effect, esFor eccentricity of satellite orbit, asFor track major radius,
EkFor eccentric anomaly, F is constant, andμ=3.986005 × 1014, c is light
Speed；
TGDFor group's wave delay corrected value, provided by the first data block of satellite navigation message；
II)δts=Δ ts+Δtr-TGD, δ tsFor the total clock deviation of satellite clock；
III)ρIi=r+c (δ tu-δts)+cT+cI, ρIiFor the pseudorange of estimation, r is carrier and intersatellite geometric distance,xI,yI,zIFor the position coordinates of the carrier of strapdown inertial navigation system output, xsi,
ysi,zsiFor the position coordinates of satellite, c is the light velocity, δ tuFor receiver clock-offsets, δ tsFor satellite clock correction, T, I be respectively troposphere,
Ionospheric propagation influences；
IV) For the new code phase to be solved, φcode,iFor in receiver
True form phase, Δ φ be estimation code phase difference, ρGiFor receiver pseudorange, λcode,iFor code wavelength.
4. the hypercompact combination local signal control amount generation method of inertia/satellite according to claim 1, which is characterized in that step
The calculating step of the rapid 6 local carrier signal control amount are as follows:
A)δfsFor satellite clock frequency drift, af1、af2、tocBy the of satellite navigation message
One data block provides, and t is satellite time,esFor eccentricity of satellite orbit, asFor track major radius, Ek
For eccentric anomaly, F is constant, andμ=3.986005 × 1014, c is the light velocity；
B) For geometric distance change rate, xs、vsRespectively the position of satellite, speed, x, v are respectively
Carrier positions, the speed of strapdown inertial navigation system output；
C)fcarrFor the carrier frequency to be solved, fIFFor in again and again
Rate, λcarrFor carrier wavelength, δ fuFor receiver clock frequency drift, Δ θ is carrier wave phase discriminator value, and Δ T is loop control periods.
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