CN106908810A - A kind of many long code complex navigation signal phase consistency calibration methods - Google Patents

Abstract

A kind of many long code complex navigation signal phase consistency calibration methods, are related to navigational satellite system high-precision applications field；Pilot tone long code baseband sample point data and complex base band navigation signal in local complex navigation signal are won first, and both relevant treatments obtain correlation peak point sequence number P；Local data long code baseband sample is won according to length is won, and determines to win the information bit number M included in numeric data code branch road in navigation signal in length, generation 2^M-1Possible information bit sample is planted, respectively with the local data long code baseband sample spread processing won, then is processed with the complex field base band navigation signal won, determine each peak value of relevant treatment, seek maximum and corresponding sample point sequence number D in each peak value.Last D and P asks poor, is calculated with the phase equalization between two long codes that navigation signal pilot code is reference according to sample rate.Realize the precision calibration of the phase equalization of each code under various long code combining cases of navigation signal generator.

Description

A kind of many long code complex navigation signal phase consistency calibration methods

Technical field

The present invention relates to a kind of navigational satellite system high-precision applications field, particularly a kind of many long code complex navigation signals Phase equalization scaling method.

Background technology

GLONASS (Global Navigation Satellite System, GNSS) has become one kind Infrastructure, in order to improve the utilization rate of navigation signal frequency band, and meets the user's request of various different positioning precisions, modern Navigation signal often by the way of various navigation signal branch roads are compound, on same carrier frequency point, while loading multiple E1 signals in the navigation signal of different pseudo noise codes and modulation system, such as Galileo satellite signal system, in 1575.42MHz Using CBOC, (6, Isosorbide-5-Nitrae/33) and BOC (15,2.5) modulation system, generation contain the E1B signals and bag of data in carrier frequency Three branch road navigation signals of E1C signals and E1A signals containing pilot frequency information.In addition, in modern Navigation Signal System, in order to simultaneous The demand of anti-interference, fast Acquisition tracking and higher precision is turned round and look at, pseudo noise code long, pilot code sum are used to some navigation signals According to the multiple means such as separating, the pilot tone branch road L1Cp cycles grow up 18s in the L1C signals of the signal system of GPS-III satellites.

In many high-precision applications of navigational satellite system, in order to improve the range accuracy and acquisition speed of receiver, Need to obtain accurate delay inequality between the pseudo-random code phases of each navigation signal branch road of same frequency, i.e., be exactly to need accurate marking The phase equalization of the pseudo noise code of fixed same each navigation signal branch road of frequency.

At present, the scaling method of navigation signal channel phase consistency observes permanent envelope navigation signal using high-speed oscilloscope Trapping spot under envelope in waveform, concrete methods of realizing is shown in document《Absolute calibration of a geodetic time transfer system》(IEEE Transaction on Ultrasonics,and Ferroelectrics,and Frequency Control, Vol.52, No.11, pp1904-1911), this method can only realize simple BPSK modulation letter Number waveform, is not suitable for the compound complex modulated signal waveform of modern multichannel, and stated accuracy is poor, and error reaches 4~5ns of number.

The content of the invention

A kind of above-mentioned deficiency it is an object of the invention to overcome prior art, there is provided many long code complex navigation signal phases Consistency calibration method, realizes the accurate mark of the phase equalization of each code under various long code combining cases of navigation signal generator It is fixed.

Above-mentioned purpose of the invention is achieved by following technical solution：

A kind of many long code complex navigation signal phase consistency calibration methods, many long code complex navigation signal phase uniformity Scaling method comprises the following steps：

Step (1), the navigation signal and pps pulse per second signal that are exported to navigation signal generator by high-speed a/d sampler Synchronize sampling；Obtain the sample of navigation signal sampled data and pps pulse per second signal sampled data；Each sample is simultaneously A navigation signal sampled data and a pps pulse per second signal sampled data are corresponded to respectively；Wherein pps pulse per second signal sampled data bag Include level steps section and the data in level sustained segment；Navigation signal sampled data includes that pilot tone tributary signal and data branch road are believed Number, wherein pilot tone tributary signal and data tributary signal are made up of the pseudorandom spread spectrum code of long code；

Step (2), the pulse per second (PPS) estimate for calculating pps pulse per second signal sampled dataAccording to the second that satellite system specifies Pulse voltage value and threshold value, to pulse per second (PPS) estimateJudge；Determine the sample of pps pulse per second signal sampled data level steps section This sequence number, sample point sequence number number consecutively since 1；

Step (3), the sample point sequence number according to pps pulse per second signal level steps section, corresponding sample in interception sample Navigation signal sampled data in this sequence number；Navigation signal sampled data to intercepting is carried out at Hilbert transform and down coversion Reason obtains complex field base band navigation signal；

Step (4), setting complex field base band navigation signal win length, win length for complex field base band is navigated letter The M information bit number duration that data tributary signal is included in number, M is positive integer, is calculated pending Complex field base band navigation signal the N that counts out；

Step (5), the N that counts out according to pending complex field base band navigation signal, by pilot tone branch road in step (1) The pseudorandom spread spectrum code of signal is repeated by the cycle, intercepts the data of N number of point starting point since complete cycle, that is, generate pilot tone it is pseudo- with The N number of local pilot tone long code sample data of machine spreading code starting complete cycle；

What is generated in the N number of local pilot tone long code sample data and step (3) that are generated in step (6), step (5) answers Number field base band navigation signal carries out correlation computations jointly, obtains the corresponding peak point sample of maximum correlation peak in correlation calculation result Sequence number P；

What is determined in step (7), step (4) wins comprising M information bit in length, generates 2^M-1Plant information bit Sample b_lN (), wherein n are positive integer, N is positive integer；The N of n=1,2,3 ...；L is positive integer, l=1,2,3 ... 2^M-1；Will 2^M-1Plant information bit sample b_lIn (n) and sampled data data tributary signal pseudorandom spread spectrum code y (n) | n=1,2 ..., N } spread processing is carried out, obtain 2^M-1Plant local reference sample

Step (8), the Related Computational Methods in step (6), respectively to 2 of generation in step (7)^M-1Plant local Reference sampleThe complex field base band navigation signal generated in step (3) carries out correlation computations；Determine each relevant treatment knot Correlation peak in fruit, obtains the corresponding peak point sample sequence number D of maximum in each correlation peak；

Step (9), the sample sequence number P that will be obtained in step (6) and the sample sequence number D obtained in step (8) ask poor, The time delay value Δ t of the delayed pilot tone of numeric data code is calculated according to sample rate, i.e., with pilot tone tributary signal in navigation signal as reference , the phase equalization between two pattern signals of pilot tone tributary signal and data tributary signal；To many long code complex navigations Signal phase uniformity is carried out in calibration process, if including various data long codes in navigation signal, repeat step () to step Suddenly (nine), the phase equalization between each numeric data code and pilot code is calculated.

In above-mentioned many long code complex navigation signal phase consistency calibration methods, in the step (1), navigation signal The pseudo noise code cycle of middle pilot signal and data-signal is 1.5 seconds；The navigation information bit rate of data signal modulation is 4kbps；Data sampling rate is adjusted according to the instrument and equipment performance for using, 1~10Gsa/s of adjustment speed.

In above-mentioned many long code complex navigation signal phase consistency calibration methods, in the step (2), pulse per second (PPS) is estimated EvaluationComputational methods be：Setting pps pulse per second signal level rank gets over the sampled data of sectionWherein i be positive integer, i=1, 2、3…N；Pulse per second (PPS) sequence number level rank gets over being modeled as section：y_i=b₀+b₁·i/f_s+ξ_i, wherein, b₀It is initial for sampled data Level；b₁It is level rate of change；ξ_iIt is random noise；f_sIt is sample frequency；y_iIt is the level value after pps pulse per second signal fitting；With Least square line the Fitting Calculation b₀And b₁：

Calculate pulse per second (PPS) estimate

In above-mentioned many long code complex navigation signal phase consistency calibration methods, in the step (2), it is determined that second arteries and veins The method of sample point sequence number for rushing signal sample data level steps section is：The pulse per second (PPS) voltage electricity high that setting satellite system specifies It is A to put down₁V, low level is 0V；The level excursion for estimating pulse per second (PPS) step section is 0~A₁v；Setting threshold value is A₂V；A₁For Positive integer；A₂It is positive integer；0 ＜ A₂＜ A₁；To pulse per second (PPS) estimateJudged；WhenMore than A₂When, export sampled data The sample point sequence number of level steps section.

In above-mentioned many long code complex navigation signal phase consistency calibration methods, in the step (3), to interception Navigation signal sampled data carries out the method that Hilbert transform and down-converted obtain complex field base band navigation signal d (i) For：

Set interception navigation signal sampled data asLength is Q, and Q is positive integer；

Wherein,It is i-th plural number；I=1,2,3 ... ..., Q；

c_iIt is local carrier data sample point；I=1,2,3 ... ..., Q；

Wherein, H () represents Hilbert transform；

Local carrier data sample point c_iFor：

Wherein：J is imaginary unit；

f_sIt is sample frequency；

f_cIt is known navigation signal centre frequency；

I=1,2,3 ... ..., Q.

It is pending in the step (4) in above-mentioned many long code complex navigation signal phase consistency calibration methods The computational methods of the N that counts out of complex field base band navigation signal are：It is t to set each information bit duration_b, then win Length duration is M × t_b；It is f according to sampling rate_s, i.e., sampling obtains f in 1 second_sIt is individual, obtain pending answering The N that counts out of number field base band navigation signal, N=M × t_b×f_s。

In above-mentioned many long code complex navigation signal phase consistency calibration methods, in the step (6), maximal correlation The computational methods of the corresponding sequence number P in peak are：

Win N number of local sample data of pilot tone pseudo-code, the calculating of complex frequency domain sample value C (k) of the local sample of pilot tone pseudo-code Method is：

Wherein：C (n) is local pilot tone long code sample data；

N is the number in calculating process, span n=1,2 ..., N-1；

J is imaginary unit；

K is the sequence number of the complex frequency domain sample of the local sample of pilot tone pseudo-code；

N number of complex field base band navigation signal data are won, amplitude-frequency sample point D (g) of navigation signal is calculated；

Wherein：D (n) is local data long code sample data；

N is the number in calculating process, span n=1,2 ..., N-1；

J is imaginary unit；

G is the sequence number of the complex frequency domain sample point of navigation signal；

Again to complex frequency domain by amplitude-frequency sample point D (g) of navigation signal and the complex frequency domain sample value C of the local sample of pilot tone pseudo-code K () is calculated, obtain correlated results z (n)：

Maximum is defined as sequence number P in search z (n).

In above-mentioned many long code complex navigation signal phase consistency calibration methods, in the step (7), by 2^M-1Plant letter Breath bit-pattern b_lIn (n) and sampled data data tributary signal pseudorandom spread spectrum code y (n) | n=1,2 ..., N } expanded Frequency is processed, and calculates local reference sampleMethod be：

In above-mentioned many long code complex navigation signal phase consistency calibration methods, in the step (8), each phase is calculated The method of the corresponding peak point sample sequence number D of maximum is in the peak value of pass：

Formula (7) and formula (9) are carried out 2 by the method for formula (8)^M-1Secondary correlation computations, obtain result：

SearchMiddle maximum is defined as sequence number D.

In above-mentioned many long code complex navigation signal phase consistency calibration methods, in the step (9), numeric data code is stagnant The computational methods of the time delay value Δ t of pilot tone are afterwards：

Δ t=(D-P)/f_s (10)。

The present invention has the following advantages that compared with prior art：

(1) present invention carries out phase equalization demarcation, number to navigation signal using directly A/D samplings at a high speed in numeric field Phase delay relation can be determined with precision between sample point in word processing, to be solved and receive unlike signal in conventional test device When receiving device itself null value inconsistence problems, eliminate the demarcation of the test equipment receiving channel inconsistent introducing of itself null value Error；

(2) present invention employs numeric field relevant treatment is used, the starting point of chip is determined by correlation peak, is demarcated Precision depends on sample frequency, and during sample frequency 10GHz, precision can reach 0.2ns, relatively conventional oscillograph observation precision It is 4~5ns, stated accuracy is improved more than an order of magnitude；

(3) relevant treatment is carried out present invention employs using part pseudo noise code, the data sample for reducing treatment is counted out, In the case where precision is ensured, the data volume of Digital Signal Processing is greatly lowered；

(4) present invention is made in the data for the treatment of with the local data sample that all possible signal bit is modulated It is reference, it is ensured that the correctness that the accurate and pseudo-code starting point of correlation peak is asked for.

Brief description of the drawings

Fig. 1 is many long code complex navigation signal phase consistency calibration method flow charts of the invention；

Fig. 2 is the power spectrum chart of many long code complex navigation sequence numbers of the invention；

Fig. 3 is that navigation signal generator pulse per second (PPS) of the present invention and step point obtain schematic diagram；

Fig. 4 is the local pilot code of the present invention and navigation signal relevant treatment curve map；

Fig. 5 is the numeric data code and navigation signal relevant treatment curve map of local spread spectrum of the invention；

Fig. 6 is many long code complex navigation signal phase consistency calibration method schematic diagrams of the invention.

Specific embodiment

The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：

It is as shown in Figure 1 many long code complex navigation signal phase consistency calibration method flow charts, as seen from the figure, many long codes Complex navigation signal phase consistency calibration method comprises the following steps：

Step (1), the navigation signal and pps pulse per second signal that are exported to navigation signal generator by high-speed a/d sampler Synchronize sampling；Obtain the sample of navigation signal sampled data and pps pulse per second signal sampled data；Each sample is simultaneously A navigation signal sampled data and a pps pulse per second signal sampled data are corresponded to respectively；Wherein pps pulse per second signal sampled data bag Include level steps section and the data in level sustained segment；Navigation signal sampled data includes that pilot tone tributary signal and data branch road are believed Number, wherein pilot tone tributary signal and data tributary signal are made up of the pseudorandom spread spectrum code of long code；

Wherein, the pseudo noise code cycle of pilot signal and data-signal is 1.5 seconds in navigation signal；Data signal modulation Navigation information bit rate is 4kbps；Data sampling rate is adjusted according to the instrument and equipment performance for using, and adjustment speed 1~ 10Gsa/s。

Step (2), the pulse per second (PPS) estimate for calculating pps pulse per second signal sampled dataAccording to the second that satellite system specifies Pulse voltage value and threshold value, to pulse per second (PPS) estimateJudge；Determine the sample of pps pulse per second signal sampled data level steps section This sequence number, sample point sequence number number consecutively since 1；

Pulse per second (PPS) estimateComputational methods be：Setting pps pulse per second signal level rank gets over the sampled data of sectionWherein I is positive integer, the N of i=1,2,3 ...；Pulse per second (PPS) sequence number level rank gets over being modeled as section：y_i=b₀+b₁·i/f_s+ξ_i, wherein, b₀For The original levels of sampled data；b₁It is level rate of change；ξ_iIt is random noise；f_sIt is sample frequency；y_iFor pps pulse per second signal is fitted Level value afterwards；With least square line the Fitting Calculation b₀And b₁：

Calculate pulse per second (PPS) estimate

The method of sample point sequence number for determining pps pulse per second signal sampled data level steps section is：Setting satellite system regulation Pulse per second (PPS) voltage high level be A₁V, low level is 0V；The level excursion for estimating pulse per second (PPS) step section is 0~A₁v；Set Threshold value is A₂V；A₁It is positive integer；A₂It is positive integer；0 ＜ A₂＜ A₁；To pulse per second (PPS) estimateJudged；WhenMore than A₂ When, the sample point sequence number of output sampled data level steps section.

Step (3), the sample point sequence number according to pps pulse per second signal level steps section, corresponding sample in interception sample Navigation signal sampled data in this sequence number；Navigation signal sampled data to intercepting is carried out at Hilbert transform and down coversion Reason obtains complex field base band navigation signal；

Navigation signal sampled data to intercepting carries out Hilbert transform and down-converted obtains complex field base band and leads Boat signal d (i) method be：

Set interception navigation signal sampled data asLength is Q, and Q is positive integer；

Wherein,It is i-th plural number；I=1,2,3 ... ..., Q；

c_iIt is local carrier data sample point；I=1,2,3 ... ..., Q；

Wherein, H () represents Hilbert transform；

Local carrier data sample point c_iFor：

Wherein：J is imaginary unit；

f_sIt is sample frequency；

f_cIt is known navigation signal centre frequency；

I=1,2,3 ... ..., Q.

Step (4), setting complex field base band navigation signal win length, win length for complex field base band is navigated letter The M information bit number duration that data tributary signal is included in number, M is positive integer, is calculated pending Complex field base band navigation signal the N that counts out；

Wherein, the computational methods of the N that counts out of pending complex field base band navigation signal are：Set each information bit Duration is t_b, then length duration is won for M × t_b；It is f according to sampling rate_s, i.e., sampled in 1 second and obtained f_sIt is individual, obtain the N that counts out, N=M × t of pending complex field base band navigation signal_b×f_s。

Step (5), the N that counts out according to pending complex field base band navigation signal, by pilot tone branch road in step (1) The pseudorandom spread spectrum code of signal is repeated by the cycle, intercepts the data of N number of point starting point since complete cycle, that is, generate pilot tone it is pseudo- with The N number of local pilot tone long code sample data of machine spreading code starting complete cycle；

What is generated in the N number of local pilot tone long code sample data and step (3) that are generated in step (6), step (5) answers Number field base band navigation signal carries out correlation computations jointly, obtains the corresponding peak point sample of maximum correlation peak in correlation calculation result Sequence number P；

The computational methods of the corresponding sequence number P of maximum correlation peak are：

Win N number of local sample data of pilot tone pseudo-code, the calculating of complex frequency domain sample value C (k) of the local sample of pilot tone pseudo-code Method is：

Wherein：C (n) is local pilot tone long code sample data；

N is the number in calculating process, span n=1,2 ..., N-1；

J is imaginary unit；

K is the sequence number of the complex frequency domain sample of the local sample of pilot tone pseudo-code；

N number of complex field base band navigation signal data are won, amplitude-frequency sample point D (g) of navigation signal is calculated；

Wherein：D (n) is local data long code sample data；

N is the number in calculating process, span n=1,2 ..., N-1；

J is imaginary unit；

G is the sequence number of the complex frequency domain sample point of navigation signal；

Again to complex frequency domain by amplitude-frequency sample point D (g) of navigation signal and the complex frequency domain sample value C of the local sample of pilot tone pseudo-code K () is calculated, obtain correlated results z (n)：

Maximum is defined as sequence number P in search z (n).

What is determined in step (7), step (4) wins comprising M information bit in length, generates 2^M-1Plant information bit Sample b_lN (), wherein n are positive integer, N is positive integer；The N of n=1,2,3 ...；L is positive integer, l=1,2,3 ... 2^M-1；Will 2^M-1Plant information bit sample b_lThe pseudorandom spread spectrum code { y (n) n=1,2 ..., N } of data tributary signal in (n) and sampled data Spread processing is carried out, 2 are obtained^M-1Plant local reference sample

By 2^M-1Plant information bit sample b_lIn (n) and sampled data data tributary signal pseudorandom spread spectrum code y (n) | n =1,2 ..., N } spread processing is carried out, calculate local reference sampleMethod be：

Step (8), the Related Computational Methods in step (6), respectively to 2 of generation in step (7)^M-1Plant local Reference sampleThe complex field base band navigation signal generated in step (3) carries out correlation computations；Determine each relevant treatment knot Correlation peak in fruit, obtains the corresponding peak point sample sequence number D of maximum in each correlation peak；

The method for calculating the corresponding peak point sample sequence number D of maximum in each correlation peak is：

Formula (7) and formula (9) are carried out 2 by the method for formula (8)^M-1Secondary correlation computations, obtain result：

SearchMiddle maximum is defined as sequence number D.

Step (9), the sample sequence number P that will be obtained in step (6) and the sample sequence number D obtained in step (8) ask poor, The time delay value Δ t of the delayed pilot tone of numeric data code is calculated according to sample rate, i.e., with pilot tone tributary signal in navigation signal as reference , the phase equalization between two pattern signals of pilot tone tributary signal and data tributary signal；To many long code complex navigations Signal phase uniformity is carried out in calibration process, if including various data long codes in navigation signal, repeat step () to step Suddenly (nine), the phase equalization between each numeric data code and pilot code is calculated.

The computational methods of the time delay value Δ t of the delayed pilot tone of numeric data code are：

Δ t=(D-P)/f_s (10)。

Embodiment：

If Fig. 6 is many long code complex navigation signal phase consistency calibration method schematic diagrams, as seen from the figure, key step is such as Under：

1st, device navigation signal generator output navigation signal and pps pulse per second signal are synchronized and is adopted with high-speed a/d sampler Sample, it is assumed here that the navigation signal centre frequency of navigation signal generator generation is 1575.42MHz, navigation signal includes BOC (6, the pilot signal of the modulation of Isosorbide-5-Nitrae/33) and the data-signal of BOC (1,1) modulation, the pseudo noise code of pilot signal and data-signal It is long code, the pseudo noise code cycle is 1.5 seconds, pilot signal not modulation data, the navigation information bit modulated on data-signal Rate is 4kbps, power spectrum signal as shown in Fig. 2 data sampling rate is 5Gsa/s.

2nd, carry out pps pulse per second signal to be processed, read the sampled data that pps pulse per second signal level rank gets over sectionPulse per second (PPS) sequence number level rank gets over section can be modeled as y_i=b₀+b₁·i/f_s+ξ_i, wherein b₀It is sampled data Original levels, b₁It is level rate of change, ξ_iIt is random noise, f_sIt is sample frequency, with least square line the Fitting Calculation b₀ And b₁：

Calculate pulse per second (PPS) estimate：

Threshold value and the pulse per second (PPS) value estimated are judged according to satellite system defined pulse per second (PPS) magnitude of voltage, pulse per second (PPS) electricity is determined The sample point sequence number of flat step point, as shown in Figure 3.

3rd, navigation signal is intercepted with pps pulse per second signal level steps point serial number datum mark, Hilbert change is carried out to signal Change and obtain complex field base band navigation signal with down-converted；Pair assume sampling navigation signal data group be expressed asLength is Q, carries out Hilbert transform：

H () represents Hilbert transform, plural array in formula

According to navigation signal centre frequency f_cWith sample frequency f_s, generate one group of local carrier data Wherein, each carrier data sample point is：

It is rightDown coversion is carried out, low frequency signal data are obtained：

4th, setting data wins length and is set to 1ms, and sample rate is 5Gsa/s, then by the use of 5Gsa/s within 1ms Speed is used, and can obtain N=5 × 10⁶Individual sample points evidence.

After determining pending complex field base band navigation signal sample points according to number N, for leading in navigation signal Frequency branch road long code carries out relevant treatment, it is necessary to generate the N number of local pilot tone of pilot frequency pseudo-random code starting complete cycle on this basis Long code sample data (known to pilot frequency pseudo-random spreading code).

5th, win N number of navigation signal data carries out relevant treatment with N number of local pilot tone long code sample data.

Pilot tone long code sample data local first carries out Fourier transform and transforms to complex field, then carries out conjugation treatment, Obtain the complex frequency domain sample value of local pilot tone long code sample：

In formula c (n) | n=1,2 ..., N } it is local pilot tone long code sample data.

Then the N number of navigation signal data won carry out Fourier transform, obtain the amplitude-frequency sample point of navigation signal：

After complex frequency domain is multiplied, carry out inverse Fourier transform, and modulus square：

Z (n) curves for obtaining are as shown in figure 4, search for the corresponding sequence number P of maximum in z (n).

6th, basis wins length and wins local data long code baseband sample, that is, be exactly to generate data with the sample rate of 5Gsa/s N=5e6 of starting pseudo noise code complete cycle local pilot tone long code sample data y (n) | n=1,2 ..., N }；

7th, the information bit number M included in numeric data code branch road in navigation signal in length, generation 2 are won^M-1Plant possible Information bit sample, the length 1ms for winning here, navigation information bit rate is 4kbps, therefore wins packet containing 4 bits Information.4 information of bit, have 2⁴Possible information is planted, due to quadratic relationship in relevant treatment, 4 message levels are complete It is identical that opposite a pair of information bits participation relevant treatment obtains result.Therefore it may only be necessary to carry out 2³Plant information bit and participate in phase Just satisfaction is actually needed to close treatment.

Taking institute's information bit has following eight kinds：

Sequence number	Information bit value
		1	1 1 1 1
2	1 1 1 -1
		3	1 1 -1 1
4	1 1 -1 -1
		5	1 -1 1 1
6	1 -1 1 -1
		7	1 -1 -1 1
8	1 -1 -1 -1

2 are generated by sample rate^M-1=8 kinds of possible information bit samples：

Respectively with the local data long code baseband sample spread processing won.Obtain 2^M-1After=8 Information Spread spectrum treatment Local reference sample：

Each local reference sample wins the relevant treatment that N number of navigation signal data carry out described by (4) respectively, obtains 8 groups Correlation, determines each peak value of relevant treatment, seeks maximum and corresponding sample point sequence number D, wherein relevant peaks in each peak value It is worth one group of maximum correlation curve as shown in Figure 5.

8th, two sample point sequence numbers D and P ask poor, are calculated according to sample rate, the time delay value of the delayed pilot tone of numeric data code, should Value is exactly the phase equalization between two long codes that navigation signal pilot code is reference.

Δ t=(D-P)/f_s (11)

If the 9, including various data long codes in navigation signal, using same treatment mode, calculate each numeric data code and lead Phase equalization between frequency code.

The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.

Claims (10)

1. a kind of many long code complex navigation signal phase consistency calibration methods, it is characterised in that：Many long code complex navigation signals Phase equalization scaling method comprises the following steps：

Step (1), the navigation signal exported to navigation signal generator by high-speed a/d sampler and pps pulse per second signal are carried out Synchronized sampling；Obtain the sample of navigation signal sampled data and pps pulse per second signal sampled data；Each sample is while respectively Correspondence one navigation signal sampled data and a pps pulse per second signal sampled data；Wherein pps pulse per second signal sampled data includes electricity Flat step section and the data in level sustained segment；Navigation signal sampled data includes pilot tone tributary signal and data tributary signal, its Middle pilot tone tributary signal and data tributary signal are made up of the pseudorandom spread spectrum code of long code；

Step (2), the pulse per second (PPS) estimate for calculating pps pulse per second signal sampled dataAccording to the pulse per second (PPS) electricity that satellite system specifies Pressure value and threshold value, to pulse per second (PPS) estimateJudge；Determine the sample point sequence of pps pulse per second signal sampled data level steps section Number, sample point sequence number number consecutively since 1；

Step (3), the sample point sequence number according to pps pulse per second signal level steps section, corresponding sample point in interception sample Navigation signal sampled data in sequence number；Navigation signal sampled data to intercepting carries out Hilbert transform and down-converted is obtained To complex field base band navigation signal；

Step (4), setting complex field base band navigation signal win length, win length in complex field base band navigation signal The M information bit number duration that data tributary signal is included, M is positive integer, is calculated pending answering The N that counts out of number field base band navigation signal；

Step (5), the N that counts out according to pending complex field base band navigation signal, by pilot tone tributary signal in step (1) Pseudorandom spread spectrum code by the cycle repeat, the data of N number of point are intercepted starting point since complete cycle, that is, generate pilot frequency pseudo-random expand The N number of local pilot tone long code sample data of frequency code starting complete cycle；

The complex field generated in the N number of local pilot tone long code sample data and step (3) that are generated in step (6), step (5) Base band navigation signal carries out correlation computations jointly, obtains the corresponding peak point sample sequence number of maximum correlation peak in correlation calculation result P；

What is determined in step (7), step (4) wins comprising M information bit in length, generates 2^M-1Plant information bit sample b_l N (), wherein n are positive integer, N is positive integer；The N of n=1,2,3 ...；L is positive integer, l=1,2,3 ... 2^M-1；By 2^M-1Plant letter Breath bit-pattern b_lIn (n) and sampled data data tributary signal pseudorandom spread spectrum code y (n) | n=1,2 ..., N } expanded Frequency is processed, and obtains 2^M-1Plant local reference sample

Step (8), the Related Computational Methods in step (6), respectively to 2 of generation in step (7)^M-1Plant local reference SampleThe complex field base band navigation signal generated in step (3) carries out correlation computations；In determining each associated processing outcomes Correlation peak, obtain the corresponding peak point sample sequence number D of maximum in each correlation peak；

Step (9), the sample sequence number P that will be obtained in step (6) and the sample sequence number D obtained in step (8) ask poor, according to Sample rate is calculated the time delay value Δ t of the delayed pilot tone of numeric data code, i.e., be reference with pilot tone tributary signal in navigation signal, leads Phase equalization between two pattern signals of frequency tributary signal and data tributary signal；To many long code complex navigation signal phases Bit integrity is carried out in calibration process, if in navigation signal include various data long codes, repeat step () to step (9), Calculate the phase equalization between each numeric data code and pilot code.

2. many long code complex navigation signal phase consistency calibration methods according to claim 1, it is characterised in that：It is described In step (1), the pseudo noise code cycle of pilot signal and data-signal is 1.5 seconds in navigation signal；Data signal modulation is led Boat information bit rate is 4kbps；Data sampling rate is adjusted according to the instrument and equipment performance for using, and adjustment speed 1~ 10Gsa/s。

3. many long code complex navigation signal phase consistency calibration methods according to claim 1, it is characterised in that：It is described In step (2), pulse per second (PPS) estimateComputational methods be：Setting pps pulse per second signal level rank gets over the sampled data of section Wherein i is positive integer, the N of i=1,2,3 ...；Pulse per second (PPS) sequence number level rank gets over being modeled as section：y_i=b₀+b₁·i/f_s+ξ_i, wherein, b₀It is the original levels of sampled data；b₁It is level rate of change；ξ_iIt is random noise；f_sIt is sample frequency；y_iIt is pps pulse per second signal Level value after fitting；With least square line the Fitting Calculation b₀And b₁：

$\left[\begin{array}{c}{b}_0\\ b_1\end{array}\right]={\left[\begin{array}{cc}N-1& \underset{i=1}{\overset{N-1}{\Σ}}(i-1)\\ \underset{i=1}{\overset{N-1}{\Σ}}(i-1)& \underset{i=1}{\overset{N-1}{\Σ}}{(i-1)}^2\end{array}\right]}^{-1}\×\left[\begin{array}{c}\underset{i=1}{\overset{N-1}{\Σ}}{y}_i^{*}\\ \underset{i=1}{\overset{N-1}{\Σ}}(i-1)y_i^{*}\end{array}\right]---\left(1\right)$

Calculate pulse per second (PPS) estimate

${\hat{y}}_i=b_0+b_1\·i/f_s---\left(2\right).$

4. many long code complex navigation signal phase consistency calibration methods according to claim 3, it is characterised in that：It is described In step (2), the method for determining the sample point sequence number of pps pulse per second signal sampled data level steps section is：Setting satellite system The pulse per second (PPS) voltage high level of regulation is A₁V, low level is 0V；The level excursion for estimating pulse per second (PPS) step section is 0~A₁v； Setting threshold value is A₂V；A₁It is positive integer；A₂It is positive integer；0 ＜ A₂＜ A₁；To pulse per second (PPS) estimateJudged；WhenGreatly In A₂When, the sample point sequence number of output sampled data level steps section.

5. many long code complex navigation signal phase consistency calibration methods according to claim 1, it is characterised in that：It is described In step (3), the navigation signal sampled data to intercepting carries out Hilbert transform and down-converted obtains complex field base band The method of navigation signal d (i) is：

Set interception navigation signal sampled data asLength is Q, and Q is positive integer；

$d\left(i\right)=z_i^x\·c_i---\left(3\right)$

Wherein,It is i-th plural number；I=1,2,3 ... ..., Q；

c_iIt is local carrier data sample point；I=1,2,3 ... ..., Q；

$z_i^x=\stackrel{\‾}{x}+H\left(\stackrel{\‾}{x}\right)---\left(4\right)$

Wherein, H () represents Hilbert transform；

Local carrier data sample point c_iFor：

$c_i=\exp \left\{j2\mathrm{\π}\frac{f_c}{f_s}i\right\}---\left(5\right)$

Wherein：J is imaginary unit；

f_sIt is sample frequency；

f_cIt is known navigation signal centre frequency；

I=1,2,3 ... ..., Q.

6. many long code complex navigation signal phase consistency calibration methods according to claim 1, it is characterised in that：It is described In step (4), the computational methods of the N that counts out of pending complex field base band navigation signal are：Each information bit is set to hold The continuous time is t_b, then length duration is won for M × t_b；It is f according to sampling rate_s, i.e., sampling obtains f in 1 second_s It is individual, obtain the N that counts out, N=M × t of pending complex field base band navigation signal_b×f_s。

7. many long code complex navigation signal phase consistency calibration methods according to claim 1, it is characterised in that：It is described In step (6), the computational methods of the corresponding sequence number P of maximum correlation peak are：

Win N number of local sample data of pilot tone pseudo-code, the computational methods of complex frequency domain sample value C (k) of the local sample of pilot tone pseudo-code For：

$C\left(k\right)={\[\underset{n=0}{\overset{N-1}{\Σ}}c\left(n\right)\exp (-j\frac{2\mathrm{\π}kn}{N})\]}^{*},k=1,2,...,N---\left(6\right)$

Wherein：C (n) is local pilot tone long code sample data；

N is the number in calculating process, span n=1,2 ..., N-1；

J is imaginary unit；

K is the sequence number of the complex frequency domain sample of the local sample of pilot tone pseudo-code；

N number of complex field base band navigation signal data are won, amplitude-frequency sample point D (g) of navigation signal is calculated；

$D\left(k\right)=\underset{n=0}{\overset{N-1}{\Σ}}d\left(n\right)\exp (-j\frac{2\mathrm{\π}kn}{N}),k=1,2,...,N---\left(7\right)$

Wherein：D (n) is local data long code sample data；

N is the number in calculating process, span n=1,2 ..., N-1；

J is imaginary unit；

G is the sequence number of the complex frequency domain sample point of navigation signal；

Again to complex frequency domain by amplitude-frequency sample point D (g) of navigation signal and complex frequency domain sample value C (k) of the local sample of pilot tone pseudo-code Calculated, obtained correlated results z (n)：

$z\left(n\right)={|\underset{k=0}{\overset{N-1}{\Σ}}\[C\left(k\right)D\left(g\right)\]\exp \left(j\frac{2\mathrm{\π}kn}{N}\right)|}^2,n=1,2,...,N---\left(8\right)$

Maximum is defined as sequence number P in search z (n).

8. many long code complex navigation signal phase consistency calibration methods according to claim 1, it is characterised in that：It is described In step (7), by 2^M-1Plant information bit sample b_lPseudorandom spread spectrum code { the y of data tributary signal in (n) and sampled data (n) | n=1,2 ..., N } spread processing is carried out, calculate local reference sampleMethod be：

${\stackrel{\→}{s}}_l=\{y\left(n\right)\·b_l\left(n\right)|n=1,2,...,N\},l=1,2,...,2^{M-1}---\left(9\right).$

9., according to many long code complex navigation signal phase consistency calibration methods that one of claim 1-8 is described, its feature exists In：In the step (8), the method for calculating the corresponding peak point sample sequence number D of maximum in each correlation peak is：

Formula (7) and formula (9) are carried out 2 by the method for formula (8)^M-1Secondary correlation computations, obtain result：

${\stackrel{\→}{z}}_l\left(n\right)={|\underset{k=0}{\overset{N-1}{\Σ}}\[{\stackrel{\→}{s}}_{l}D\left(g\right)\]\exp \left(j\frac{2\mathrm{\π}kn}{N}\right)|}^2,n=1,2,...,N;l=1,2,...,2^{M-1};---\left(10\right)$

SearchMiddle maximum is defined as sequence number D.

10. many long code complex navigation signal phase consistency calibration methods according to claim 1, it is characterised in that：Institute State in step (9), the computational methods of the time delay value Δ t of the delayed pilot tone of numeric data code are：

Δ t=(D-P)/f_s (11)。