CN106526633A - GNSS baseband signal capture method and device - Google Patents
GNSS baseband signal capture method and device Download PDFInfo
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- CN106526633A CN106526633A CN201611168683.7A CN201611168683A CN106526633A CN 106526633 A CN106526633 A CN 106526633A CN 201611168683 A CN201611168683 A CN 201611168683A CN 106526633 A CN106526633 A CN 106526633A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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Abstract
The invention discloses a GNSS baseband signal capture method and device. The capture method comprises the steps that the same uncaught satellite is simultaneously searched by multiple correlators firstly, and other three uncaught satellites are captured according to the same method after the uncaught satellite is captured; then the satellite numbers of all other observable satellites are acquired according to the satellite navigation messages of the four captured satellites; and then the corresponding frequency of the uncaught satellites is acquired according to the satellite numbers, and other uncaught satellites are searched in turn through N correlators until all the uncaught satellites are captured, i.e. the GNSS baseband signals are completely captured. The same satellite is searched by multiple correlators so that the capture time of the system for capturing the satellite signals can be greatly reduced and the processing efficiency of the system can be enhanced.
Description
Technical field
The present invention relates to the process of GNSS baseband signals, more particularly to the catching method and device of GNSS baseband signals.
Background technology
With developing rapidly for science and technology, diversified navigation system is occurred in that.Single navigation system be difficult meet the whole world,
Navigation needs under round-the-clock, various complex environment, are become respectively using the integrated navigation system of two or more system compositions
The focus of state's research.
But satellite be transferred to ground simply by the high frequency carrier of the information of having modulated, in order to obtain satellite ranging code and
The useful informations such as navigation message must be processed to satellite-signal.The signal node launched by the Big Dipper, GPS and GLONASS satellite
Though structure and mode mutually have difference, it is similar to the method for its signal transacting.
For the process of satellite-signal is typically all first signal structure to be analyzed, capture and is tracked, finally obtain
Navigation message.And with the disclosure of domestic triones navigation system, be then accomplished by a kind of for GNSS bases in triones navigation system
The processing system of band signal.In addition, for existing satellite-signal process when, its processing speed is slow, especially when signal is captured,
Can not support that multi-channel data is captured.
The content of the invention
In order to overcome the deficiencies in the prior art, an object of the present invention is to provide a kind of capture of GNSS baseband signals
Method, which can realize multichannel, fast Acquisition GNSS baseband signals.
An object of the present invention employs the following technical solutions realization：
The invention provides a kind of catching method of GNSS baseband signals, comprises the following steps：
S1：The frequency partition of satellite is not captured currently for M the first frequency range and to a pair of each first frequency allocation
The correlator answered, is searched to currently not capturing satellite by the method for correlator search satellite-signal in each first frequency range
Rope, and draw the output result of each correlator；
S2：Judge currently not capturing whether satellite is captured according to all of output result, if so, then currently will not capture
Satellite markers are switched to next satellite and are designated as currently not capturing satellite, perform S1 to capture satellite；Until capturing four
During satellite, S3 is performed；
S3：The satellite number of current all of Observable satellite is obtained according to the satellite navigation message of above-mentioned four satellites；
S4：The all of frequency for not capturing satellite is obtained according to satellite number, each frequency for not capturing satellite is carried out drawing
It is divided into N number of second frequency range and to each one corresponding correlator of the second frequency allocation, by correlation in each second frequency range
The method of device search of satellite signal does not capture satellite to each successively and scans for, and judge each do not capture satellite whether by
If so, the corresponding satellite that do not capture then is designated as capturing satellite by capture；
S5：When all of satellite is labeled as capturing satellite, GNSS baseband signals complete capture.
Preferably, also include that the frequency partition that each has been captured satellite is I the 3rd frequency range, in each the 3rd frequency range
Satellite has been captured to each successively by the method for correlator search satellite-signal carries out secondary capturing, until being caught to all of
That obtains satellite completes secondary capturing.
Preferably, the I=10.
Preferably, the method for the correlator search satellite-signal specifically includes following steps：
S11：The signal received by GNSS antenna is converted to into digital intermediate frequency signal s (t), digital intermediate frequency signal s
T () can be represented with formula (1)：
Wherein, P is signal power；D (t) is navigation message bit；C (t) is C/A codes；τ represent satellite-signal from satellite to
Time delay in the transmitting procedure of receiver；fdIt is Doppler frequency shift；T is observation time；fIF=fNominally+fd, it is expressed as carrier wave
The intermediate-freuqncy signal of down coversion；fNominallyRepresent the nominal frequency of digital intermediate frequency signal；φ is original carrier phase place；N (t) is white noise,
Its power spectral density is constant；fL1Represent frequency of the digital intermediate frequency signal in L1 frequency ranges；
S12：Digital intermediate frequency signal s (t) is multiplied with local carrier signal, in-phase component I (t) and positive phase component Q is obtained
(t)；
The local carrier signal is expressed asWherein For the Doppler frequency shift estimated during capture, flocRepresent the actual frequency of digital intermediate frequency signal, QlocT () represents local carrier letter
The signal of number positive phase component, IlocT () represents the signal of local carrier signal in-phase component, φlocRepresent digital intermediate frequency signal
Initial phase；
In-phase component I (t) and positive phase component Q (t) are obtained after (1) and (2) is mixed, can be represented with formula (3)：
S13：Formula (4) is obtained after processing to the signal of formula (3) by low pass filter：
Wherein,For Doppler frequency estimation residual error；
S14：Assume that local pseudo-code sequence can be expressed asWhich is carried out into relevant treatment with formula (4) and is integrated,
In-phase component integration I can be obtainedPAnd positive phase component integration QP, which is specifically represented by formula (5)：
Wherein T is post detection integration,Represent propagation time of the satellite-signal from satellite to receiver；
S15：Make simplified process to formula (5) and obtain formula (6)：
The in-phase component integration I for finally givingPAnd positive phase component integration QP, that is to say the output result of correlator.
Preferably, T is 1ms, 2ms, 5ms or 10ms.
Preferably, M=N+4.
Preferably, M=32, N=28.
In order to overcome the deficiencies in the prior art, the second object of the present invention is to provide a kind of capture of GNSS baseband signals
Device, which can realize multichannel, fast Acquisition GNSS baseband signals.
The second object of the present invention employs the following technical solutions realization：
Present invention also offers a kind of acquisition equipment of GNSS baseband signals, including：
First acquiring satellite module, the frequency partition for currently not captured satellite are M the first frequency ranges and right
Each one corresponding correlator of the first frequency allocation, by the method pair of correlator search satellite-signal in each first frequency range
Satellite is not captured currently to scan for, and draw the output result of each correlator；
Capture completes mark module, for judging currently not capturing whether satellite is captured according to all of output result,
If so, satellite markers then will not currently be captured to capture satellite, next satellite are switched to and are designated as currently not capturing satellite,
Perform first acquiring satellite module；When capturing four satellites, satellite acquisition module is performed；
Satellite acquisition module, for obtaining current all of Observable according to the satellite navigation message of above-mentioned four satellites
The satellite number of satellite；
Other acquiring satellite modules, for obtaining all of frequency for not capturing satellite according to satellite number, each are not caught
The frequency for obtaining satellite carries out being divided into N number of second frequency range and to each one corresponding correlator of the second frequency allocation, at each
Satellite is not captured to each successively by the method for correlator search satellite-signal in second frequency range to scan for, and judges each
Do not capture whether satellite is captured, if so, then be designated as capturing satellite by the corresponding satellite that do not capture；
Capture completes module, for when all of satellite is labeled as capturing satellite, GNSS baseband signals complete to catch
Obtain.
Compared to existing technology, the beneficial effects of the present invention is：By the present invention in that being defended to same with multiple correlators
Star is scanned for, and is greatly reduced system to capturing capture time during satellite-signal, is improve the treatment effeciency of system；Separately
Outward, the present invention also carries out secondary capturing, further satellite-signal is navigated in more accurate frequency range, is the place of latter step
Reason is there is provided more accurate data.
Description of the drawings
The method flow diagram of the embodiment that Fig. 1 is provided for the present invention；
The apparatus module figure of the embodiment that Fig. 2 is provided for the present invention.
Specific embodiment
Below, with reference to accompanying drawing and specific embodiment, the present invention is described further：
As shown in figure 1, for a receiver, its position is determined according to satellite, that is to say it is determined that connecing
During the position of receipts machine, it is necessary first to receive the satellite-signal of all satellites, that is to say and satellite-signal is scanned for and is captured.
In general satellite has 32, and the frequency of the satellite-signal of each satellite is different, carries out in the satellite-signal to 32 satellites
During capture, in order to improve the time of capture, the invention provides a kind of catching method of GNSS baseband signals, which quickly can be caught
The satellite-signal of all satellites is received, the method is comprised the following steps：
S1：The frequency partition of satellite is not captured currently for M the first frequency range and to a pair of each first frequency allocation
The correlator answered, is scanned for not capturing satellite by the method for correlator search satellite-signal in each frequency range, and
Go out the output result of each correlator.
First, when for satellite-signal complete it is ignorant in the case of, usually by virtue of experience value is come one and is not captured to defend
The frequency of star is set, and that is to say the satellite-signal for estimating a satellite in which frequency range.Arrange in receivers multiple
Correlator, the correlator are exactly instrument useful signal extracted from interference and noise using the correlation properties of signal.
Correlator in the present invention is set to 32, when scanning for same satellite, is carried out simultaneously using 32 correlators simultaneously
Row is processed such that it is able to be rapidly completed the search of the satellite.As each scope for not capturing the frequency of satellite may be very big, because
This, is divided into multiple first frequency ranges first, and to each one corresponding correlator of the first frequency allocation, so as in each frequency
Scanned for not capturing satellite by the method for correlator search satellite-signal in section, so multiple correlators are run simultaneously,
Greatly reduce the time of search.And the method for correlator search satellite-signal specifically includes following steps：
S11：The signal received by GNSS antenna is converted to into digital intermediate frequency signal s (t), digital intermediate frequency signal s
T () is represented by：
Wherein, P is signal power；D (t) is navigation message bit；C (t) is C/A codes；τ represent satellite-signal from satellite to
Time delay in the transmitting procedure of receiver；fdIt is Doppler frequency shift；T is observation time；fIF=fNominally+fd, it is expressed as carrier wave
The intermediate-freuqncy signal of down coversion；fNominallyRepresent the nominal frequency of digital intermediate frequency signal；φ is original carrier phase place；N (t) is white noise,
Its power spectral density is constant；fL1Represent frequency of the digital intermediate frequency signal in L1 frequency ranges.
S12：Digital intermediate frequency signal s (t) is multiplied with local carrier signal, in-phase component I (t) and positive phase component Q is obtained
(t)；
The local carrier signal is expressed asWherein For the Doppler frequency shift estimated during capture, flocRepresent the actual frequency of digital intermediate frequency signal, QlocT () represents local carrier letter
The signal of number positive phase component, IlocT () represents the signal of local carrier signal in-phase component, φlocRepresent digital intermediate frequency signal
Initial phase.
AssumeFor Doppler frequency estimation residual error, when satellite-signal is captured, only so that Δ f is connect as far as possible
Nearly 0, corresponding satellite-signal can be captured.
Preferably, in the present invention for the capture of signal, the general value for arranging Δ f has been considered as less than certain threshold value
The capture of satellite in pairs.
In-phase component I (t) and positive phase component Q (t) are obtained after (1) and (2) is mixed, be that is to say：
S13：Formula (4) is obtained after processing to in-phase component I (t) and positive phase component Q (t) by low pass filter：
S14：Assume that local pseudo-code sequence can be expressed asWhich is carried out into relevant treatment with formula (4) and is integrated,
In-phase component integration I can be obtainedPAnd positive phase component integration QP, its available formula (5) expression：
Wherein T is post detection integration, and T<20ms；The integral multiple of chip period 1ms is taken for C/A codes typically,
Represent propagation time of the satellite-signal from satellite to receiver.
S15：As D (t) is navigation message bit, its bit rate is 50bps, it is believed that in integration T time, D (t)
Do not change, therefore can be mentioned beyond the sign of integration, formula (5) is reduced to into formula (6)：
One group in-phase component integration I is exported after in other words each correlator is scanned for satellite-signalPAnd just
Phase component integrates QPData, that is to say the output result of correlator.
S2：Judge currently not capturing whether satellite has been captured according to all of output result, if so, then do not capture satellite
Currently do not captured satellite to be designated as capturing satellite, be switched to next satellite and be designated as currently not capturing satellite, perform S1；Directly
When four satellites are captured, S3 is performed.
For each do not capture when satellite is scanned in the present invention be using multiple correlators to different frequency ranges while
Satellite is not captured to same to scan for, so the correlator in each frequency range there can be an output result.That is to say every
The integration I of the in-phase component obtained by individual frequency rangePWith the integration Q of positive phase componentPCarry out the calculated value of quadratic sum to be compared
Compared with, choose frequency range corresponding to maximum value as this do not capture satellite satellite-signal frequency range, that is to say and currently not capture
Satellite is captured.After the capture of a satellite is completed, continue according to same method and others are not captured by satellite are caught
Obtain, the capture until completing four satellites.
S3：The satellite number of current all of Observable satellite is obtained according to the satellite navigation message of above-mentioned four satellites.
In general, as long as the characteristics of producing positioning result by having four satellites, can be according to above-mentioned four satellites
Navigation message in satellite-signal gets the satellite number of all Observable satellites.Again as each satellite has corresponding defending
Asterisk, thus can obtain the information such as position, the frequency of corresponding satellite according to satellite number.So, other are not being captured
When satellite is scanned for, the frequency range of its search is also determined that, so can to other search times for not capturing satellite
To greatly reduce.
S4：The all of frequency for not capturing satellite is obtained according to satellite number, each frequency for not capturing satellite is carried out drawing
It is divided into N number of second frequency range and to each one corresponding correlator of the second frequency allocation, by correlation in each second frequency range
The method of device search of satellite signal does not capture satellite to each successively and scans for, and judge each do not capture satellite whether by
If so, the corresponding satellite that do not capture then is designated as capturing satellite by capture.
Due to getting each satellite number for not capturing satellite, it becomes possible to it is determined that not capturing the search rate of satellite.Here
Other satellites removed beyond 4 satellites being captured for not capturing that satellite refers to.Employed in the present invention
Correlator is a total of 32, wherein 4 correlators have completed the capture to above-mentioned four satellites, then there remains 28 it is related
28 correlators, so for the time for ensureing to search for, can not be captured satellite to one yet and be scanned for by device simultaneously.That is to say
The each satellite not captured is scanned for using the method for same correlator search satellite-signal.Do not capture when one and defend
Star is designated as capturing satellite when captured, is continued other and is not captured satellite；Until all of satellite that do not capture all is caught
Receive, that is to say that all of satellite is flagged as capturing satellite.
S5：When all of satellite is labeled as capturing satellite, GNSS baseband signals complete capture.
When all of satellite is captured, in other words the satellite-signal of all satellites is all defined in corresponding frequency range
It is interior, so when next step is tracked process to satellite-signal, it becomes possible to which the satellite-signal of each satellite is determined known
Frequency range in, so as to can quickly obtain the positional information of the receiver.
Preferably, during the correlator search satellite-signal, due to satellite-signal reach in face of ground will through ionosphere,
, there is very big energy loss in troposphere etc., extent of deterioration is with the change of the distance between receiver and satellite, the signal for receiving
Energy has have by force weak.And for strong signal, as long as correlator can just capture corresponding signal in a short period of time；
For weak signal, correlator is difficult to capture corresponding signal at short notice.Therefore, passing through correlator to satellite
When signal is scanned for, for the setting of post detection integration is by the way of in turn.Selected pre-detection in the present invention
The time of integration is 1ms, 2ms, 5ms and 10ms.In other words such as strong signal, the post detection integration that can be taken
For 1ms, 2ms, 5ms；And for weak signal, the post detection integration that can be taken is 10ms.It is general for satellite-signal
Including PRN code and satellite navigation message；And when signal is captured, be by local carrier signal is mixed with satellite-signal
Frequently, constantly adjust local carrier signal so that when the PRN code in local carrier signal and satellite-signal is close, mean that this is defended
Star signal is searched to be arrived, and for the PRN code of satellite-signal is once to be changed at set intervals, in other words right
When signal is captured, it is necessary to complete once to search within PRN code conversion time once of satellite row, if can not complete,
It is accomplished by readjusting local carrier and again satellite-signal is scanned for, so will result in temporal a large amount of wastes.And
For strong signal, it is only necessary to which the very short time can just search satellite-signal, therefore the time of integration of search is arranged
It is shorter just to complete search, so as to save more time, and for weak signal, in a short period of time it is difficult to search it is right
The satellite-signal answered, therefore in search of satellite signal, the time of integration can be incrementally increased, until searching satellite-signal.When
Transformation period of the right post detection integration not over the PRN code of satellite-signal.In the present invention, satellite is being captured
When, using a kind of adaptive catching method, using it is a kind of in turn by the way of capturing to satellite.Pre-detection is set first
The time of integration is 1ms, if cannot capture any satellite under this time of integration, is arranged post detection integration automatically
For 2ms；Post detection integration is set to 5ms and 10ms by same reason, until capturing satellite.
In addition, judging that the power of signal is also relevant with the elevation angle of satellite, satellite can be calculated according to the position of satellite
Elevation angle.That is to say, when the elevation angle of satellite is bigger, the intensity of its corresponding signal is stronger；And the elevation angle of satellite is less,
The intensity of its corresponding signal is weaker.When the position of satellite is obtained, it is also possible to which determining the corresponding satellite-signal of the satellite is
Strong signal or weak signal, are then arranging the time of integration, it becomes possible to which further fast Acquisition is to satellite.
Further, also including secondary capturing, in other words for S1 to S4 completes capture to all of satellite, that
The satellite-signal of each satellite has been defined in the frequency range of a fixation, the satellite of 4 for such as searching for first satellite
Signal is can determine whether in corresponding first frequency range, and the satellite-signal of 28 satellites is can determine whether in corresponding second frequency range below
It is interior.In order to further will be the frequency range of the satellite row of each satellite more accurate, then the frequency range of above-mentioned determination be drawn again
Point, then all of satellite is being captured by above-mentioned catching method such that it is able to obtain the satellite-signal of each satellite
Frequency it is more accurate.Such as, one for, is completed after the capture to all satellites using above-mentioned S1 to S4, satellite-signal
The scope of frequency be confirmed as 500Hz, then the frequency of above-mentioned 500Hz is being carried out dividing multiple frequency ranges, such as by its stroke
Divide 10 frequency ranges, that is to say that the frequency of each frequency range is 50Hz；Then according to above-mentioned catching method enters capture to all of satellite,
The frequency accuracy for so obtaining the satellite-signal of final all satellites is just 50Hz, namely the precision for being so that GNSS baseband signals
Greatly increase.
As shown in Fig. 2 present invention also offers a kind of acquisition equipment of GNSS baseband signals, including：
First acquiring satellite module, the frequency partition for currently not captured satellite are M the first frequency ranges and right
Each one corresponding correlator of the first frequency allocation, by the method pair of correlator search satellite-signal in each first frequency range
The output result that satellite is scanned for and draws each correlator is not captured currently；
Capture completes mark module, for judging currently not capturing whether satellite is captured according to all of output result,
If so, satellite markers then will not currently be captured to capture satellite, next satellite are switched to and are designated as currently not capturing satellite,
Perform first acquiring satellite module；When capturing four satellites, satellite acquisition module is performed；
Satellite acquisition module, for obtaining current all of Observable according to the satellite navigation message of above-mentioned four satellites
The satellite number of satellite；
Other acquiring satellite modules, for obtaining all of frequency for not capturing satellite according to satellite number, each are not caught
The frequency for obtaining satellite carries out being divided into N number of second frequency range and to each one corresponding correlator of the second frequency allocation, at each
Satellite is not captured to each successively by the method for correlator search satellite-signal in second frequency range to scan for, and judges each
Do not capture whether satellite is captured, if so, then be designated as capturing satellite by the corresponding satellite that do not capture；
Capture completes module, for when all of satellite is labeled as capturing satellite, GNSS baseband signals complete to catch
Obtain.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (8)
1. a kind of catching method of GNSS baseband signals, it is characterised in that comprise the following steps：
S1：The frequency partition for currently not captured satellite is M the first frequency ranges and corresponding to each first frequency allocation one
Correlator, is scanned for currently not capturing satellite by the method for correlator search satellite-signal in each first frequency range,
And draw the output result of each correlator；
S2：Judge currently not capturing whether satellite is captured according to all of output result, if so, then will not currently capture satellite
It is labeled as capturing satellite, is switched to next satellite and is designated as currently not capturing satellite, perform S1；Defend until capturing four
During star, S3 is performed；
S3：The satellite number of current all of Observable satellite is obtained according to the satellite navigation message of above-mentioned four satellites；
S4：The all of frequency for not capturing satellite is obtained according to satellite number, each frequency for not capturing satellite is carried out being divided into N
Individual second frequency range and to each one corresponding correlator of the second frequency allocation, passes through correlator search in each second frequency range
The method of satellite-signal does not capture satellite to each successively and scans for, and judges that each does not capture whether satellite is captured,
If so, then the corresponding satellite that do not capture is designated as capturing satellite；
S5：When all of satellite is labeled as capturing satellite, GNSS baseband signals complete capture.
2. the catching method of GNSS baseband signals as claimed in claim 1, it is characterised in that also include each has been captured satellite
Frequency partition be I the 3rd frequency ranges, by the method for correlator search satellite-signal successively to every in each the 3rd frequency range
The individual satellite that captured carries out secondary capturing, until to it is all of captured satellite complete secondary capturing.
3. the catching method of GNSS baseband signals as claimed in claim 2, it is characterised in that the I=10.
4. the catching method of GNSS baseband signals as claimed in claim 1 or 2, it is characterised in that the correlator search satellite
The method of signal specifically includes following steps：
S11：The signal received by GNSS antenna is converted to into digital intermediate frequency signal s (t), digital intermediate frequency signal s (t) can
Represented with formula (1)：
Wherein, P is signal power；D (t) is navigation message bit；C (t) is C/A codes；τ represents satellite-signal from satellite to reception
Time delay in the transmitting procedure of machine；fdIt is Doppler frequency shift；T is observation time；fIF=fNominally+fd, it is expressed as becoming under carrier wave
The intermediate-freuqncy signal of frequency；fNominallyRepresent the nominal frequency of digital intermediate frequency signal；φ is original carrier phase place；N (t) is white noise, its work(
Rate spectrum density is constant；fL1Represent frequency of the digital intermediate frequency signal in L1 frequency ranges；
S12：Digital intermediate frequency signal s (t) is multiplied with local carrier signal, in-phase component I (t) and positive phase component Q (t) is obtained；
The local carrier signal is expressed asWherein
For the Doppler frequency shift estimated during capture, flocRepresent the actual frequency of digital intermediate frequency signal, QlocT () represents local carrier signal
The signal of positive phase component, IlocT () represents the signal of local carrier signal in-phase component, φlocRepresent the first of digital intermediate frequency signal
Beginning phase place；
In-phase component I (t) and positive phase component Q (t) are obtained after (1) and (2) is mixed, can be represented with formula (3)：
S13：Formula (4) is obtained after processing to the signal of formula (3) by low pass filter：
Wherein,For Doppler frequency estimation residual error；
S14：Assume that local pseudo-code sequence can be expressed asWhich is carried out into relevant treatment with formula (4) and is integrated, can be obtained
In-phase component integrates IPAnd positive phase component integration QP, which is specifically represented by formula (5)：
Wherein T is post detection integration,Represent propagation time of the satellite-signal from satellite to receiver；
S15：Make simplified process to formula (5) and obtain formula (6)：
The in-phase component integration I for finally givingPAnd positive phase component integration QP, that is to say the output result of correlator.
5. the catching method of GNSS baseband signals as claimed in claim 4, it is characterised in that T is 1ms, 2ms, 5ms or 10ms.
6. the catching method of GNSS baseband signals as claimed in claim 1, it is characterised in that M=N+4.
7. the catching method of GNSS baseband signals as claimed in claim 6, it is characterised in that M=32, N=28.
8. a kind of acquisition equipment of GNSS baseband signals, it is characterised in that include：
First acquiring satellite module, for currently not captured the frequency partition of satellite for M the first frequency range and to each
First frequency allocation, one corresponding correlator, by the method for correlator search satellite-signal to current in each first frequency range
Do not capture satellite to scan for, and draw the output result of each correlator；
Capture completes mark module, for judging currently not capturing whether satellite is captured according to all of output result, if so,
Satellite markers then will not currently be captured to capture satellite, next satellite is switched to and is designated as currently not capturing satellite, performed
First acquiring satellite module；When capturing four satellites, satellite acquisition module is performed；
Satellite acquisition module, for obtaining current all of Observable satellite according to the satellite navigation message of above-mentioned four satellites
Satellite number；
Other acquiring satellite modules, for obtaining all of frequency for not capturing satellite according to satellite number, each are not captured and are defended
The frequency of star carries out being divided into N number of second frequency range and to each one corresponding correlator of the second frequency allocation, each second
Satellite is not captured to each successively by the method for correlator search satellite-signal in frequency range to scan for, and judges that each is not caught
Obtain whether satellite is captured, if so, then be designated as capturing satellite by the corresponding satellite that do not capture；
Capture completes module, for when all of satellite is labeled as capturing satellite, GNSS baseband signals complete capture.
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| CN107884789A (en) * | 2017-12-19 | 2018-04-06 | 深圳先进技术研究院 | A kind of gps satellite parallel acquisition method, equipment and storage device |
| CN107907893A (en) * | 2017-11-16 | 2018-04-13 | 北京卫星信息工程研究所 | Segmented based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code |
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| CN112327334B (en) * | 2020-09-29 | 2024-02-09 | 航天恒星科技有限公司 | GNSS long code signal capturing method and device assisted by low-orbit satellite |
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| CN113050129B (en) * | 2021-03-17 | 2023-08-01 | 广州南方卫星导航仪器有限公司 | Satellite signal capturing method and device |
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