CN106842243B - A kind of satellite navigation half cycle transition detection method and device - Google Patents
A kind of satellite navigation half cycle transition detection method and device Download PDFInfo
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- CN106842243B CN106842243B CN201611192192.6A CN201611192192A CN106842243B CN 106842243 B CN106842243 B CN 106842243B CN 201611192192 A CN201611192192 A CN 201611192192A CN 106842243 B CN106842243 B CN 106842243B
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- telegraph text
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Abstract
The invention discloses a kind of satellite navigation half cycle transition detection method and device, half cycle transition detection method mainly realizes process are as follows: judges whether current telegraph text data sign bit and previous frame telegraph text data sign bit are identical, if they are the same, then carries out half cycle jump correction；Otherwise, judge the whether same symbol of the last M integral accumulation of current telegraph text data, if, current telegraph text data sign bit and the whether same symbol of last M integral accumulation are then judged, if so, determining that there is no the jumps of carrier phase half cycle for current telegraph text data position, otherwise, half cycle jump correction is carried out.The present invention does not need to read the initial and end phase information of the phase information of each pseudo-code width and each data bit, only need the discontinuous coherent integration data by reading each data bit, and the phase information of each data bit, to accurately judge position and the correction of half cycle jump, method is simple, it is accurate to resolve, conducive to the realization of hardware receiver.
Description
Technical field
The present invention relates to high-precision satellite navigation receiver, especially a kind of satellite navigation half cycle transition detection method and dress
It sets.
Background technique
The of short duration losing lock of carrier wave ring, causing complete cycle to count the reason of there is a phenomenon where mistake is known as cycle slip, causes cycle slip can divide
For two classes: receiving signal intensity and receiver failure.Receiving signal intensity mainly includes satellite-signal interruption, received signal power
Reduction, influence of multipath signal etc.；Receiver may also cause cycle slip when breaking down, and if crystal oscillator is unstable, loop parameter is set
It sets unreasonable etc..In addition, it can also happen that cycle slip when receiver is interfered by external signal.For satellite navigation receiver,
Can be by using ambiguity of carrier phase estimation method, estimated accuracy is estimated much higher than half cycle fuzziness, can detect
The complete cycle jump of carrier phase out, however can not detect the half cycle jump of carrier phase.Half cycle jump will lead to the anti-of data
To, cause resolve malfunction.Therefore, the presence of detection half cycle jump and specific location are the key that high-precision satellite navigation receivers
Place.
Currently, most half cycle transition detection methods, requires the continuous information using phase.Wherein, patent of invention is " fast
Fast cycle slips detection and correction " (publication number: CN102439928) utilizes the last synchronizing symbol phase calculation phase of synchronizing symbol block
Fuzzy angle, and judge the difference at the phase ambiguity angle at phase ambiguity angle and previous calculating that it is calculated, and then judge cycle slip.
The method needs to know the phase information of each symbolic information.And for satellite navigation receiver, read each puppet
The phase information complexity with higher of code (1ms) width.
" a kind of detection method of cycle slip, device and receiver " (grant number: CN103547344B) needs in addition, patent of invention
It will be by utilizing each training sequence original phase information and terminating phase information, and then judge cycle slip.This method needs
Accurately know the initial of each training sequence (pseudo-code) and terminate code phase information, needs to accurately calculate the instantaneous shape of phase hit
State is unfavorable for the realization of hardware receiver.
Summary of the invention
The technical problem to be solved by the present invention is in view of the shortcomings of the prior art, provide a kind of satellite navigation half cycle jump
Detection method and device.
In order to solve the above technical problems, the technical scheme adopted by the invention is that: a kind of satellite navigation half cycle transition detection
Method, this method mainly realize process are as follows: judge current telegraph text data sign bit and previous frame telegraph text data sign bit whether phase
Together, if they are the same, then half cycle jump correction is carried out；Otherwise, judge the last M integral accumulation of current telegraph text data whether with symbol
Number, if so, current telegraph text data sign bit and the whether same symbol of last M integral accumulation are judged, if so, determining current
There is no the jumps of carrier phase half cycle for telegraph text data position, otherwise, carry out half cycle jump correction.
The detailed process for carrying out half cycle jump correction includes: when there are the jumps of carrier phase half cycle for current telegraph text data position
When, carrier phase is overturn into 180 degree, i.e., since the moment of next telegraph text data position, carries out telegraph text data turning operation.
The telegraph text data bit sign takes symbol to obtain by the sum of N number of discontinuous relevant integral accumulation；N is equal to text number
According to time width divided by coherent integration time length；Wherein, the telegraph text data time width of GPS signal is 20ms, the non-GEO of Beidou
The telegraph text data time width of star signal is 20ms, and the telegraph text data time width of GLONASS signal is 10ms；If coherent integration
Time takes 1ms, then the non-GEO star signal of GPS signal, Beidou, the value of N is respectively 20,20,10 in GLONASS signal.
It is compared by large scale experiment, finds a quarter that the value of M is N to the integer between 1/5th, detection
Accuracy reaches 99% or more.
Correspondingly, the present invention also provides a kind of satellite navigation half cycle transition detection devices, comprising:
Antenna: for receiving the radiofrequency signal of required frequency point；
Radio-frequency channel: for the radiofrequency signal of required frequency point to be down-converted to intermediate-freuqncy signal；
Trapping module: for carrying out signal capture detection using the intermediate-freuqncy signal；
Tracking module: the signal for capturing to trapping module track and lock-in detection；
Bit sync module: the signal for locking to tracking module carries out bit synchronous operation, rejects the influence of NH code；
Frame synchronization module: for carrying out frame synchronization operation to the signal for rejecting the influence of NH code；
Message processing module: for defeated N number of non-company to each data bit of frame synchronization module treated telegraph text data
Continuous coherent integration accumulated value, and N number of discontinuous relevant integral accumulation of the value and data bit to current telegraph text data position carries out
Half cycle transition detection simultaneously corrects.
Compared with prior art, the advantageous effect of present invention is that: the present invention does not need to read each pseudo-code width
Phase information and each data bit initial and terminate phase information, it is only necessary to pass through the non-company for reading each data bit
The phase information of continuous coherent integration data and each data bit, to accurately judge the position of half cycle jump and correction, method
Simply, it is accurate to resolve, conducive to the realization of hardware receiver.
Detailed description of the invention
Fig. 1 is apparatus of the present invention structural block diagram；
Fig. 2 is the method for the present invention flow chart.
Specific embodiment
As shown in Figure 1.Wherein, the function of modules of the present invention and whole implementation process are as follows:
Step 1: the radiofrequency signal of required frequency point is down-converted to respectively by intermediate-freuqncy signal by radio-frequency channel；
Step 2: intermediate-freuqncy signal carries out signal capture detection by trapping module；
Step 3: track simultaneously lock-in detection to the signal captured；
Step 4: bit synchronous operation being carried out to locking signal, rejects the influence of NH code；
Step 5: frame synchronization operation is carried out to signal；
Step 6: message processing module exports N number of discontinuous relevant integral accumulation of each data bit；
Step 7: N number of discontinuous relevant product of value and data bit to the current telegraph text data position of signal processing module output
Divide accumulated value to carry out half cycle transition detection and corrects.
The principle and specific implementation process of half cycle transition detection proposed by the present invention include:
1, judge whether this telegraph text data position integrally has half cycle jump；
It is compared by the telegraph text data bit sign using this telegraph text data bit sign and previous frame, if symbol is identical,
Rejecting half cycle slip of telegraph text data bit flipping bring may；Otherwise it is assumed that there are cycle slips for notebook data position.The inspection of telegraph text data bit sign
It surveys and takes symbol to obtain by the superposition value of N number of discontinuous relevant integral accumulation.
2, judge to jump in telegraph text data position with the presence or absence of half cycle.
For not homologous ray, different frequency points, the data time length of different each data bit of satellite is different.With Beidou
For No. 6 stars of system B1 frequency point, the time span of data bit is 20ms, each data bit by 20 1ms pseudo-code width group
At, and load NH code.The influence for rejecting NH code, for theory, the integration data of each 1ms width must same symbol.So
And it is jumped due to will lead to certain integral accumulations there are the jump of carrier wave half cycle, and then influence the consistency of data.Cause
This, this method judges cycle slip using telegraph text data position easy to use and M last discontinuous relevant integral accumulation modes
Position: the symbol for first determining whether last M discontinuous relevant integral accumulations is all the same symbol, if being all the same symbol,
Then judge whether current telegraph text data bit sign is not identical as this M integral accumulation symbol, then assert current text if they are the same
Half cycle jump has occurred in data bit；If the symbol of last M discontinuous relevant integral accumulations is not identical, or current text number
It is identical as this M integral accumulation symbol according to bit sign, then assert that there is no half cycle jumps for current telegraph text data position.
3, half cycle jump correction.
If judging, there are half cycle slips of carrier phase for notebook data position, overturn 180 degree for carrier phase, i.e., from next data
The position moment carries out Data flipping operation (Data flipping is exactly by data symbol by just becoming negative or being become just by negative).
Specific implementation and algorithm flow chart are as shown in Figure 2.
Claims (4)
1. a kind of satellite navigation half cycle transition detection method, which is characterized in that this method mainly realizes process are as follows: the current electricity of judgement
Whether literary data symbol position and previous frame telegraph text data sign bit are identical, if they are the same, then carry out half cycle jump correction；Otherwise, sentence
The whether same symbol of the last M integral accumulation of current telegraph text data sign bit of breaking, if so, judging current telegraph text data sign bit
With the whether same symbol of last M integral accumulation, if so, determining current telegraph text data sign bit, there is no carrier phase half cycles
Otherwise jump carries out half cycle jump correction；The telegraph text data sign bit is taken by the sum of N number of discontinuous relevant integral accumulation
Symbol obtains；N is equal to telegraph text data time width divided by coherent integration time length；If coherent integration time takes 1ms, GPS
The value of N is respectively 20,20,10 in the non-GEO star signal of signal, Beidou, GLONASS signal.
2. satellite navigation half cycle transition detection method according to claim 1, which is characterized in that carry out half cycle jump correction
Detailed process include: when current telegraph text data sign bit there are carrier phase half cycle jump when, by carrier phase overturn 180
Degree carries out telegraph text data turning operation that is, since next telegraph text data sign bit moment.
3. satellite navigation half cycle transition detection method according to claim 1, which is characterized in that the value of M is four points of N
One of to the integer between 1/5th.
4. a kind of satellite navigation half cycle transition detection device characterized by comprising
Antenna: for receiving the radiofrequency signal of required frequency point；
Radio-frequency channel: for the radiofrequency signal of required frequency point to be down-converted to intermediate-freuqncy signal；
Trapping module: for carrying out signal capture detection using the intermediate-freuqncy signal；
Tracking module: the signal for capturing to trapping module track and lock-in detection；
Bit sync module: the signal for locking to tracking module carries out bit synchronous operation, rejects the influence of NH code；
Frame synchronization module: for carrying out frame synchronization operation to the signal for rejecting the influence of NH code；
Message processing module: for defeated to the N number of of frame synchronization module treated telegraph text data each telegraph text data sign bit
Discontinuous relevant integral accumulation, and N number of discontinuous phase of the value and telegraph text data sign bit to current telegraph text data sign bit
Dry integral accumulation carries out half cycle transition detection and corrects.
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| CN112731455B (en) * | 2020-12-22 | 2024-01-23 | 湖南北云科技有限公司 | Carrier wave half cycle jump detection method, baseband chip and satellite navigation receiver |
| CN113406681B (en) * | 2021-05-27 | 2022-07-08 | 中国人民解放军国防科技大学 | Carrier phase semi-cycle fuzzy rapid detection method and device |
| CN114217328B (en) * | 2022-02-21 | 2022-05-17 | 长沙金维信息技术有限公司 | Navigation message half-cycle jump detection method |
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| US5847680A (en) * | 1997-12-05 | 1998-12-08 | Trimble Navigation Limited | GPS receiver having fast resolution of carrier phase ambiguity |
| CN102439928A (en) * | 2009-05-29 | 2012-05-02 | 汤姆森特许公司 | Fast cycle slip detection and correction |
| CN104898145A (en) * | 2015-06-25 | 2015-09-09 | 和芯星通科技(北京)有限公司 | Ambiguity fixing method and system based on semi-cycle ambiguity |
| CN104931980A (en) * | 2015-03-10 | 2015-09-23 | 中国电子科技集团公司第十研究所 | Carrier phase measurement semi-cycle fuzzy relieving method |
| CN105301618A (en) * | 2015-10-22 | 2016-02-03 | 北京理工大学 | Method of fixing integer ambiguity when carrier phase generates half cycle slip |
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2016
- 2016-12-21 CN CN201611192192.6A patent/CN106842243B/en active Active
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|---|---|---|---|---|
| US5847680A (en) * | 1997-12-05 | 1998-12-08 | Trimble Navigation Limited | GPS receiver having fast resolution of carrier phase ambiguity |
| US6150978A (en) * | 1997-12-05 | 2000-11-21 | Trimble Navigation Limited | GPS receiver having fast resolution of carrier phase ambiguity |
| CN102439928A (en) * | 2009-05-29 | 2012-05-02 | 汤姆森特许公司 | Fast cycle slip detection and correction |
| CN104931980A (en) * | 2015-03-10 | 2015-09-23 | 中国电子科技集团公司第十研究所 | Carrier phase measurement semi-cycle fuzzy relieving method |
| CN104898145A (en) * | 2015-06-25 | 2015-09-09 | 和芯星通科技(北京)有限公司 | Ambiguity fixing method and system based on semi-cycle ambiguity |
| CN105301618A (en) * | 2015-10-22 | 2016-02-03 | 北京理工大学 | Method of fixing integer ambiguity when carrier phase generates half cycle slip |
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