CN106772471A - A kind of long code segmentation overlay local correlation catching method based on GPU - Google Patents
A kind of long code segmentation overlay local correlation catching method based on GPU Download PDFInfo
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- CN106772471A CN106772471A CN201611006729.5A CN201611006729A CN106772471A CN 106772471 A CN106772471 A CN 106772471A CN 201611006729 A CN201611006729 A CN 201611006729A CN 106772471 A CN106772471 A CN 106772471A
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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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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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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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A large amount of code phase search problems during for long period pseudo-code Direct Acquisition, the present invention proposes a kind of long code segmentation overlay local correlation catching method based on GPU, input data is segmented and is divided, reduce the scale and memory requirement of data processing, the GPU for adapting to different performance is realized, be conducive to polycaryon processor simultaneously to the division of data carries out parallel task treatment to data, can give full play to the parallel processing advantage of multinuclear.Long code segmentation overlay local correlation catching method based on GPU, using FFT parallel search pseudo-code phases, accelerate FFT computings using hundreds of FPU Float Point Unit batch processing segment data in GPU, long code pseudo-code phase acquisition speed is improve, satellite navigation spread-spectrum signal software is received and is had great significance.
Description
Technical field
The present invention relates to technical field of satellite navigation, the particularly method of long period Pseudo Code Spread Spectrum signal capture, more specifically
Ground is related to a kind of long code Direct Acquisition Methods based on GPU.
Background technology
Long period Pseudo Code Spread Spectrum signal interference free performance is stronger compared to short code, under the conditions of short code is disturbed, can only rely on
The Direct Acquisition of long code, therefore long code Direct Acquisition technology is a study hotspot of navigation field.Pseudo Code Spread Spectrum signal capture
Stage needs search to determine pseudo-code phase and Doppler's initial value, and long code Direct Acquisition needs the code phase uncertain region of search
It is bigger compared to short code, typically the 10 of short code hunting zone3~104Times, therefore how fast search determines pseudo-code phase, is it
The middle key issue for needing to solve.
There is substantial amounts of FPU Float Point Unit in GPU, by using hundreds of processor core, GPU calculates the speed of FFT
Degree can lift 10 times.In recent years, the general-purpose computations technology based on GPU started to be applied to engineering calculation field, associated specialist and ground
Study carefully mechanism has carried out part research to GPU general-purpose computations in the application that navigation signal receives field, to the capture research based on GPU
It is concentrated mainly in short code capture analysis, yet there are no associated materials and the Code acquisition long based on GPU is studied.
The content of the invention
A large amount of code phase search problems during for long period pseudo-code Direct Acquisition, the present invention proposes a kind of length based on GPU
Code segmentation overlay local correlation catching method.
Long code segmentation overlay local correlation catching method based on GPU, flow such as Fig. 1 is comprised the following steps：
Step S1 extracts long code generation local reference signal sequence
According to local zone time t0, take [t0 t0+ t] duration time period for t long code data, according to sample rate fsGeneration
Local reference signal sequence p (n), p (n) is { p (0) p (1) ... p (tfs)}；
Step S2 input signals peel off carrier wave
With sample rate fsInput signal is sampled, the input signal of (T+t) second is gathered, wherein T is default pseudo-code
Search uncertain time scope, input signal complex signal sequence s (n) is generated after peeling off carrier wave, and s (n) is { s (0) s (1) ... s
[(T+t)fs]}。
Step S3 distributes data space, transmits data to GPU equipment ends
It is that input signal complex signal sequence s (n) and local reference signal sequence p (n) distribution storage are empty in GPU equipment ends
Between, using cudaMemcpy () function by input signal complex signal sequence s (n) and local reference signal sequence p (n) by main frame
End copies GPU equipment ends to；
The segmentation of step S4 input signal complex signals overlapping sequences is divided, local signal sequence zero padding extension
Input signal complex signal Sequence Overlapping Fragment is divided, m sequence s is obtainedi(n) i=0,1 ..., (m-1),
Local signal sequence p (n) is supplemented into Tfs/ m 0, obtain sequence p0m(n)；
Step S5 creates Fourier transformation plan
Call function cufftPlan1d (), cufftPlanMany () create Fourier transformation plan；
Step S6 batch processings calculate signal sequence Fourier transformation
Call function cufftExecC2C (), cufftExecR2C (), batch processing calculate the m sequence s that segmentation is dividedi
The Fourier transformation sequence S of (n)i(k) and local signal sequence p0mThe Fourier transformation sequence P of (n)0m(k)；
Step S7 frequency domains are conjugated multiplication
The node-by-node algorithm S in GPUi(k) and P0mK the conjugate product of (), obtains sequence Yim(k)；
Step S8 obtains multistage sequence of correlation values against FFT, and whole sequence of correlation values is obtained after splicing
Call function cufftExecC2C () calculates YimK the inverse FFT of (), obtains m circulation correlated series yim(n), interception
The preceding Tf of each correlated seriess/ m value yiN (), obtains sequence of correlation values r (n) in the range of whole uncertain time after splicing；
Step S9 calculates sequence of correlation values modulus value
The modulus value of node-by-node algorithm sequence of correlation values r (n), obtains modulus value sequence M (n) in GPU；
Step S10 signal detections
The maximum of search M (n), judges whether to exceed detection threshold, and determine code phase values td。
Compared with prior art, the beneficial effects of the invention are as follows：
A large amount of code phase search problems during for long period pseudo-code Direct Acquisition, the present invention proposes a kind of based on GPU's
Long code segmentation overlay local correlation catching method, by input signal sequence segment processing, the search process of each segment signal sequence
Process is using the long code part correlation Direct Acquisition Methods based on GPU, each segment signal sequence search parallel batching.To input number
Divided according to segmentation, reduce the scale and memory requirement of data processing, the GPU for adapting to different performance is realized, the division to data
Be conducive to polycaryon processor simultaneously carries out parallel task treatment to data, can give full play to the parallel processing advantage of multinuclear.Base
In the long code segmentation overlay local correlation catching method of GPU, carried out parallel using hundreds of FPU Float Point Unit in GPU
FFT computings, improve long code pseudo-code phase acquisition speed, satellite navigation spread-spectrum signal software is received and is had great significance.
The methods such as the inventive method and average search method, XFAST are used in combination and can further improve search speed.The party
Method improves the real-time of long code Direct Acquisition, realizes the long code direct time-domain capture based on GPU, is realized compared in FPGA
Method, modification is flexible, can be widely applied to signal monitoring receive, the long code Direct Acquisition of central station signal transacting.
With further enhancing for GPU operational capabilities, can be in the more frequency cells of frequency domain search based on GPU, can
Carry out the noncoherent accumulation of longer time such that it is able to treatment more Larger Dynamic, the signal of more low signal-to-noise ratio, improve system treatability
Can index.
Brief description of the drawings
Fig. 1 is the long code segmentation overlay local correlation catching method flow chart based on GPU that the present invention is provided；
Fig. 2 is that the present invention provides input signal division methods schematic diagram in long code segmentation overlay local correlation catching method；
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
For long period pseudo-code, as a example by GPS P yards, PN-code capture is 7 days, the pseudo-code in whole capture process time section
Do not repeat, it is impossible to the related operation of whole PN-code capture is carried out as short code.
First according to local zone time t0, take [t0 t0+ t] duration time period for t long code data, generation sample rate be
fs, the duration for t local reference signal sequence p (n), p (n) be { p (0) p (1) ... p (tfs)}.Will locally with reference to letter
Number sequence p (n) supplement TfsIndividual 0, obtain p0(n), i.e.,
The pseudo- bit rate of note is fp, with sample rate fs(fs＞ 2fp) input signal is sampled, gather the input of (T+t) second
Signal, wherein T are uncertain time scope, and it is s (n) to peel off the input signal complex signal sequence after carrier wave, and s (n) is { s (0) s
(1) … s[(T+t)fs]}.In whole phase space to be searched, Tf is hadsIndividual possible pseudo-code phase value.S (n) and p0
N sequence of correlation values r (n) of () is calculated such as formula (2)：
Wherein n=0,1 ... TfS, i is an intermediate variable, from 0 to (T+t) fsNatural number.
In order to accelerate the speed of relevant search, sequence of correlation values r (n) is calculated using FFT.Short cycle PN-code spread-spectrum signal is used
When FFT methods calculate correlation, due to the cycle repeatability of pseudo-code, the relevant search in process time section is the related fortune of circulation
Calculate, can directly apply fft algorithm.Long period Pseudo Code Spread Spectrum signal pseudo-code in process time section is not repeated, signal relevant search
Process be the linear correlation computing of input signal and local signal, it is necessary to change into circulation it is related after could apply fft algorithm.Will
The cycle of s (n) expands sequence and is designated asp0N the cycle of () expands sequence and is designated asThen s (n) and p0The circulation phase of (n)
Close sequences yT+tN () is calculated such as formula (3)：
Wherein RT+tN () is rectangle sequence, expression takes length for (T+t) fsMain value sequence.
The discrete Fourier transform of note s (n) is S (k), p0N the discrete Fourier transform of () is P0(k), yT+t(n) it is discrete
Fourier transformation is YT+t(k), by (3) Shi Ke get
WhereinRepresent P0The conjugation (4) of (k)
Result to frequency-domain calculations takes against FFT and can obtain
yT+t(n)=IFFT [YT+t(k)] (5)
Take circulation correlated series yT+tThe preceding Tf of (n)s+ 1 value, gives up rear tfsIndividual value, that is, obtain uncertain time scope T
Interior sequence of correlation values r (n).
If input signal sequence is more long, can be by input signal sequence segment processing, the search of each segment signal sequence
, using the above-mentioned correlation Direct Acquisition Methods of the long code part based on GPU, each segment signal search process process can for processing procedure
Carried out parallel using polycaryon processor, the division of its input signal sequence is as shown in Figure 2.
Input signal sequence is divided into m sections, each section of sequence time duration is T/m+t, the overlapping sequences time with it is local
The reference signal sequence duration is identical, is t.Then each subsequence siN () is：
{s(iTfs/m),s(iTfs/m+1),…,s[(i+1)Tfs/m+tfs] wherein i=0,1 ..., (m-1)
Sequence p (n) is supplemented into Tfs/ m 0, obtain p0m(n), using the local correlation code phase space search of above-mentioned derivation
Method, calculates si(n) and p0mThe correlation subsequence y of (n)i(n)：
{y(iTfs/m),y(iTfs/m+1),…,y[(i+1)Tfs/m]}
All of yiSequence of correlation values r (n) in the range of whole uncertain time is can obtain after (n) splicing.
There is hundreds of floating point processor, its Fast Fourier Transform (FFT) storehouse cuFFT makes full use of substantial amounts of place in GPU
Reason device resource carries out FFT computings, in cuFFT function libraries, the multigroup different data that FFT function can simultaneously to being input into
FFT batch operation is carried out, long code segmentation overlay local correlation catching method can be realized accordingly.
The present invention proposes a kind of long code segmentation overlay local correlation catching method based on GPU, flow such as Fig. 1, its bag
Include following steps：
Step S1 extracts long code generation local reference signal sequence
According to local zone time t0, take [t0 t0+ t] duration time period for t long code data, according to sample rate fsGeneration
Local reference signal sequence p (n), p (n) is { p (0) p (1) ... p (tfs)}；
Step S2 input signals peel off carrier wave
With sample rate fsInput signal is sampled, the input signal of (T+t) second is gathered, wherein T is default pseudo-code
Search uncertain time scope, input signal complex signal sequence s (n) is generated after peeling off carrier wave, and s (n) is { s (0) s (1) ... s
[(T+t)fs]}。
Step S3 distributes data space, transmits data to GPU equipment ends
It is that input signal complex signal sequence s (n) and local reference signal sequence p (n) distribution storage are empty in GPU equipment ends
Between, using cudaMemcpy () function by input signal complex signal sequence s (n) and local reference signal sequence p (n) by main frame
End copies GPU equipment ends to；
The segmentation of step S4 input signal complex signals overlapping sequences is divided, local signal sequence zero padding extension
Input signal complex signal Sequence Overlapping Fragment is divided, m sequence s is obtainedi(n) i=0,1 ..., (m-1),
Local signal sequence p (n) is supplemented into Tfs/ m 0, obtain sequence p0m(n)；
Step S5 creates Fourier transformation plan
Call function cufftPlan1d (), cufftPlanMany () create Fourier transformation plan；
Step S6 batch processings calculate signal sequence Fourier transformation
Call function cufftExecC2C (), cufftExecR2C (), batch processing calculate the m sequence s that segmentation is dividedi
The Fourier transformation sequence S of (n)i(k) and local signal sequence p0mThe Fourier transformation sequence P of (n)0m(k)；
Step S7 frequency domains are conjugated multiplication
The node-by-node algorithm S in GPUi(k) and P0mK the conjugate product of (), obtains sequence Yim(k)；
Step S8 obtains multistage sequence of correlation values against FFT, and whole sequence of correlation values is obtained after splicing
Call function cufftExecC2C () calculates YimK the inverse FFT of (), obtains m circulation correlated series yim(n), interception
The preceding Tf of each correlated seriess/ m value yiN (), obtains sequence of correlation values r (n) in the range of whole uncertain time after splicing；
Step S9 calculates sequence of correlation values modulus value
The modulus value of node-by-node algorithm sequence of correlation values r (n), obtains modulus value sequence M (n) in GPU；
Step S10 signal detections
The maximum of search M (n), judges whether to exceed detection threshold, and determine code phase values td。
It is assumed that false-alarm probability Pfa=10-8, then by formula (6)
σ in formulanIt is noise mean square root value, obtains decision threshold VtIt is 6.07 σn, thus calculate the minimum signal to noise ratio S/ that must be needed
N is 12.7dB.Carrier-to-noise ratio C/N0With Between Signal To Noise Ratio such as formula (7)：
C/N0=S/N-10logT (7)
T represents coherent integration time in formula.
When there is Doppler error feWhen, dependent loss L is calculated to obtain by formula (8)：
L=20log [sinc (π feT)] (8)
By formula (7) and formula (8), as input signal C/N0During ＞ 55.7dBHz, local reference signal sequence time duration t
0.05ms is taken, in Doppler spread [- 5kHz, 5kHz], dependent loss is no more than 1dB.Searched for using the inventive method and determined
After pseudo-code phase, a set of segmentation sequence of correlation values is recycled to carry out Doppler-frequency estimation, in order to improve the accurate of Frequency Estimation
Degree, will be segmented sequence of correlation values trailing zero, and signal Doppler's initial value is estimated to the conversion of zero padding sequence FFT.Work as input signal
C/N0During ＞ 42.7dBHz, local reference signal sequence time duration t takes 1ms, at Doppler spread [- 250Hz, 250Hz]
Interior, dependent loss is no more than 1dB, in order to cover whole Doppler's uncertain region, it is necessary to incite somebody to action this using the method that frequency domain is shifted
Ground zero padding sequence Doppler-shift shift compensation search Doppler, 21 Doppler's grooves of repeat search, so as to complete long code successively
Time-frequency two-dimensional search.
The explanation of the preferred embodiment of the present invention contained above, this be in order to describe technical characteristic of the invention in detail, and
Be not intended to be limited in the content of the invention in the concrete form described by embodiment, carry out according to present invention purport other
Modification and modification are also protected by this patent.The purport of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (1)
1. a kind of long code segmentation overlay local correlation catching method based on GPU, it is characterised in that comprise the following steps：
Step S1 extracts long code generation local reference signal sequence
According to local zone time t0, take [t0t0+ t] duration time period for t long code data, according to sample rate fsThe local ginseng of generation
Signal sequence p (n) is examined, p (n) is { p (0) p (1) ... p (tfs)}；
Step S2 input signals peel off carrier wave
With sample rate fsInput signal is sampled, the input signal of (T+t) second is gathered, wherein T is that default pseudo-code is searched for not
Determine time range, input signal complex signal sequence s (n) is generated after peeling off carrier wave, s (n) is { s (0) s (1) ... s [(T+t)
fs]}；
Step S3 distributes data space, transmits data to GPU equipment ends
It is that input signal complex signal sequence s (n) and local reference signal sequence p (n) distribute memory space in GPU equipment ends, makes
Input signal complex signal sequence s (n) and local reference signal sequence p (n) are copied by host side with cudaMemcpy () function
To GPU equipment ends；
The segmentation of step S4 input signal complex signals overlapping sequences is divided, local signal sequence zero padding extension
Input signal complex signal Sequence Overlapping Fragment is divided, m sequence s is obtainedi(n) i=0,1 ..., (m-1) incite somebody to action this
Earth signal sequence p (n) supplements Tfs/ m 0, obtain sequence p0m (n)；
Step S5 creates Fourier transformation plan
Call function cufftPlan1d (), cufftPlanMany () create Fourier transformation plan；
Step S6 batch processings calculate signal sequence Fourier transformation
Call function cufftExecC2C (), cufftExecR2C (), batch processing calculate the m sequence s that segmentation is dividedi(n)
Fourier transformation sequence Si(k) and local signal sequence p0mThe Fourier transformation sequence P of (n)0m(k)；
Step S7 frequency domains are conjugated multiplication
The node-by-node algorithm S in GPUi(k) and P0mK the conjugate product of (), obtains sequence Yim(k)；
Step S8 obtains multistage sequence of correlation values against FFT, and whole sequence of correlation values is obtained after splicing
Call function cufftExecC2C () calculates YimK the inverse FFT of (), obtains m circulation correlated series yimN (), intercepts each
The preceding Tf of correlated seriess/ m value yiN (), obtains sequence of correlation values r (n) in the range of whole uncertain time after splicing；
Step S9 calculates sequence of correlation values modulus value
The modulus value of node-by-node algorithm sequence of correlation values r (n), obtains modulus value sequence M (n) in GPU；
Step S10 signal detections
The maximum of search M (n), judges whether to exceed detection threshold, and determine code phase values td。
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| CN107728167A (en) * | 2017-09-21 | 2018-02-23 | 滁州学院 | A kind of anti-drying method of GPS satellite navigation receiver analyzed based on cyclostationary characteristic with circulating filtering |
| CN108732558A (en) * | 2018-03-26 | 2018-11-02 | 东南大学 | A kind of matched filtering computational methods based on copy signal subsection |
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| CN110907961A (en) * | 2019-07-25 | 2020-03-24 | 南京航空航天大学 | Long code capturing method based on truncation incoherent accumulation |
| CN112684479A (en) * | 2020-11-23 | 2021-04-20 | 中国人民解放军国防科技大学 | Secondary capturing method of navigation receiver and navigation receiver thereof |
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| CN115113243A (en) * | 2022-08-29 | 2022-09-27 | 中国人民解放军国防科技大学 | Navigation signal capturing method combined with frequency interpolation estimation |
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| CN107728167A (en) * | 2017-09-21 | 2018-02-23 | 滁州学院 | A kind of anti-drying method of GPS satellite navigation receiver analyzed based on cyclostationary characteristic with circulating filtering |
| CN108732558A (en) * | 2018-03-26 | 2018-11-02 | 东南大学 | A kind of matched filtering computational methods based on copy signal subsection |
| CN108732558B (en) * | 2018-03-26 | 2021-08-24 | 东南大学 | Matched filtering calculation method based on copy signal segmentation |
| CN110413256A (en) * | 2019-07-23 | 2019-11-05 | 江苏芯盛智能科技有限公司 | A kind of binary random sequence detection method, system, equipment and computer media |
| CN110907961A (en) * | 2019-07-25 | 2020-03-24 | 南京航空航天大学 | Long code capturing method based on truncation incoherent accumulation |
| CN110907961B (en) * | 2019-07-25 | 2023-10-24 | 南京航空航天大学 | Long code capturing method based on truncated incoherent accumulation |
| CN112684479A (en) * | 2020-11-23 | 2021-04-20 | 中国人民解放军国防科技大学 | Secondary capturing method of navigation receiver and navigation receiver thereof |
| CN113820731A (en) * | 2021-11-24 | 2021-12-21 | 湖南跨线桥航天科技有限公司 | Method and system for capturing non-periodic long code signal of satellite navigation receiver |
| CN113820731B (en) * | 2021-11-24 | 2022-06-10 | 湖南跨线桥航天科技有限公司 | Method and system for capturing non-periodic long code signal of satellite navigation receiver |
| CN115113243A (en) * | 2022-08-29 | 2022-09-27 | 中国人民解放军国防科技大学 | Navigation signal capturing method combined with frequency interpolation estimation |
| CN115113243B (en) * | 2022-08-29 | 2022-11-15 | 中国人民解放军国防科技大学 | Navigation signal capturing method combined with frequency interpolation estimation |
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