CN107121685A - A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid - Google Patents
A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid Download PDFInfo
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- CN107121685A CN107121685A CN201710428081.9A CN201710428081A CN107121685A CN 107121685 A CN107121685 A CN 107121685A CN 201710428081 A CN201710428081 A CN 201710428081A CN 107121685 A CN107121685 A CN 107121685A
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
The invention discloses the miniature spaceborne high-dynamic GNSS receiver of one kind and its air navigation aid.The receiver includes active antenna, radio-frequency front-end processing module, baseband signal digital signal processing module, positioning calculation module and ipc monitor interface.Air navigation aid is：The GNSS electromagnetic wave signals received are changed into current signal by active antenna, enter radio-frequency front-end processing module through bandpass filter, be amplified, frequency conversion, filtering and analog-to-digital conversion, finally give digital medium-frequency signal；Baseband signal digital signal processing module is captured to digital medium-frequency signal, tracked, bit synchronization and frame synchronization process, obtains navigation measurements and navigation message；Positioning calculation module carries out positioning calculation, finally gives the satellite information of user；Ipc monitor interface, display positioning view measured value, receives star number, the information of PDOP values in real time.Framework flexibility of the present invention is strong, quickly innovatory algorithm can be verified, small volume low with cost, lightweight advantage.
Description
Technical field
The present invention relates to technical field of satellite navigation, particularly a kind of miniature spaceborne high-dynamic GNSS receiver and its navigation
Method.
Background technology
With continuing to develop for space technology, spaceborne receiver has evolved into an Important Platform for spacecraft
Load, it can provide global, round-the-clock, real-time, high dynamic, high-precision navigation information for spacecraft, and improve spacecraft
The independence of operation.One can be used for the miniature spaceborne GNSS receiver of micro- sodium satellite low cost, can determine the boat of micro- sodium satellite
The intersatellite relative distance of mark, speed, posture, micro- sodium of time parameter and formation flight.GPS on domestic market
Using height and speed it is restricted, there is embargo in external space flight GPS, it is impossible to meet AEROSPACE APPLICATION.Due in universe
The adverse circumstances and dynamic of satellite is very strong so that the application that is applied to ground and aviation etc. of the GNSS receiver in space
It is different, therefore to consider many features designing spaceborne GNSS receiver.
Being miniaturized of satellite, low cost, lead time is short, lightweight, small volume turns into a kind of development trend, it is adaptable to micro-
It is being miniaturized of sodium satellite, low cost, small volume, more rare on GNSS receiver domestic market low in energy consumption.And satellite
To undergo very high dynamic in transmitting and lift-off stage, acceleration can exceed 10g, satellite in orbit when speed will exceed 7km/
S, existing GNSS receiver does not take into full account influence of the high dynamic to capture and the tracking of GNSS signal, and exist it is complicated,
The problem of poor compatibility, high cost.
The content of the invention
High-precision navigator fix and precision time service can be provided for low orbit satellite it is an object of the invention to provide one kind
Based on the miniature spaceborne high-dynamic GNSS receivers of DSP+FPGA and its air navigation aid.
The technical solution for realizing the object of the invention is：A kind of miniature spaceborne high-dynamic GNSS receiver, the receiver
Based on DSP+FPGA, including active antenna, radio-frequency front-end processing module, baseband signal digital signal processing module, positioning calculation module
With ipc monitor interface, wherein：
Active antenna, is changed into current signal by the GNSS electromagnetic wave signals received, enters radio frequency through bandpass filter
Front end processing block；
Radio-frequency front-end processing module, the signal received is amplified, frequency conversion, filtering and analog-to-digital conversion, finally give
Digital medium-frequency signal；
Baseband signal digital signal processing module, is captured to digital medium-frequency signal, is tracked, bit synchronization and frame synchronization process,
Obtain navigation measurements and navigation message；
Positioning calculation module, carries out positioning calculation using navigation measurements and navigation message, finally gives the satellite of user
Information, obtains positioning view measured value；
Ipc monitor interface, for display positioning view measured value in real time, receives star number, the information of PDOP values.
A kind of air navigation aid of miniature spaceborne high-dynamic GNSS receiver, comprises the following steps：
Step 1, the GNSS electromagnetic wave signals received are changed into current signal by active antenna, are entered through bandpass filter
Radio-frequency front-end processing module；
Step 2, radio-frequency front-end processing module the signal received is amplified, frequency conversion, filtering and analog-to-digital conversion, finally
Obtain digital medium-frequency signal；
Step 3, baseband signal digital signal processing module digital medium-frequency signal is captured, tracked, bit synchronization and frame synchronization
Processing, obtains navigation measurements and navigation message；
Step 4, positioning calculation module carries out positioning calculation using navigation measurements and navigation message, finally gives user's
Satellite information, obtains positioning view measured value；
Step 5, ipc monitor interface, for display positioning view measured value in real time, receives star number, the information of PDOP values.
Compared with prior art, its remarkable advantage is the present invention：(1) it is Universal GNSS receiver, can be believed with compatible with GPS
Number with Big Dipper signal, compatibility it is good；(2) DSP+FPGA structure designs are used, arithmetic speed is fast, cost is low, small volume, weight
Gently, and very easily algorithm can be improved and is updated, be adapted to use in engineering；(3) suitable device is used, in body
Optimum balance is obtained between product, power consumption, performance, the model machine for meeting application request is built, is adapted to use on micro-nano satellite；
(4) FPGA each passage is run simultaneously, ensure that the real-time of GNSS receiver operation, is improved traditional catching method, is carried
High receiver primary positioning time.
Brief description of the drawings
Fig. 1 is the miniature spaceborne high-dynamic GNSS receiver of the present invention and its signal processing flow figure of air navigation aid.
Fig. 2 is the system hardware structure figure of the miniature spaceborne high-dynamic GNSS receiver of the present invention.
Fig. 3 is the miniature spaceborne high-dynamic GNSS receiver MAX2769 configuration module structured flowcharts of the present invention.
Fig. 4 is the structure chart of the radio-frequency front-end processing module of the miniature spaceborne high-dynamic GNSS receiver of the present invention.
Fig. 5 is the miniature spaceborne high-dynamic GNSS receiver of the present invention and its capture circuit block diagram of air navigation aid.
Fig. 6 is the miniature spaceborne high-dynamic GNSS receiver of the present invention and its track loop block diagram of air navigation aid.
Fig. 7 is the second-order loop digital filter side of the miniature spaceborne high-dynamic GNSS receiver of the present invention and its air navigation aid
Block diagram.
Fig. 8 is aided in by second order FLL the three of the miniature spaceborne high-dynamic GNSS receiver of the present invention and its air navigation aid
The filter block figure of rank phaselocked loop.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention.
With reference to Fig. 1~4, the miniature spaceborne high-dynamic GNSS receiver of the present invention, the receiver is based on DSP+FPGA, included
Source antenna, radio-frequency front-end processing module, baseband signal digital signal processing module, positioning calculation module and ipc monitor interface, its
In：Active antenna, current signal is changed into by the GNSS electromagnetic wave signals received, is entered through bandpass filter at radio-frequency front-end
Manage module；Radio-frequency front-end processing module, the signal received is amplified, frequency conversion, filtering and analog-to-digital conversion, finally give number
Word intermediate-freuqncy signal；Baseband signal digital signal processing module, is captured to digital medium-frequency signal, is tracked, at bit synchronization and frame synchronization
Reason, obtains navigation measurements and navigation message；Positioning calculation module, positioning solution is carried out using navigation measurements and navigation message
Calculate, finally give the satellite information of user, obtain positioning view measured value；Ipc monitor interface, for display location observation in real time
It is worth, receipts star number, the information such as PDOP values.
The radio-frequency front-end processing module uses model MAX2769 GNSS receiver chip.The baseband signal number
Word processing module uses the fpga chip EP4CE115F23C8N of altera corp.The positioning calculation module is using TI companies
Fixed point or floating-point signal processor DSP, model TMS320C6747, dominant frequency 300MHz, two-stage buffer memory structure
64KB L1 and 256KB0 L2；16.369MHz crystal oscillator provides clock input for MAX2769 and FPGA, and 24MHz crystal oscillator is
DSP provides clock input；
The connection of the MAX2769 and FPGA are made up of two parts：One is 3 line SPI interfaces, and FPGA passes through this interface pair
MAX2769 is programmed configuration；Another interface is MAX2769 4 line numeral outputs, is exported intermediate-freuqncy signal by this interface
To FPGA；The DSP is communicated by EMIF interfaces with FPGA, and DSP and FPGA are carried out subsequently to digital medium-frequency signal together
Processing；The FPGA uses SWD simulation models.
As shown in Fig. 2 particular hardware is described as follows：
1st, radio-frequency front-end processing module selects MAX2769, and the chip provides 2 kinds of configuration modes, and one kind is by 3 line SPI
Interface, is 8 to No. 10 pins, by CS, SCLK, SDATA according to it is certain when ordered pair piece in register configured, this side
Formula needs external host to be programmed to, but flexibility is fine.Another mode is selected 8 to 10 pins as configuration
Pin, by the way that each pin is drawn high and dragged down, to select 8 kinds of set Typical Dispositions, this mode is realized conveniently, but clever
Activity is poor.8 to 10 pins are to be inputted as SPI serial ports or are to connect varying level by 26 pin PGM as configuration selection pin
Come what is determined.The present invention uses the first scheme, a SPI interface is designed with FPGA, and write to MAX2769 by this interface
Enter control word to realize MAX2769 configuration.
2nd, baseband signal digital signal processing module uses the fpga chip EP4CE115F23C8N of altera corp, passes through SPI
Bus receives the digital medium-frequency signal that MAX2769 is produced, and is supplied to passage correlator to handle, after accumulator latch i/q signal
Triggering is cumulative to be interrupted；TIC latches correlative simultaneously triggers TIC interruptions, while exporting PPS pulse per second (PPS)s.
FPGA is mainly used in GNSS signal processing and control in navigation system.Wherein being used for the correlator of signal transacting is
Designed with reference to GP2021.The resource occupation for realizing the GPS correlator in 32 passages, passage in FPGA at present is 750LE/
Passage, in same category codes of the pure use LE of not frequency multiplication to realize correlator, optimizes very much.Realize function：Local C/A codes
Generation；The generation of local carrier；IF input signals and local C/A codes and local carrier it is related.
3rd, positioning calculation module using TI companies fixed point/floating-point signal processor TMS320C6747, dominant frequency
300MHz, two-stage buffer memory structure 64KB L1 and 256KB L2.Realize function：Capture control and prize judgment；Tracking
In phase discriminator and filtering；Bit synchronization；Frame synchronization；Positioning calculation.
4th, UART interface circuit.DSP externally has three serial ports in the present invention, because the difference of operating voltage is, it is necessary to configure
Voltage conversion chip could be connected with standard serial interface equipment.MAX232 chips and MAX3488ESA chips are U.S. letters
(MAXIM) company aims at the single supply electrical level transferring chip of RS-232 and RS-422 standard serial ports design, is supplied using+5V single supplies
Electricity；Power consumption can be reduced within 5uW by its low-power consumption shutdown mode, and device is particularly suitable for battery power supply system.
5th, power circuit.The voltage design of the present invention uses 5V control sources.Linear source of stable pressure ams1117-3.3 chips
There is provided the 3.3V power supplys needed for system after voltage stabilizing.There is provided needed for system after linear source of stable pressure ams1117-2.5 chip voltage stabilizings
2.5V power supplys.There is provided 1.2 power supplys after linear source of stable pressure MP2104-ADJ chip voltage stabilizings, used for DSP and FPGA.
With reference to Fig. 1~4, the air navigation aid of the miniature spaceborne high-dynamic GNSS receiver of the present invention comprises the following steps：
Step 1, the GNSS electromagnetic wave signals received are changed into current signal by active antenna, are rivals in a contest letter through high-frequency low-noise
Number it is amplified, the decay of signal, improves Signal-to-Noise in compensation transmission, entering radio-frequency front-end through bandpass filter handles mould
Block；
Step 2, radio-frequency front-end processing module the signal received is amplified, frequency conversion, filtering and analog-to-digital conversion, finally
Obtain digital medium-frequency signal；Structure is as shown in figure 4, specific as follows：
Radio-frequency front-end processing module receive visible satellite signal, by the signal after amplification, then with radio-frequency module
Oscillator produce sine wave local oscillation signal be mixed and be downconverted into intermediate-freuqncy signal, the intermediate-freuqncy signal is filtered and put
Greatly, finally sampled by A/D chip, intermediate-freuqncy signal is discretized into digital medium-frequency signal.
Step 3, baseband signal digital signal processing module digital medium-frequency signal is captured, tracked, bit synchronization and frame synchronization
Processing, obtains navigation measurements and navigation message；Baseband signal digital processing include capture, tracking, bit synchronization and frame synchronization this 4
Individual process, it is specific as follows：
(3.1) baseband signal digital signal processing module is captured to digital medium-frequency signal
The capture of the receiver is completed based on hardware correlator.With reference to Fig. 5, the overall step of signal capture is：
1) Doppler frequency shift amount is set, and local replica carrier wave and input signal are mixed, is walked using L frequencies as search
It is long, when local carrier is differed with frequency input signal no more than N Hz, then explanation completion carrier wave stripping；
2) baseband signal that carrier wave is obtained after peeling off, the local copy codes progress related operation with setting step-length：If phase
Pass value reaches predetermined detection threshold, then illustrates successfully to capture signal；Otherwise, correlator will be locally multiple by searching code step-size change
Code phase processed, continuation is scanned for next search unit；
Still fail to realize signal capture after whole code phases if 3) searched for, it is how general by frequency search step-size change
Strangle frequency shift amount and repeat 1)~2)；Satellite-signal is not captured still after all search units have been searched for, then it is assumed that not
The satellite-signal can be captured, receiver will transfer to search for other satellites；
The signal capture decision method of the receiver is as follows：
Two capture branch road I and Q signal are integrated and reset, then by signal detector to calculating envelope valueIt is compared with default threshold value M, can detects whether signal is captured.
Probability P is caught by mistakeFIt is defined as signal in the presence of only noiseMore than threshold value M probability；Capture is general
Rate PSIt is defined as including the envelope signal of noiseMore than threshold value M probability, formula is as follows：
Wherein threshold value M calculation formula are：
Wherein, σnTo give noise power；
In order to allow receiver to capture GNSS signal faster, the performances, this hair such as receiver primary positioning time are improved
It is bright that following 5 points of improvement are carried out to traditional acquisition algorithm：
1) in GNSS receiver design, using the high-performance TMS320C6747DSP chips of TI companies, it has
375MHz high speed processing abilities, disclosure satisfy that the real time high-speed processing requirement of receiver；And there is height using altera corp
The FPGA of fast operational capability, the correlator with 32 passages, by the way of direct Parallel Hardware computing.These will reduce significantly
Search time of the receiver to GNSS signal.
2) the signal frequency precision that the conventional search step-length more than is captured is 400Hz, the capture result of the precision
The tracking time of track loop will be increased.Devise one herein for this and recapture loop, to capturing first using step-length as 40Hz
Captured again, receiver acquisition, the overall time of tracking are reduced on the whole.
3) signal power with capture speed have it is certain contact, have weak because the satellite-signal of reception has by force, correlator
Relevant treatment to strong and weak signals also needs different post detection integrations.The present invention carries out different time respectively to two kinds of signals
The correlation intergal processing of length.Improve capture rate, ensure again relatively low leakage obtain, error capture rate.
4) in order to consider receiver primary positioning time, four visible satellites will be captured jointly first using 32 passages herein
Signal, after acquisition success, remaining 28 passages capture a satellite-signal respectively again.This catching method subtracts well
The primary positioning time of few receiver.
If 5) scanned in a random way to all satellites, receiver, can success every time to a satellite acquisition
The probability of capture is 40%, and this will waste many search times.The present invention will utilize satellite almanac information, substantially determine each
This is engraved in position above GNSS receiver to satellite, and selects optimal satellite acquisition order, ensures that capture rate.
(3.2) tracking is handled
The tracking ring that the present invention is used is made up of the code tracking loop of tracking pseudo-code and the carrier tracking loop of tracking carrier wave.Entirely
The structured flowchart of track loop is as shown in Figure 6.
1) code tracking loop
Code tracking loop in GNSS receiver baseband signal processing module is a kind of delay-locked loop.Pseudo-code generator passes through
Delay circuit, copies three pseudo-code sequences, wherein advanced code (E codes) and delayed code (L codes) is that i.e. time-code (P codes) is advanced respectively
The spreading code obtained with delayed half-chip, by its it is related to intermediate-freuqncy signal after, code ring pass through to E to L two-way it is related knot
Fruit carries out phase demodulation and filtering, and filter result is fed back to NCO (the Numerical Controlled of pseudo-code generator
Oscillator, digital controlled oscillator) in.Realize local pseudo-code with receiving the perfectly aligned of the pseudo-code in signal with this.
Agate track loop carries out the correlation width on phase-detecting, advanced, timely, delayed branch road using delay lock loop discriminator
Value is respectively：
In formula, E, P, L are respectively the correlation amplitude on advanced, instant, delayed branch road, IE、IP、ILRespectively in advance, i.e.
When, the I roads signal on delayed branch road, QE、QP、QLQ roads signal on respectively advanced, instant, delayed branch road.
Pseudo-code auto-correlation function main peak is a symmetrical triangle, if i.e. time-code is protected with receiving in signal pseudo-code phase
Hold consistent, E and L are equal；If i.e. time-code and receive signal pseudo-code phase inconsistent, E and L, according between the two
Difference can reflect i.e. time-code and receive the phase difference value of signal spread-spectrum code.
The phase discriminator that the present invention is used subtracts delayed amplitude method in advance to be incoherent：
In formula, δcpFor code phase difference, E, L are respectively the correlation amplitude on advanced, delayed branch road.
Then identified result is filtered, code tracking loop uses 2 rank loop digital wave filters, as shown in fig. 7, transmission letter
Counting F (s) is：
In formula, K is loop gain, a2For filtering parameter, ωnIt is characterized frequency；
Then the system function H (s) of code tracking loop is：
Wherein the value of parameters is a2=1.414, the ω in wave filternIt is to be determined by the noise bandwidth of its respective filter
Fixed, wherein BL=0.53 ωn.Loop filter noise bandwidth is 1Hz in the present invention.
2) carrier tracking loop
Carrier tracking loop is made up of two kinds of loops of FLL and phaselocked loop, and carrier tracking loop is that correlated results is reflected
Phase, frequency discrimination and filtering, and filter result is fed back into carrier wave NCO, the final frequency and phase for locking carrier wave is come with this.
(a) phaselocked loop：The phase discriminator for the carrier tracking loop phaselocked loop that the present invention is used is also known as section's Stas
(Costas) ring is, it is necessary to phase informationFor：
In formula, IP(n)、QP(n) be respectively i.e. the I roads of time-code branch road output, Q roads are after mixing and filtering and coherent integration
Signal.
(b) FLL：Frequency search stepping is 400Hz, obtained estimating carrier frequencies value and actual value during due to capture
Difference is larger, although and the high hauling speed of phaselocked loop precision is slow, it is therefore desirable to frequency-locked loop quickly tracks signal.Lock
Frequency ring is mainly to be locked to the frequency of signal, and its dynamic range is more wider than institute phaselocked loop, being capable of quick lock in input
Signal.
Correlated results of the frequency discrimination of frequency-locked loop except having used P roads current time, has also used the correlation on last P roads
As a result, if setting aD (n) R (τ) sinc (feTcoh) be A (n), then：
Wherein φe(n) be n-th epoch local carrier and input signal phase difference, define dot product PdotAnd multiplication cross
PcrossRespectively：
Therefore, the frequency discrimination formula for the frequency discriminator of carrier tracking loop FLL that the present invention is used for：
In formula, ωe(n) it is frequency discriminator output error, t is sampling time, dot product Pdot=I (n-1) I (n)+Q (n-1) Q
(n), difference multiplies Pcross=I (n-1) Q (n)+Q (n-1) I (n), ωe(n) it is frequency discriminator output error, t (n)-t (n-1) is frequency discrimination
Time interval；N is the n moment, and I is I roads signal, and Q is Q roads signal；.
The present invention aids in the carrier tracking loop line structure of phaselocked loop using FLL.Capture just success and be switched to tracking
When state, due to capturing obtained coarse value precision not enough, FLL plays a leading role in carrier tracking loop, and it will be fast
Speed is led into signal, and after the frequency of local carrier and the frequency of GNSS signal are closer to, phaselocked loop is in carrier tracking loop
Play a leading role, make local signal more accurately synchronous with input signal.Carrier tracking loop uses second order FLL auxiliary three
The wave filter of rank phaselocked loop, as shown in Figure 8.
Carrier tracking loop aids in the transmission function of the structure, wherein second order FLL of third order pll using second order FLL
For：
In formula, K is loop gain, a2For filtering parameter, ωnIt is characterized frequency.
The transmission function of third order pll is：
In formula, K is loop gain, a3、b3For filtering parameter, ωnIt is characterized frequency.
Wherein the value of parameters is a3=1.1, b3=2.4, the ω in wave filternIt is the noise by its respective filter
What bandwidth was determined, wherein BL=0.7845 ωn.The a width of 18Hz of carrier loop filter noise band in the present invention.
(3.3) bit synchronization is handled
The bit-synchronization algorithm that the present invention is used implements step as follows for histogram method：Ring is tracked in incoming carrier phase
After the lock-out state of position, the millisecond moment for randomly selecting certain integral result is the moment 1, then the millisecond moment of each integral result
For 2,3 ... ..., until 20, the follow-up integral result corresponding millisecond moment is started the cycle over untill 20 from 1, by that analogy, so
20 counters are distributed afterwards, each millisecond moment corresponds to a counter, at follow-up each millisecond moment, I roads and Q roads integration
Process compares this integral result after completing and whether the symbol of last time integral result is changed, if being changed
It is probably a data bit hopping edge to show this, then this moment corresponding counter is added 1, have accumulated certain time
Thresholding TMCompare the value of 20 counters afterwards, the corresponding millisecond position of Counter Value more than predetermined threshold indicates data ratio
At the time of special saltus step.
(3.4) frame synchronization process
The purpose of frame synchronization has at 2 points, and first is the original position for finding each subframe, correctly to divide in navigation message
30 bit lengths word；Second is to determine whether exist because navigation bit is anti-phase caused by 180 degree phase ambiguity.
The frame synchronization algorithm used in the present invention is as follows：
1) synchronous code of navigation bit and subframe is carried out related calculation, when correlated results is 8 or -8, it is believed that find frame same
The original position of code is walked, into 2)；
2) navigation bit stream is divided by the original position obtained in 1), every 30 bit constitutes a word, and to every
Individual word carries out even-odd check, if correctly, into 3), otherwise returning 1)；
3) extract navigation data in week in when, subframe numbers, with last frame synchronization obtain in this step week in when,
Subframe numbers compare, and correctly then enter 4), otherwise return 1)；
4) preceding 8 bits of latter subframe of the original position found in 1) are judged, if being still subframe
Synchronous head then repeat 2)~4), otherwise return to back 1), until completion frame synchronization.
Step 4, positioning calculation module carries out positioning calculation using navigation measurements and navigation message, finally gives user's
Satellite information, obtains positioning view measured value, is specially：
(4.1) pseudo range observed quantity
Pseudo range measurement is converted to the measurement of time, and receiver obtains t according to the timestamp of satellite emission signalSV, with reference to this
Ground time tR, pseudo range observed quantity is：
ρG=c (tR-tSV)
tSV≈6(Z-1)+Nbit×0.02+NC×0.001+0.9775φC×10-6
Wherein, ρGFor pseudo range observed quantity, c is the light velocity, and Z is Z-count, NbitFor subframe bit, NCFor PN-code capture, φCFor
Chip number, local zone time tRDirectly provided by receiver local clock.
(4.2) satellite position is resolved
Satellite is that, around earth movements on definitive orbit, its position is time t function, is included in ephemeris
Satellite Keplerian orbit parameter, calculates the polar equation of satellite orbit：
In formula, (r, v) is the polar coordinates of satellite position, asFor the major radius of satellite orbit, esIt is eccentric for satellite orbit
Rate, E is satellite orbit eccentric anomaly；
(4.3) receiver location is resolved
If setting satellite i coordinate as (xi,yi,zi), the pseudorange of receiver to the satellite is ρi, the coordinate (x of receiveru,
yu,zu), satellite clock is δ t with receiver local clock clock correctionu, then have pseudorange ρiFormula：
Wherein, the position (x of satellitei,yi,zi) and satellite and receiver pseudorange be ρiAll it is known quantity, can be by leading
Information in avionics text is tried to achieve.Coordinate (the x of receiveru,yu,zu) and clock correction δ tuFor unknown quantity, if receive function obtain 4 with
On satellite navigation message, it is possible to four above-mentioned equations are listed, so as to calculate the position of receiver.Because equation group is
Nonlinear, the present invention is solved using Newton iteration and its linearization technique to equation group, and it is comprised the following steps that：
1) 4 unknown numbers before equation initial solution, iteration to equation group are set to set an initial value, the setting of initial value
It is divided into two kinds of situations：If positioning first, then 0 is all set to；If successfully positioning, last result is set to this
The initial value of secondary iteration；
2) lienarized equation group, to pseudorange ρiFormula carry out Taylor expansion, obtain：
In formula, △ x, △ y, △ z, △ δ tuFor the solution of least square method；
Wherein：
Being write above formula as matrix form can obtain：
Wherein
Wherein, δ tu,k-1Represent the clock correction that -1 iteration of kth is obtained, ri(k-1) reception that -1 iteration of kth is obtained is represented
The distance of machine and corresponding satellite, k=1 represents the initial value set in step 1；
3) least square method equations equation group is utilized：
4) root of Nonlinear System of Equations is updated：
5) Newton iteration convergence is judged：Each iteration, 3) in result can be gradually reduced, when vector length value is less than door
When limit, illustrate that solution of equations has been restrained, then stop iteration, otherwise resume at step 2)；Judgment mode of the present invention is inspection
Look into the length for this time calculating obtained motion vector △ x | | △ x | | whether less than threshold value 0.001 set in advance；Last
Secondary iterative step 4) value be receiver position coordinates and clock clock correction.Generally 3 to 5 iteration can restrain.
It should be noted that before location Calculation, common receiver needs to set satellite elevation angle to filter angle, and elevation angle filter angle is one
Individual threshold value, it is any less than this filter angle value satellite will all be " filtered " rather than location Calculation in.In general it is low
The air delay correction error of elevation angle satellite-signal may be very big, and its multipath effect again may be very serious thus logical
Often think that low elevation angle satellite does not support the larger measurement error that it is brought and position error to the benefit for improving positioning precision
Harm.But for spaceborne GNSS receiver, the satellite-signal at the low elevation angle remains to participate in calculating, and receiver acquisition is arrived
Satellite elevation angle can be less than horizontal line.Consider troposphere and the height in ionosphere, spaceborne GNSS receiver capture of the invention
Elevation angle filter angle in processing is set to -25 °.
Step 5, ipc monitor interface, for display positioning view measured value in real time, receives star number, the information of PDOP values.
To sum up, the present invention is using DSP+FPGA miniature framework, and cost is low, and small volume is lightweight, with very strong flexible
Property, can load different algorithms, and FPGA parallel processing structure ensure that the real-time of GNSS receiver.Entirely counting
During word base band signal process, operand it is maximum be acquisition and tracking when associative operation, being performed with DSP can then take
Long time, when due to correlation, the value condition of two values of multiplication is all limited, if with FPGA using tabling look-up
Method come realize only can take seldom resource, thus can in FPGA using multiple related channel programs so as to accelerate capture
Process.And in capture and tracking, related subsequent operation includes substantial amounts of complicated mathematical operation by powerful mathematical operation
The DSP of ability carries out calculation process.
Claims (7)
1. a kind of miniature spaceborne high-dynamic GNSS receiver, it is characterised in that the receiver is based on DSP+FPGA, including active day
Line, radio-frequency front-end processing module, baseband signal digital signal processing module, positioning calculation module and ipc monitor interface, wherein：
Active antenna, is changed into current signal by the GNSS electromagnetic wave signals received, enters radio-frequency front-end through bandpass filter
Processing module；
Radio-frequency front-end processing module, the signal received is amplified, frequency conversion, filtering and analog-to-digital conversion, finally give numeral
Intermediate-freuqncy signal；
Baseband signal digital signal processing module, is captured to digital medium-frequency signal, is tracked, bit synchronization and frame synchronization process, is obtained
Navigation measurements and navigation message；
Positioning calculation module, carries out positioning calculation using navigation measurements and navigation message, finally gives the satellite information of user,
Obtain positioning view measured value；
Ipc monitor interface, for display positioning view measured value in real time, receives star number, the information of PDOP values.
2. miniature spaceborne high-dynamic GNSS receiver according to claim 1, it is characterised in that the radio-frequency front-end processing
Module uses model MAX2769 GNSS receiver chip；The baseband signal digital signal processing module uses altera corp
Fpga chip EP4CE115F23C8N；The positioning calculation module uses the fixed point or floating-point signal processor of TI companies
DSP, model TMS320C6747, dominant frequency 300MHz, two-stage buffer memory structure 64KB L1 and 256KB0 L2；
16.369MHz crystal oscillator provides clock input for MAX2769 and FPGA, and 24MHz crystal oscillator provides clock input for DSP；
The connection of the MAX2769 and FPGA are made up of two parts：One is 3 line SPI interfaces, and FPGA passes through this interface pair
MAX2769 is programmed configuration；Another interface is MAX2769 4 line numeral outputs, is exported intermediate-freuqncy signal by this interface
To FPGA；
The DSP is communicated by EMIF interfaces with FPGA, and DSP and FPGA are subsequently located to digital medium-frequency signal together
Reason；The FPGA uses SWD simulation models.
3. a kind of air navigation aid of miniature spaceborne high-dynamic GNSS receiver, it is characterised in that comprise the following steps：
Step 1, the GNSS electromagnetic wave signals received are changed into current signal by active antenna, enter radio frequency through bandpass filter
Front end processing block；
Step 2, radio-frequency front-end processing module the signal received is amplified, frequency conversion, filtering and analog-to-digital conversion, finally give
Digital medium-frequency signal；
Step 3, baseband signal digital signal processing module digital medium-frequency signal is captured, tracked, bit synchronization and frame synchronization process,
Obtain navigation measurements and navigation message；
Step 4, positioning calculation module carries out positioning calculation using navigation measurements and navigation message, finally gives the satellite of user
Information, obtains positioning view measured value；
Step 5, ipc monitor interface, for display positioning view measured value in real time, receives star number, the information of PDOP values.
4. the air navigation aid of miniature spaceborne high-dynamic GNSS receiver according to claim 3, it is characterised in that step 2
The radio-frequency front-end processing module is amplified to the signal received, frequency conversion, filtering and analog-to-digital conversion, finally give in numeral
Frequency signal, be specially：Radio-frequency front-end processing module receive visible satellite signal, by the signal after amplification, then with vibration
The sine wave local oscillation signal that device is produced is mixed and is downconverted into intermediate-freuqncy signal, is filtered amplification to the intermediate-freuqncy signal, most
Sampled afterwards by A/D chip, intermediate-freuqncy signal is discretized into digital medium-frequency signal.
5. the air navigation aid of miniature spaceborne high-dynamic GNSS receiver according to claim 3, it is characterised in that step 3
The baseband signal digital signal processing module is captured to digital medium-frequency signal, tracked, bit synchronization and frame synchronization process, is led
Aerial survey value and navigation message, be specially：
(3.1) baseband signal digital signal processing module is captured to digital medium-frequency signal, is concretely comprised the following steps：
1) Doppler frequency shift amount is set, and local replica carrier wave and input signal are mixed, using L frequencies as step-size in search, when
Local carrier is differed with frequency input signal no more than N Hz, then explanation completion carrier wave stripping；
2) baseband signal that carrier wave is obtained after peeling off, the local copy codes progress related operation with setting step-length：If correlation
Predetermined detection threshold is reached, then illustrates successfully to capture signal；Otherwise, correlator will be by searching code step-size change local copy codes
Phase, continuation is scanned for next search unit；
Still fail to realize signal capture after whole code phases if 3) searched for, by frequency search step-size change Doppler frequency
Shifting amount and repeat 1)~2)；Satellite-signal is not captured still after all search units have been searched for, then it is assumed that fail to catch
The satellite-signal is received, receiver will transfer to search for other satellites；
Signal capture decision method is as follows：
Two capture branch road I and Q signal are integrated and reset, envelope value will be then calculatedWith it is default
Threshold value M is compared, and whether detection signal is captured；
Probability P is caught by mistakeFIt is defined as signal in the presence of only noiseMore than threshold value M probability；Acquisition probability PS
It is defined as including the envelope signal of noiseMore than threshold value M probability, formula is as follows：
<mrow>
<msub>
<mi>P</mi>
<mi>S</mi>
</msub>
<mo>=</mo>
<msubsup>
<mo>&Integral;</mo>
<mi>M</mi>
<mi>&infin;</mi>
</msubsup>
<msub>
<mi>P</mi>
<mi>z</mi>
</msub>
<mi>d</mi>
<mi>X</mi>
</mrow>
<mrow>
<msub>
<mi>P</mi>
<mi>F</mi>
</msub>
<mo>=</mo>
<msubsup>
<mo>&Integral;</mo>
<mi>M</mi>
<mi>&infin;</mi>
</msubsup>
<msub>
<mi>P</mi>
<mi>N</mi>
</msub>
<mi>d</mi>
<mi>X</mi>
</mrow>
Wherein threshold value M calculation formula are：
<mrow>
<mi>M</mi>
<mo>=</mo>
<msub>
<mi>&sigma;</mi>
<mi>n</mi>
</msub>
<msqrt>
<mrow>
<mo>-</mo>
<mn>2</mn>
<mi>ln</mi>
<mi> </mi>
<msub>
<mi>P</mi>
<mi>F</mi>
</msub>
</mrow>
</msqrt>
</mrow>
Wherein, σnTo give noise power；
(3.2) tracking is handled
1) code tracking loop
The phase discriminator used subtracts delayed amplitude method in advance to be incoherent：
<mrow>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>c</mi>
<mi>p</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
<mfrac>
<mrow>
<mi>E</mi>
<mo>-</mo>
<mi>L</mi>
</mrow>
<mrow>
<mi>E</mi>
<mo>+</mo>
<mi>L</mi>
</mrow>
</mfrac>
</mrow>
In formula, δcpFor code phase difference, E, L are respectively the correlation amplitude on advanced, delayed branch road；
Then identified result is filtered, code tracking loop uses 2 rank loop digital wave filters, transmission function F (s) is：
<mrow>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>K</mi>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<msub>
<mi>&omega;</mi>
<mi>n</mi>
</msub>
<mo>+</mo>
<mfrac>
<msubsup>
<mi>&omega;</mi>
<mi>n</mi>
<mn>2</mn>
</msubsup>
<mi>s</mi>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
In formula, K is loop gain, a2For filtering parameter, ωnIt is characterized frequency；
Then the system function H (s) of code tracking loop is：
<mrow>
<mi>H</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mi>K</mi>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>s</mi>
<mo>+</mo>
<mi>K</mi>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<msub>
<mi>&omega;</mi>
<mi>n</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msubsup>
<mi>&omega;</mi>
<mi>n</mi>
<mn>2</mn>
</msubsup>
</mrow>
<mrow>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<msub>
<mi>&omega;</mi>
<mi>n</mi>
</msub>
<mi>s</mi>
<mo>+</mo>
<msubsup>
<mi>&omega;</mi>
<mi>n</mi>
<mn>2</mn>
</msubsup>
</mrow>
</mfrac>
</mrow>
2) carrier tracking loop
(a) phaselocked loop：The phase discriminator of the carrier tracking loop phaselocked loop of use is also known as Costas loop, it is necessary to phase informationFor：
In formula, IP(n)、QP(n) it is respectively the letter of the I roads, Q roads of i.e. time-code branch road output after mixing and filtering and coherent integration
Number；
(b) FLL：The frequency discrimination formula of the frequency discriminator of the carrier tracking loop FLL used for：
<mrow>
<msub>
<mi>&omega;</mi>
<mi>e</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>&phi;</mi>
<mi>e</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>&phi;</mi>
<mi>e</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>t</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>t</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>P</mi>
<mrow>
<mi>c</mi>
<mi>r</mi>
<mi>o</mi>
<mi>s</mi>
<mi>s</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>P</mi>
<mrow>
<mi>d</mi>
<mi>o</mi>
<mi>t</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>t</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>t</mi>
<mrow>
<mo>(</mo>
<mi>n</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
</mrow>
In formula, dot product Pdot=I (n-1) I (n)+Q (n-1) Q (n), difference multiplies Pcross=I (n-1) Q (n)+Q (n-1) I (n), ωe
(n) it is frequency discriminator output error, t (n)-t (n-1) is frequency discrimination time interval；N is the n moment, and I is I roads signal, and Q is Q roads signal,
T is the sampling time；
Carrier tracking loop aids in the structure of third order pll using second order FLL, and the transmission function of wherein second order FLL is：
<mrow>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>K</mi>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<msub>
<mi>&omega;</mi>
<mi>n</mi>
</msub>
<mo>+</mo>
<mfrac>
<msubsup>
<mi>&omega;</mi>
<mi>n</mi>
<mn>2</mn>
</msubsup>
<mi>s</mi>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
In formula, K is loop gain, a2For filtering parameter, ωnIt is characterized frequency；
The transmission function of third order pll is：
<mrow>
<mi>F</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<mi>K</mi>
</mfrac>
<mrow>
<mo>(</mo>
<msub>
<mi>b</mi>
<mn>3</mn>
</msub>
<msub>
<mi>&omega;</mi>
<mi>n</mi>
</msub>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>a</mi>
<mn>3</mn>
</msub>
<msubsup>
<mi>&omega;</mi>
<mi>n</mi>
<mn>2</mn>
</msubsup>
</mrow>
<mi>s</mi>
</mfrac>
<mo>+</mo>
<mfrac>
<msubsup>
<mi>&omega;</mi>
<mi>n</mi>
<mn>3</mn>
</msubsup>
<msup>
<mi>s</mi>
<mn>2</mn>
</msup>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
In formula, K is loop gain, a3、b3For filtering parameter, ωnIt is characterized frequency；
(3.3) bit synchronization is handled
The bit-synchronization algorithm used comprises the following steps that for histogram method：Ring is tracked after incoming carrier PGC demodulation state, with
The millisecond moment that machine chooses an integral result is the moment 1, and then the millisecond moment of integral result is 2,3 every time ... ..., until
20, the follow-up integral result corresponding millisecond moment is started the cycle over untill 20 from 1, by that analogy；Then 20 countings are distributed
Device, one counter of each millisecond moment correspondence, at follow-up each millisecond moment, after I roads and the completion of Q roads integral process,
Whether the symbol for comparing this integral result and last time integral result is changed, this moment correspondence if being changed
Counter add 1, have accumulated the set thresholding T fixed timeMCompare the value of 20 counters afterwards, more than the meter of predetermined threshold
At the time of the corresponding millisecond position of number device value indicates data bit saltus step；
(3.4) frame synchronization process
1) synchronous code of navigation bit and subframe is carried out related calculation, when correlated results is 8 or -8, it is believed that find frame swynchronization code
Original position, into 2)；
2) navigation bit stream is divided by the original position obtained in 1), every 30 bit constitutes a word, and to each word
Even-odd check is carried out, if correctly, into 3), otherwise returning 1)；
3) extract navigation data in week in when, subframe numbers, with last frame synchronization obtain in this step week in when, subframe
Number compare, correctly then enter 4), otherwise return 1)；
4) preceding 8 bits of latter subframe of the original position found in 1) are judged, if being still synchronizing sub-frame
Head then repeat 2)~4), otherwise return to back 1), until completion frame synchronization.
6. the air navigation aid of miniature spaceborne high-dynamic GNSS receiver according to claim 3, it is characterised in that step 4
The positioning calculation module carries out positioning calculation using navigation measurements and navigation message, finally gives the satellite information of user,
Positioning view measured value is obtained, is specially：
(4.1) pseudo range observed quantity
Pseudo range measurement is converted to the measurement of time, and receiver obtains t according to the timestamp of satellite emission signalSV, with reference to it is local when
Between tR, pseudo range observed quantity is：
ρG=c (tR-tSV)
tSV≈6(Z-1)+Nbit×0.02+NC×0.001+0.9775φC×10-6
Wherein, ρGFor pseudo range observed quantity, c is the light velocity, and Z is Z-count, NbitFor subframe bit, NCFor PN-code capture, φCFor chip
Number, local zone time tRDirectly provided by receiver local clock；
(4.2) satellite position is resolved
Satellite is that, around earth movements on definitive orbit, its position is time t function, the satellite included in ephemeris
Keplerian orbit parameter, calculates the polar equation of satellite orbit：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mi>r</mi>
<mo>=</mo>
<msub>
<mi>a</mi>
<mi>s</mi>
</msub>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<msub>
<mi>e</mi>
<mi>s</mi>
</msub>
<mi>cos</mi>
<mi> </mi>
<mi>E</mi>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>v</mi>
<mo>=</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mo>(</mo>
<mfrac>
<mrow>
<msqrt>
<mrow>
<mn>1</mn>
<mo>-</mo>
<msubsup>
<mi>e</mi>
<mi>s</mi>
<mn>2</mn>
</msubsup>
</mrow>
</msqrt>
<mi>sin</mi>
<mi> </mi>
<mi>E</mi>
</mrow>
<mrow>
<mi>cos</mi>
<mi> </mi>
<mi>E</mi>
<mo>-</mo>
<msub>
<mi>e</mi>
<mi>s</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mtd>
</mtr>
</mtable>
</mfenced>
In formula, (r, v) is the polar coordinates of satellite position, asFor the major radius of satellite orbit, esFor eccentricity of satellite orbit, E
For satellite orbit eccentric anomaly；
(4.3) receiver location is resolved
If setting satellite i coordinate as (xi,yi,zi), the pseudorange of receiver to the satellite is ρi, the coordinate (x of receiveru,yu,zu),
Satellite clock is δ t with receiver local clock clock correctionu, then have pseudorange ρiFormula：
<mrow>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>+</mo>
<msub>
<mi>&delta;t</mi>
<mi>u</mi>
</msub>
</mrow>
If receiving the navigation message that function obtains the satellite of more than 4, list four above-mentioned equations and obtain equation group, so as to solve
Calculate the position of receiver.
7. the air navigation aid of miniature spaceborne high-dynamic GNSS receiver according to claim 6, it is characterised in that step
(4.3) equation group is nonlinear, and equation group is solved using Newton iteration and linearization technique, and specific steps are such as
Under：
1) 4 unknown numbers before equation initial solution, iteration to equation group are set to set an initial value, the setting of initial value is divided into
Two kinds of situations：If positioning first, then 0 is all set to；If successfully positioning, last result is set to this and changed
The initial value in generation；
2) lienarized equation group, to pseudorange ρiFormula carry out Taylor expansion, obtain：
<mrow>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>x</mi>
<mo>,</mo>
<mi>y</mi>
<mo>,</mo>
<mi>z</mi>
<mo>,</mo>
<msub>
<mi>&delta;t</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
<mo>&CenterDot;</mo>
<mi>&Delta;</mi>
<mi>x</mi>
<mo>+</mo>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>y</mi>
</mrow>
</mfrac>
<mo>&CenterDot;</mo>
<mi>&Delta;</mi>
<mi>y</mi>
<mo>+</mo>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>z</mi>
</mrow>
</mfrac>
<mo>&CenterDot;</mo>
<mi>&Delta;</mi>
<mi>z</mi>
<mo>+</mo>
<mn>1</mn>
<mo>&CenterDot;</mo>
<msub>
<mi>&Delta;&delta;t</mi>
<mi>u</mi>
</msub>
</mrow>
In formula, △ x, △ y, △ z, △ δ tuFor the solution of least square method；
Wherein：
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mi>x</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
</mfrac>
</mrow>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>y</mi>
</mrow>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mi>y</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
</mfrac>
</mrow>
4
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>z</mi>
</mrow>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mi>z</mi>
<mo>)</mo>
</mrow>
</mrow>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mfrac>
<mo>=</mo>
<mfrac>
<mrow>
<mo>-</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<mi>z</mi>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
</mfrac>
</mrow>
Above formula is write as matrix form to obtain：
<mrow>
<mi>G</mi>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>x</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>y</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>z</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>&delta;</mi>
<msub>
<mi>t</mi>
<mi>u</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mi>b</mi>
</mrow>
Wherein：
<mrow>
<mi>G</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>x</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>y</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>z</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>z</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>x</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>y</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>z</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>z</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>x</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>y</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>z</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>z</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>x</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>x</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>y</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>y</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mfrac>
<mrow>
<mo>&part;</mo>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<mo>&part;</mo>
<mi>z</mi>
</mrow>
</mfrac>
<msub>
<mo>|</mo>
<msub>
<mi>z</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</msub>
</mrow>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
<mrow>
<mi>b</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>&rho;</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
<mo>-</mo>
<mi>&delta;</mi>
<msub>
<mi>t</mi>
<mrow>
<mi>u</mi>
<mo>,</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&rho;</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>&delta;t</mi>
<mrow>
<mi>u</mi>
<mo>,</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&rho;</mi>
<mn>3</mn>
</msub>
<mo>-</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>&delta;t</mi>
<mrow>
<mi>u</mi>
<mo>,</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&rho;</mi>
<mn>4</mn>
</msub>
<mo>-</mo>
<msub>
<mi>r</mi>
<mn>4</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>-</mo>
<msub>
<mi>&delta;t</mi>
<mrow>
<mi>u</mi>
<mo>,</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Wherein, δ tu,k-1Represent the clock correction that -1 iteration of kth is obtained, ri(k-1) represent the receiver obtained of -1 iteration of kth with
The distance of correspondence satellite, k=1 represents the initial value set in step 1；
3) least square method equations equation group is utilized：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>x</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>y</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>z</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>&delta;</mi>
<msub>
<mi>t</mi>
<mi>u</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msup>
<mrow>
<mo>(</mo>
<msup>
<mi>G</mi>
<mi>T</mi>
</msup>
<mi>G</mi>
<mo>)</mo>
</mrow>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<msup>
<mi>G</mi>
<mi>T</mi>
</msup>
<mi>b</mi>
</mrow>
4) root of Nonlinear System of Equations is updated：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mi>k</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mi>k</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>z</mi>
<mi>k</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&delta;t</mi>
<mrow>
<mi>u</mi>
<mo>,</mo>
<mi>k</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>z</mi>
<mrow>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&delta;t</mi>
<mrow>
<mi>u</mi>
<mo>,</mo>
<mi>k</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>x</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>y</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>z</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>&Delta;</mi>
<mi>&delta;</mi>
<msub>
<mi>t</mi>
<mi>u</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
5) Newton iteration convergence is judged：When vector length value is less than thresholding, illustrate that solution of equations has been restrained, then
Stop iteration, otherwise resume at step 2)；Last time iterative step 4) value be receiver position coordinates and clock clock correction.
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| CN107728172A (en) * | 2017-09-08 | 2018-02-23 | 南京理工大学 | A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method |
| CN108646278A (en) * | 2018-04-10 | 2018-10-12 | 北京七维航测科技股份有限公司 | A kind of GNSS Differential positionings orienting device |
| CN108776645A (en) * | 2018-05-31 | 2018-11-09 | 李艳华 | A kind of Embedded Multi-task managing device |
| CN109327900A (en) * | 2018-11-23 | 2019-02-12 | 中国电子科技集团公司第五十四研究所 | A kind of positioning time service method based on non-spread spectrum radio communication system |
| CN109375240A (en) * | 2018-11-05 | 2019-02-22 | 金华航大北斗应用技术有限公司 | A kind of Low Altitude Target Detection system and method based on GNSS forward scattering characteristic |
| CN109508024A (en) * | 2018-11-09 | 2019-03-22 | 中国船舶重工集团公司第七二三研究所 | A kind of quick high accuracy posture compensation method of carrier-borne electronic reconnaissance equipment |
| CN109547124A (en) * | 2018-12-17 | 2019-03-29 | 广州山锋测控技术有限公司 | A kind of multi-channel radio frequency real time monitoring signals system |
| PL424012A1 (en) * | 2017-12-22 | 2019-07-01 | Piktime Systems Spółka Z Ograniczoną Odpowiedzialnością | Method and synchronization circuit of the time transfer system, compatible with CGGTSS standard |
| CN110673177A (en) * | 2019-09-27 | 2020-01-10 | 南京理工大学 | High dynamic GNSS receiver based on flexible substrate and navigation method thereof |
| CN111708058A (en) * | 2020-06-30 | 2020-09-25 | 湖南国科微电子股份有限公司 | Signal acquisition method and device |
| CN111983596A (en) * | 2020-09-02 | 2020-11-24 | 陕西长岭电子科技有限责任公司 | Multichannel parallel search tracking ranging device |
| CN112327335A (en) * | 2020-11-04 | 2021-02-05 | 展讯通信（上海）有限公司 | GNSS receiver and satellite capturing and tracking method |
| CN113050129A (en) * | 2021-03-17 | 2021-06-29 | 广州南方卫星导航仪器有限公司 | Satellite signal capturing method and device |
| CN113238255A (en) * | 2021-06-30 | 2021-08-10 | 上海基萌智能机器人有限公司 | Satellite navigation signal receiving system |
| CN113359156A (en) * | 2021-06-25 | 2021-09-07 | 北京无线电测量研究所 | Target motion direction inversion method and system based on phase-locked loop phase difference information |
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