CN106338752B - A kind of method, apparatus and navigation neceiver of satellite-signal bit synchronization - Google Patents
A kind of method, apparatus and navigation neceiver of satellite-signal bit synchronization Download PDFInfo
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- CN106338752B CN106338752B CN201510998499.4A CN201510998499A CN106338752B CN 106338752 B CN106338752 B CN 106338752B CN 201510998499 A CN201510998499 A CN 201510998499A CN 106338752 B CN106338752 B CN 106338752B
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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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- G01S19/35—Constructional details or hardware or software details of the signal processing chain
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Abstract
The present invention is suitable for navigation field, provides the method, apparatus and navigation neceiver of a kind of satellite-signal bit synchronization.The described method includes: the signal obtained in GPS system and the every bit information of Beidou satellite navigation system overturns situation；Situation is overturn according to the signal in GPS system and the every bit information of Beidou satellite navigation system, the maximum position of inversion energy is found, using the maximum position of inversion energy as the initial position of bit period, to realize satellite-signal bit synchronization.The method of satellite-signal bit synchronization of the invention can be compatible with Beidou satellite navigation system and GPS system, realize satellite-signal bit synchronization.
Description
Technical field
The invention belongs to navigation field more particularly to a kind of method, apparatus and navigation neceiver of satellite-signal bit synchronization.
Background technique
Beidou satellite navigation system and GPS system are all global positioning systems, are played increasingly in present life
Important role, in occupation of very important position in navigation, positioning, time service, the fields such as test the speed.The Beidou of China is defended
Star navigation system is fast-developing, while supporting that the navigation neceiver of GPS system and Beidou satellite navigation system will can be increasingly
Generally.Navigation neceiver generally includes: antenna, radio-frequency module, baseband signal processing module and other application module.Wherein, base
Band signal processing module major function includes the satellite searched on sky and demodulates correct navigation message, is generated for leading
Boat, positioning, time service, the applications such as test the speed measured value.Bit synchronization, i.e. bit synchronous equally have very in navigation neceiver
Important role.After searching satellite, navigation neceiver can carry out tracking lock to this satellite, at line position of going forward side by side is synchronous
The success of reason, only bit synchronization just can determine that the bit boundaries of signal, and then determine the bit of signal.Navigation neceiver receives
After the correct bit of this satellite, frame synchronization process is carried out to it, obtains the navigation message of this satellite to carry out positioning solution
It calculates.It is hereby understood that bit synchronization has playing a very important role in navigation neceiver, bit synchronization processing is only correctly carried out,
Star can successfully be searched and participate in positioning, and the performance quality of bit synchronization directly affects the acquisition sensitivity of navigation neceiver.
In GPS system, the signal that each satellite issues all by with the unique corresponding pseudo noise code of the satellite
(Pseudo-Random Noise, PRN) is modulated, and the period of pseudo noise code is 1ms, so after pscudo-random codc modulation
Data-signal is the thick code (CA code) for being 1ms in the period；Each navigation data signal will be repeated 20 times to guarantee no error correction
Reliable transmission under mechanism, the period of GPS data position signal are 20ms.It is demodulated in the CA code signal exported to track loop
When, first have to the low and high level that the CA code signal of 1000b/s is changed into 50b/s by bit synchronization.
Beidou satellite navigation system, using the data modulation different with GPS system, to geostationary orbit satellite
(Geostationary Earth Orbit, GEO) satellite, the period of pseudo noise code is also 1ms, but each data bit is
2ms is similar with GPS system, and the jump of symbol is not present inside data bit, and after making some changes, when bit synchronization can be adopted
With the method similar with GPS system.Centering circle Earth's orbit (Medium Earth Orbit, MEO) satellite and the inclination earth are same
Track (Inclined Geosynchronous Satellite Orbit) satellite is walked, the period of pseudo noise code is also 1ms, together
Sample, each Beidou data-signal will be repeated 20 times to guarantee the reliable transmission under no mechanism for correcting errors, different from GPS system
, the 20ms data in each are using the modulation of NH (Neumann-Hoffman) code, that is, in each data
There is also the jumps of symbol for inside, in this way, not just being suitable for Beidou satellite navigation using the method for the identical bit synchronization of GPS signal
The MEO satellite signal of system.
Summary of the invention
The purpose of the present invention is to provide the satellite-signal position of a kind of compatible Beidou satellite navigation system of energy and GPS system is same
The method, apparatus and navigation neceiver of step.
In a first aspect, the present invention provides a kind of methods of satellite-signal bit synchronization, which comprises
The signal obtained in GPS system and the every bit information of Beidou satellite navigation system overturns situation；
Situation is overturn according to the signal in GPS system and the every bit information of Beidou satellite navigation system, finds inversion energy
Maximum position, using the maximum position of inversion energy as the initial position of bit period, to realize satellite-signal bit synchronization.
Further, the signal obtained in GPS system and the every bit information of Beidou satellite navigation system overturns situation
It specifically includes:
The value of every millisecond of related data from Satellite Tracking channel reading I branch and Q branch；
Calculate separately the conjugate for the value that every millisecond reads；
The conjugate of the value that current millisecond is read and the value that previous millisecond is read is subjected to multiplying respectively, is obtained
To product value；
In each accumulation period, GPS satellite and big-dipper satellite respectively using the period of the data bit signal of itself as the period,
The product value for corresponding to millisecond in different cycles is added up respectively, obtains multiple accumulated values；
Using multiple accumulated values in an accumulation period as the position of first millisecond of 1 bit data
Accumulated value displacement in accumulation period is combined into multiple groups accumulated value, the quantity and one for the accumulated value that every group of accumulated value includes by value
The accumulated value quantity of a accumulation period is identical；
Every group of accumulated value is multiplied into nh_pd respectively, wherein nh_pd expression is in 20 milliseconds of bit data, and adjacent two milliseconds
Value is with the presence or absence of mutation, if it is, being 1, if it is not, then being 0, if it is 0, by the corresponding position of every group of accumulated value
Accumulated value multiplies 1, and if it is 1, the accumulated value of the corresponding position of every group of accumulated value is multiplied -1；
All accumulated values multiplied in every group of accumulated value after nh_pd are added up respectively, obtain every group of accumulated value；
Calculate the energy value of every group of accumulated value；
The signal according in GPS system and the every bit information of Beidou satellite navigation system overturns situation, finds overturning
The maximum position of energy, using the maximum position of inversion energy as the initial position of bit period, to realize satellite-signal position
It is synchronous specifically:
Compare the size of energy value, obtain maximum energy value, the position of corresponding first millisecond of maximum energy value is made
For the initial position of bit period, to realize satellite-signal bit synchronization.
Further, the GPS satellite and big-dipper satellite, will not respectively using the period of the data bit signal of itself as the period
In the step of adding up respectively with the product value for corresponding to millisecond in the period, obtain multiple accumulated values, cumulative number M is according to letter
Number power is controlled, wherein M is greater than or equal to 2 integer, M when signal is weak be greater than signal it is strong when M
Second aspect, the present invention provides a kind of device of satellite-signal bit synchronization, described device includes:
Module is obtained, for obtaining the overturning situation of the signal in GPS system and the every bit information of Beidou satellite navigation system；
Synchronization module, for overturning situation according to the signal in GPS system and the every bit information of Beidou satellite navigation system,
The maximum position of inversion energy is found, using the maximum position of inversion energy as the initial position of bit period, is defended to realize
Star signal bit synchronization.
Further, the acquisition module specifically includes:
Read module reads the value of the related data of I branch and Q branch for every millisecond from Satellite Tracking channel；
First computing module, for calculating separately the conjugate for the value that every millisecond reads；
First multiplier module, for respectively by the conjugation of the value that current millisecond is read and the value that previous millisecond is read
Value carries out multiplying, obtains product value；
First accumulator module, in each accumulation period, GPS satellite and big-dipper satellite to be respectively with the data bit of itself
The period of signal is the period, and the product value that millisecond is corresponded in different cycles is added up respectively, obtains multiple accumulated values；
Shift module, for first using multiple accumulated values in an accumulation period as 1 bit data
Accumulated value displacement in accumulation period is combined into multiple groups accumulated value by the value of the position of millisecond, and every group of accumulated value includes cumulative
The quantity of value is identical as the accumulated value quantity of an accumulation period；
Second multiplier module, for every group of accumulated value to be multiplied nh_pd respectively, wherein nh_pd indicates the bit at 20 milliseconds
In data, adjacent two millisecond value is with the presence or absence of mutation, if it is, being 1, if it is not, then being 0, if it is 0, by every group
The accumulated value of the corresponding position of accumulated value multiplies 1, and if it is 1, the accumulated value of the corresponding position of every group of accumulated value is multiplied -1；
Second accumulator module is obtained for all accumulated values multiplied in every group of accumulated value after nh_pd to add up respectively
To every group of accumulated value；
Second computing module, the energy value of the accumulated value for calculating every group；
The synchronization module is specifically used for comparing the size of energy value, obtains maximum energy value, and maximum energy value is corresponding
First millisecond initial position of the position as bit period, to realize satellite-signal bit synchronization.
The third aspect, the present invention provides a kind of navigation neceiver, the navigation neceiver includes above-mentioned satellite-signal
The device of bit synchronization.
In the present invention, due to being turned over by obtaining the signal in GPS system and the every bit information of Beidou satellite navigation system
Turn situation；Situation is overturn according to the signal in GPS system and the every bit information of Beidou satellite navigation system, finds inversion energy most
Big position, using the maximum position of inversion energy as the initial position of bit period, to realize satellite-signal bit synchronization.Cause
Although this Beidou satellite navigation system is different with the period of the data bit signal of GPS system, bit synchronization method of the invention is still
It can be so compatible with Beidou satellite navigation system and GPS system, realize satellite-signal bit synchronization.In addition, since GPS satellite and Beidou are defended
Star carries out the product value that millisecond is corresponded in different cycles tired respectively respectively using the period of the data bit signal of itself as the period
Adding, obtains multiple accumulated values, cumulative number M is controlled according to signal strength or weakness, therefore even if when signal is weaker,
It can bit synchronization success well.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the satellite-signal bit synchronization that the embodiment of the present invention one provides.
Fig. 2 is the flow chart of the method for satellite-signal bit synchronization provided by Embodiment 2 of the present invention.
Fig. 3 is the functional block diagram of the device for the satellite-signal bit synchronization that the embodiment of the present invention three provides.
Specific embodiment
In order to which the purpose of the present invention, technical solution and beneficial effect is more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to explain this hair
It is bright, it is not intended to limit the present invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one:
Referring to Fig. 1, the embodiment of the present invention one provide satellite-signal bit synchronization method the following steps are included:
S101, the signal obtained in GPS system and the every bit information of Beidou satellite navigation system overturn situation；
S102, situation is overturn according to the signal in GPS system and the every bit information of Beidou satellite navigation system, finds overturning
The maximum position of energy, using the maximum position of inversion energy as the initial position of bit period, to realize satellite-signal position
It is synchronous.
Embodiment two:
Referring to Fig. 2, the method for satellite-signal bit synchronization provided by Embodiment 2 of the present invention the following steps are included:
The value of S201, every millisecond of related data from Satellite Tracking channel reading I branch and Q branch.
Navigation neceiver (such as GPS receiver, Beidou receiver) generallys use I/Q demodulation method in tracking module to help
It completes to tasks such as carrier wave removing, phase demodulation and the data demodulations of input signal.By input signal (ui (t)=AD (t) sin (wit+
θ i)+n, wherein A is signal amplitude, and D (t) is bit data level, and being worth for ± 1, wi is carrier frequency, and θ i is phase, and n is represented
Noise), that loop branch being mixed with sinusoidal carrier replica signal (uos (t)=sin (Wot+ θ o)) is known as in-phase branch (I
Branch), and it is known as orthogonal branch with another loop branch of cosine carrier replica signal (uos (t)=cos (Wot+ θ o)) mixing
Road (Q branch).In tracking module, result of the I branch after mixing, low-pass filtering is I=AD (t) cos (Wet+ θ e), Q branch
Result after mixing, low-pass filtering is Q=AD (t) sin (Wet+ θ e), and wherein We is input signal carrier wave and duplication carrier wave
Difference, θ e are input signal phase and the difference for replicating phase.After the phaselocked loop of tracking module, frequency locking ring locking, We, θ e
Close to 0, then the symbol of I, Q can be used to indicate the symbol of bit data level D (t).
In the embodiment of the present invention two, S201 specifically: using time T as a cycle, every ms within the period is read respectively
The value for taking the related data of an I branch and Q branch, obtains T value, wherein T=n*20ms, n be greater than or equal to 1 it is whole
Number.
For example, using 20ms as a cycle, every ms within the period reads an I branch and Q branch respectively when n is equal to 1
Related data value, obtain 20 values.
S202, the conjugate for calculating separately the value that every millisecond reads.
For example, the value that current millisecond is read is expressed as In+jQn, then the conjugate table for the value that previous millisecond is read
It is shown as In-1-jQn-1.
Wherein, In indicates the data of the I branch of the n-th ms, and Qn indicates the data of the Q branch of the n-th ms, and j indicates imaginary part.
The conjugate progress multiplication fortune of S203, the value for respectively reading the value that current millisecond is read with previous millisecond
It calculates, obtains product value.
Specifically, the conjugate In-1- for the value that value In+jQn and previous millisecond that current millisecond is read are read
JQn-1 is multiplied, and obtains (In*In-1+Qn*Qn-1)+j (In-1*Qn-In*Qn-1).
S204, in each accumulation period, GPS satellite and big-dipper satellite are with the period of the data bit signal of itself respectively
Period adds up the product value that millisecond is corresponded in different cycles respectively, obtains multiple accumulated values.
In the embodiment of the present invention two, in an accumulation period, the quantity of accumulated value is equal to the data bit of satellite itself
The millisecond number in the period of signal.
In the embodiment of the present invention two, S204 specifically: for Beidou GEO satellite, using 2ms as the period, by different cycles
The product value of middle correspondence millisecond adds up respectively, obtains 2 accumulated values, for Beidou MEO, IGSO satellite and GPS satellite, with
20ms is the period, is added up respectively to the product value for corresponding to millisecond in different cycles, and 20 accumulated values are obtained.
The cumulative number M of each accumulation period can be controlled according to signal strength or weakness, wherein M is greater than or equal to 2
Integer, M of the M greater than signal when strong when signal is weak.
Due to Beidou GEO satellite, a length of 2ms of 1 bit data, and Beidou MEO satellite, IGSO satellite and GPS satellite,
Therefore a length of 20ms of 1 bit data is adopted and is added up in manner just described.
For example, for Beidou GEO satellite, if cumulative number is 10, then by first millisecond of the first to ten period
Product value is cumulative to obtain first accumulated value, by second millisecond of the product value in the first to ten period it is cumulative obtain second it is cumulative
Value.
For Beidou MEO, IGSO satellite and GPS satellite, if cumulative number is 3, then by the first milli of period 1
The product value of second, first millisecond of the product value and first millisecond of the product value of period 3 of second round is cumulative to obtain first
A accumulated value, by second millisecond of the product value of period 1, second millisecond of the product value of second round and period 3
Second millisecond of product value is cumulative to obtain second accumulated value, and so on, obtain the 20th accumulated value.
S205, using multiple accumulated values in an accumulation period as the position of first millisecond of 1 bit data
The value set carries out cyclic shift in conjunction with the accumulated value in next accumulation period or by the accumulated value in this accumulation period, thus
Accumulated value displacement in accumulation period is combined into multiple groups accumulated value, the quantity for the accumulated value that every group of accumulated value includes is tired with one
Add the accumulated value quantity in period identical.
For example, for Beidou MEO, IGSO satellite and GPS satellite, obtaining first accumulated value extremely by after S204 step
40 accumulated values in two accumulation periods are shifted to obtain 20 class values by the 20th accumulated value after S205 step,
Alternatively, 20 accumulated values in this accumulation period, which are carried out cyclic shift, obtains 20 class values, every class value has 20 values.For example,
If 40 accumulated values in two accumulation periods are shifted to obtain 20 class values, it assumes that the first class value is tired with first
The value of value added the 1st millisecond of the position as 1 bit data, and so on, using the 20th accumulated value as 1 bit number
According to the 20th millisecond of position value；Second class value is the 1st millisecond of the position using second accumulated value as 1 bit data
Value, and so on, using the 20th accumulated value as the value of the 19th millisecond of 1 bit data of position, with next cumulative
Value of first accumulated value in period as the 20th millisecond of position of 1 bit data；And so on, the 20th class value be with
Value of 20th accumulated value as the 1st millisecond of position of 1 bit data, and so on, with the of next accumulation period
Value of 19 accumulated values as the 20th millisecond of position of 1 bit data.If 20 in this accumulation period are cumulative
Value carries out cyclic shift and obtains 20 class values, it assumes that the first class value is the 1st milli using first accumulated value as 1 bit data
Second position value, and so on, using the 20th accumulated value as the value of the 20th millisecond of 1 bit data of position；The
Two class values are the values of the 1st millisecond of the position using second accumulated value as 1 bit data, and so on, with the 20th
Value of the accumulated value as the 19th millisecond of position of 1 bit data compares using first accumulated value of this accumulation period as 1
The value of 20th millisecond of position of special data；And so on, the 20th class value is using the 20th accumulated value as 1 bit number
According to the 1st millisecond of position value, and so on, using the 19th accumulated value of this accumulation period as 1 bit data
The value of 20th millisecond of position.
S206, every group of accumulated value is multiplied into nh_pd respectively, for GEO satellite, nh_pd 10101010101010101010,
For MEO, IGSO satellite, nh_pd 10000110101111101001, for GPS satellite, nh_pd is
10000000000000000000, wherein nh_pd indicates that in the bit data of 20ms, adjacent two ms value whether there is mutation,
If it is, being 1, if it is not, then being 0, if it is 0, the accumulated value of the corresponding position of every group of accumulated value is multiplied 1, if
It is 1, then the accumulated value of the corresponding position of every group of accumulated value is multiplied -1.
Because of the product value obtained in S203, if jumped in the ms border bits, the symbol of adjacent D (t) value
On the contrary, i.e. one is+1, one is -1 for number position, and therefore, product value (In*In-1+Qn*Qn-1) partially occurs at jump in bit
Value is negative, is not that value is positive number at jump in bit.Therefore, the product value that millisecond is corresponded in different cycles is carried out respectively tired
Add, such as GEO or GPS, the value at non-bit boundaries is positive value, and the value at bit boundaries is negative value, therefore on correct side
It is multiplied by -1 at boundary, it is also become to positive value, is then added up, obtained value will be the largest.If true bit boundaries and I
The position assumed it is inconsistent, then the value after adding up will reduce, and not be the largest.
In order to judge the bit of adjacent two ms with the presence or absence of mutation, using the method for taking conjugate multiplication, product value if it is
Negative, in theory there is mutation in the bit of adjacent two ms.Since for GEO satellite, only there are two types of situation, nh_pd
It is set as at 10101010101010101010,1 expression bit boundaries, multiplied by -1 when 1, it is therefore intended that also become the value of boundary
For positive value, enable to cumulative value maximum when cumulative.Assuming that this 20 product values that 1-20ms is obtained, respectively by the 1st,
2 ... value of the 20th value as 1ms, therefore be equivalent to be shifted the value of this 20 products and carry out phase with nh_pd again
Multiply.GPS, MEO and IGSO are also identical reason.
S207, all accumulated values multiplied in every group of accumulated value after nh_pd are added up respectively, obtains every group cumulative
Value.
Every group of accumulated value respectively corresponds the signal energy of 20 kinds of hypothesis situations.This 20 values can be expressed as sumn=
Sumni+jsumnq, wherein n=1,2,3,, 20.
Sumni indicates the real part of a certain accumulated value in corresponding 20 kinds of situations, i.e. 20 (In*In-1+Qn*Qn-1) phases
Cumulative value；J sumnq indicates the imaginary part of a certain accumulated value in corresponding 20 kinds of situations, i.e. 20 j (In-1*Qn-
In*Qn-1) the value mutually to add up.
S208, calculate every group accumulated value energy value Esumn.
Wherein, Esumn=(sumni^2+sumnq^2) ^1/2.
Since sumnq is under ideal lock condition, value should be close to 0, therefore Esumn can also be replaced with sumni.
S209, the size for comparing energy value obtain maximum energy value, by the position of corresponding first millisecond of maximum energy value
The initial position as bit period is set, to realize satellite-signal bit synchronization.
It will be apparent that either Beidou GEO, Beidou MEO, IGSO or GPS, when bit boundaries with we assume that 20 kinds of feelings
When a certain situation in condition is identical, value Esumn is the largest, and therefore, selects that group of situation corresponding to Esumn maximum value just
It is correct bit boundaries position.
Embodiment three:
Referring to Fig. 3, the device for the satellite-signal bit synchronization that the embodiment of the present invention three provides includes:
Module 11 is obtained, for obtaining the overturning feelings of the signal in GPS system and the every bit information of Beidou satellite navigation system
Condition；
Synchronization module 12, for overturning feelings according to the signal in GPS system and the every bit information of Beidou satellite navigation system
Condition finds the maximum position of inversion energy, using the maximum position of inversion energy as the initial position of bit period, to realize
Satellite-signal bit synchronization.
In the embodiment of the present invention three, obtains module 11 and specifically includes:
Read module 111 reads the value of the related data of I branch and Q branch for every millisecond from Satellite Tracking channel；
First computing module 112, for calculating separately the conjugate for the value that every millisecond reads；
First multiplier module 113, for respectively by value that current millisecond is read and the value that previous millisecond is read
Conjugate carries out multiplying, obtains product value；
First accumulator module 114, in each accumulation period, GPS satellite and big-dipper satellite to be respectively with the number of itself
It is the period according to the period of position signal, the product value that millisecond is corresponded in different cycles is added up respectively, obtains multiple accumulated values；
Shift module 115, for using multiple accumulated values in an accumulation period as the first of 1 bit data
Accumulated value displacement in accumulation period is combined into multiple groups accumulated value by the value of a millisecond of position, and every group of accumulated value includes tired
Value added quantity is identical as the accumulated value quantity of an accumulation period；
Second multiplier module 116, for every group of accumulated value to be multiplied nh_pd respectively, wherein nh_pd is indicated at 20 milliseconds
In bit data, adjacent two millisecond value whether there is mutation, if it is, be 1, if it is not, then be 0, it, will if it is 0
The accumulated value of the corresponding position of every group of accumulated value multiplies 1, and if it is 1, the accumulated value of the corresponding position of every group of accumulated value is multiplied -1；
Second accumulator module 117 carries out all accumulated values multiplied in every group of accumulated value after nh_pd for respectively tired
Add, obtains every group of accumulated value；
Second computing module 118, the energy value of the accumulated value for calculating every group；
Synchronization module 12 is specifically used for comparing the size of energy value, obtains maximum energy value, and maximum energy value is corresponding
Initial position of the position of first millisecond as bit period, to realize satellite-signal bit synchronization.
In the embodiment of the present invention three, the first accumulator module 114 will be corresponded in different cycles the product value of millisecond respectively into
When row is cumulative, cumulative number M is controlled according to signal strength or weakness, wherein and M is greater than or equal to 2 integer, when signal is weak
M of the M greater than signal when strong.
In the embodiment of the present invention three, the shift module 115 is specifically used for: will be multiple cumulative in an accumulation period
It is worth the value of the position of first millisecond respectively as 1 bit data, in conjunction with the accumulated value in next accumulation period or incites somebody to action
Accumulated value in this accumulation period carries out cyclic shift, adds up so that the accumulated value displacement in accumulation period is combined into multiple groups
Value.
In the embodiment of the present invention three, the second computing module 118 is specifically used for calculating the energy value of every group of accumulated value
Esumn, Esumn=(sumni^2+sumnq^2) ^1/2, sumni indicate that the real part of certain group accumulated value, sumnq indicate that certain group is tired
Value added imaginary part, wherein n=1,2,3,, 20.
The embodiment of the invention also provides a kind of navigation neceiver, the navigation neceiver includes three institute of the embodiment of the present invention
The device for the satellite-signal bit synchronization stated.
In embodiments of the present invention, due to by obtaining in GPS system and the every bit information of Beidou satellite navigation system
Signal overturns situation；Situation is overturn according to the signal in GPS system and the every bit information of Beidou satellite navigation system, finds overturning
The maximum position of energy, using the maximum position of inversion energy as the initial position of bit period, to realize satellite-signal position
It is synchronous.Thus while Beidou satellite navigation system is different with the period of the data bit signal of GPS system, but bit synchronization of the invention
Method still can be compatible with Beidou satellite navigation system and GPS system, realize satellite-signal bit synchronization.In addition, due to GPS satellite and
Big-dipper satellite respectively using the period of the data bit signal of itself as the period, will be corresponded in different cycles the product value of millisecond respectively into
Row is cumulative, obtains multiple accumulated values, and cumulative number M is controlled according to signal strength or weakness, therefore even if when signal is weaker
It waits, it also can bit synchronization success well.
Those of ordinary skill in the art will appreciate that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, the program can be stored in a computer readable storage medium,
The storage medium, such as ROM/RAM, disk, CD.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of method of satellite-signal bit synchronization, which is characterized in that the described method includes:
The signal obtained in GPS system and the every bit information of Beidou satellite navigation system overturns situation；
Situation is overturn according to the signal in GPS system and the every bit information of Beidou satellite navigation system, finds inversion energy maximum
Position, using the maximum position of inversion energy as the initial position of bit period, to realize satellite-signal bit synchronization；
The signal overturning situation obtained in GPS system and the every bit information of Beidou satellite navigation system specifically includes:
The value of every millisecond of related data from Satellite Tracking channel reading I branch and Q branch；
Calculate separately the conjugate for the value that every millisecond reads；
The conjugate of the value that current millisecond is read and the value that previous millisecond is read is subjected to multiplying respectively, is multiplied
Product value；
In each accumulation period, GPS satellite and big-dipper satellite, will not respectively using the period of the data bit signal of itself as the period
It adds up respectively with the product value for corresponding to millisecond in the period, obtains multiple accumulated values；
It, will using multiple accumulated values in an accumulation period as the value of the position of first millisecond of 1 bit data
Accumulated value displacement in accumulation period is combined into multiple groups accumulated value, and the quantity for the accumulated value that every group of accumulated value includes is cumulative with one
The accumulated value quantity in period is identical；
Every group of accumulated value is multiplied into nh_pd respectively, wherein nh_pd indicates that in 20 milliseconds of bit data, adjacent two millisecond value is
It is no to there is mutation, if it is, being 1, if it is not, then being 0, if it is 0, by the cumulative of the corresponding position of every group of accumulated value
Value multiplies 1, and if it is 1, the accumulated value of the corresponding position of every group of accumulated value is multiplied -1；
All accumulated values multiplied in every group of accumulated value after nh_pd are added up respectively, obtain every group of accumulated value；
Calculate the energy value of every group of accumulated value；
The signal according in GPS system and the every bit information of Beidou satellite navigation system overturns situation, finds inversion energy
Maximum position, using the maximum position of inversion energy as the initial position of bit period, to realize satellite-signal bit synchronization
Specifically:
Compare the size of energy value, obtain maximum energy value, using the position of corresponding first millisecond of maximum energy value as than
The initial position in special period, to realize satellite-signal bit synchronization.
2. the method as described in claim 1, which is characterized in that described every millisecond is read I branch and Q branch from Satellite Tracking channel
The value of the related data on road specifically:
Using time T as a cycle, the value of every millisecond within the period related data for reading an I branch and Q branch respectively,
T value is obtained, wherein T=n*20ms, n is greater than or equal to 1 integer.
3. the method as described in claim 1, which is characterized in that the GPS satellite and big-dipper satellite are respectively with the data of itself
The period of position signal is the period, and the product value that millisecond is corresponded in different cycles is added up respectively, obtains multiple accumulated values
In step, cumulative number M is controlled according to signal strength or weakness, wherein M is greater than or equal to 2 integer, M when signal is weak
Greater than M of signal when strong.
4. the method as described in claim 1, which is characterized in that multiple accumulated values by an accumulation period are made respectively
For the value of the position of first millisecond of 1 bit data, the accumulated value displacement in accumulation period is combined into multiple groups accumulated value
Specifically:
Using multiple accumulated values in an accumulation period as the value of the position of first millisecond of 1 bit data, knot
It closes the accumulated value in next accumulation period or the accumulated value in this accumulation period is subjected to cyclic shift, thus by accumulation period
Interior accumulated value displacement is combined into multiple groups accumulated value.
5. the method as described in claim 1, which is characterized in that the energy value of the accumulated value for calculating every group specifically:
Energy value Esumn, Esumn=(sumni^2+sumnq^2) ^1/2, sumni for calculating every group of accumulated value indicates certain group
The real part of accumulated value, sumnq indicate certain group accumulated value imaginary part, wherein n=1,2,3 ..., 20.
6. a kind of device of satellite-signal bit synchronization, which is characterized in that described device includes:
Module is obtained, for obtaining the overturning situation of the signal in GPS system and the every bit information of Beidou satellite navigation system；
Synchronization module is found for overturning situation according to the signal in GPS system and the every bit information of Beidou satellite navigation system
The maximum position of inversion energy, using the maximum position of inversion energy as the initial position of bit period, to realize that satellite is believed
Number bit synchronization；
The acquisition module specifically includes:
Read module reads the value of the related data of I branch and Q branch for every millisecond from Satellite Tracking channel；
First computing module, for calculating separately the conjugate for the value that every millisecond reads；
First multiplier module, for respectively by the conjugate of value that current millisecond is read and the value that previous millisecond is read into
Row multiplying, obtains product value；
First accumulator module, in each accumulation period, GPS satellite and big-dipper satellite to be respectively with the data bit signal of itself
Period be the period, the product value that millisecond is corresponded in different cycles is added up respectively, obtains multiple accumulated values；
Shift module, for first millisecond using multiple accumulated values in an accumulation period as 1 bit data
Position value, by accumulation period accumulated value displacement be combined into multiple groups accumulated value, the accumulated value that every group of accumulated value includes
Quantity is identical as the accumulated value quantity of an accumulation period；
Second multiplier module, for every group of accumulated value to be multiplied nh_pd respectively, wherein nh_pd indicates the bit data at 20 milliseconds
In, adjacent two millisecond value, if it is, being 1, if it is not, then being 0, if it is 0, every group is added up with the presence or absence of mutation
The accumulated value of the corresponding position of value multiplies 1, and if it is 1, the accumulated value of the corresponding position of every group of accumulated value is multiplied -1；
Second accumulator module obtains every for all accumulated values multiplied in every group of accumulated value after nh_pd to add up respectively
The accumulated value of group；
Second computing module, the energy value of the accumulated value for calculating every group；
The synchronization module is specifically used for comparing the size of energy value, obtains maximum energy value, by maximum energy value corresponding the
Initial position of the position of one millisecond as bit period, to realize satellite-signal bit synchronization.
7. device as claimed in claim 6, which is characterized in that second computing module is specifically used for the cumulative of every group of calculating
Energy value Esumn, Esumn=(sumni^2+sumnq^2) ^1/2 of value, sumni indicate the real part of certain group accumulated value, sumnq
Indicate certain group accumulated value imaginary part, wherein n=1,2,3 ..., 20.
8. a kind of navigation neceiver, which is characterized in that the navigation neceiver includes satellite-signal described in claim 6 or 7
The device of bit synchronization.
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