CN107367739A - A kind of GLONASS civil navigation signals simulation production method and device - Google Patents
A kind of GLONASS civil navigation signals simulation production method and device Download PDFInfo
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- CN107367739A CN107367739A CN201710595149.2A CN201710595149A CN107367739A CN 107367739 A CN107367739 A CN 107367739A CN 201710595149 A CN201710595149 A CN 201710595149A CN 107367739 A CN107367739 A CN 107367739A
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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
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Abstract
The present invention relates to satellite navigation signals processing technology field, the problem of presence for prior art, there is provided one kind can only need less hardware, so as to which cost reduces, but the increased GLONASS satellite navigation signal generation system based on software of flexibility.The present invention provides one kind by analog simulation navigation message, so as to generate the method for simulation GLONASS navigation signals.This invention simplifies the hardware configuration of GLONASS navigation signal generation systems, carrier wave NCO control words, code NCO control words and navigation message are stored in SRAM in advance, loaded by FPGA according to frequency control word by way of software；Pass through software analog simulation navigation message, generate the digital medium-frequency signal of more visible GLONASS satellites, the digital medium-frequency signal obtains GLONASS analog if signals after Data Synthesis, digital-to-analogue conversion and filtering, and the analog if signal obtains GLONASS analog radio-frequency signals after up-conversion and gain control.The GLONASS analog if signals and radiofrequency signal of generation can be used for the debugging and verification of GLONASS receiver developments.
Description
Technical field
The present invention relates to satellite navigation signals processing technology field, especially a kind of GLONASS civil navigation signals simulation
Production method and device.
Background technology
GLONASS systems are that it is respectively space including three parts by the GPS of Russia's research and development
Section, ground segment and user segment.Space segment includes by 21 operational satellites and 3 backup satellite Satellites that 24 stars are formed totally
Seat.Ground segment main function is that the overall of system is controlled and safeguarded using Monitoring Data.User segment effect is then to carry out
The acquisition and tracking of GLONASS navigation signals positions with resolving.
GLONASS signal structure is made up of three parts, carrier wave, pseudorandom ranging code and navigation message.There are L1 and L2 two
Individual frequency band signals, Civil Navigation Aids System use the navigation signal of GLONASS L1 frequency ranges.Compared with GPS system, GLONASS systems
It is that different satellites broadcast satellite navigation signals using different frequencies using frequency division multiple access (FDMA) multiplexing technology, and it is all
Satellite uses identical CA codes, and signal reliability is more preferable.GLONASS frequency planning is as follows：
fK1=f01+K·Δf1 (1)
fK2=f02+K·Δf2 (2)
In formula, K is the channel number (after 2005, K=-7~+6) that GLONASS satellite sends signal, in L1 and L2 subbands
Inside correspond to respectively
f01=1602MHz, Δ f1=562.5kHz
f02=1246MHz, Δ f1=437.5kHz
Frequency planning more than, the satellite carrier to different channel number divide different frequencies.GLONASS L1 letters
CA codes corresponding to number are generated by one 9 grades of maximum length shift register, are exported as the 7th grade, cycle 1ms, shift LD
The original state of device is 111111111, and generator polynomial is：
G (x)=1+x5+x9 (3)
Because GLONASS all satellites of L1 signals use same CA codes sequence, it is possible to first with MATLAB by CA
Code sequence is calculated, and is stored it in a special ROM for calling.
Navigation message is the parameter of satellite health described in satellite-signal, is the basic data of positioning and navigation,
Numeric data code is, is the format transmission with data frame.
GLONASS navigation messages have used superframe structure, and each super-frame durations are 2.5 minutes, are made up of 5 frames.
Each frame duration is 30 seconds, is made up of 15 strings.Each string duration was 2 seconds, by 1.7 seconds navigation datas and 0.3 second
Time mark composition, time mark is 30bit pseudo noise code, and occurrence is
111110001101110101000010010110, code length 10ms.
Currently on the market in common GLONASS navigation satellite signal generating systems, user can arbitrarily set receiver
Position and various parameters, the system-computed such as movement locus, time, error parameter, fading channel go out navigation message, Yi Jijie
The observed quantities such as the carrier frequency of the receivable each aeronautical satellite arrived of receipts machine, frequency change rate, carrier phase, delay, produce control life
Order, control hardware components carry out direct sequence generation, direct sequence spread spectrum, carrier wave generation, carrier modulation, adjust gain, finally
Generation simulation GLONASS satellite navigation signal.Although said structure is generated by GLONASS navigation satellite signals in the market
System generally uses, but it has following weak point：
(1) major function (such as direct sequence produces, carrier wave generates, carrier wave adjustment) realizes that equipment is complicated by hardware,
Cost is high；
(2) hardware of equipment is once carried out, it is difficult to is changed, very flexible, it is difficult to is upgraded, is transformed；
(3) it is high using dedicated computer system cost, very flexible.
The content of the invention
The technical problems to be solved by the invention are：The problem of existing for prior art, there is provided a kind of GLONASS is civilian
Navigation signal simulates production method and device.GLONASS navigation messages are produced, GLONASS intermediate frequencies are simulated by software emulation and believed
Number, it is final to produce simulation GLONASS civil navigation signals.
The technical solution adopted by the present invention is as follows：
A kind of GLONASS civil navigation signals simulation production method and device mainly include digital medium-frequency signal generation mould
Block, D/A converter module, filtration module, up-converter module, gain control module and local oscillator.It is specific to produce step
For：
1) produced in the digital medium-frequency signal generation module based on FPGA and combining exports visible GLONASS aeronautical satellites
Digital medium-frequency signal；
2) under the control of local oscillator, digital medium-frequency signal obtains mould after digital-to-analogue conversion and filtration module
Intend intermediate-freuqncy signal；
3) analog if signal obtains final GLONASS radio frequencies letter again after up-converter module and gain control
Number.
Further, described digital medium-frequency signal analog module is completed based on FPGA, including the deposit of code control word
Device module, band spectrum modulation module, BPSK modulation modules；FPGA takes out corresponding signal control word from SRAM, and loads to each
Control word register module, and produce corresponding code NCO control words, carrier wave NCO control words；Based on the SRAM in FPGA, FPGA points
Huo Qu not code NCO control words, CA codes, carrier wave DDS signals corresponding to carrier wave NCO control words；CA codes pass through spread spectrum with navigation message
After modulation module, modulated signal is formed；The modulated signal is input in multichannel after carrying out BPSK carrier modulations with carrier wave DDS signals
The synthesis of frequency signal synthesizing module is modulated to intermediate frequency output, obtains GLONASS digital medium-frequency signals.
Further, the conductive literary generation process of navigating：The original navigation telegraph text data sequence accordingly gone here and there is added into Hamming
Check code, then by being converted to relocatable code, at this moment data are 85bit, and the wide code per bit is 20ms.It is again that it is a width of with code
10ms tortuous code (01 sequence constantly repeated), which is multiplied, obtains a width of 10ms of 170bit codes two-way offset code, finally adds
30bit set time flag sequence just obtains the 200bit of a character string conductive text.
Further, in the S1, digital medium-frequency signal generation module uses the framework of software, can generate dynamic subscriber
The GLONASS L1 frequency range intermediate-freuqncy signals received, and various error models are added, IF-FRE and sample frequency can be set.
Further, user inputs simulation configuration file, user movement command file, GLONASS ephemeris file and error
Model file, by the simulation run of described digital medium-frequency signal generation module, output GLONASS digital intermediate frequency signal texts
Part, error file and user trajectory file.
Further, digital medium-frequency signal file is the intermediate frequency digital for the being modulated with CA codes and navigation message letter finally given
Number file, this intermediate-freuqncy signal is changed to be emitted with radio-frequency module again by DA just can receive positioning with receiver.
Further, the simulation flow of digital medium-frequency signal generation module is divided into Simulation Control stage and signal generation rank
Section.It is mainly to read the arrange parameter in configuration file and each moment user in the computer sim- ulation time in the Simulation Control stage
Position and speed；One cycle is carried out per 1ms in the signal generation stage, calculation error simultaneously generates GLONASS intermediate-freuqncy signals.
Generation device based on GLONASS civil navigation signals simulation production method includes：
Digital medium-frequency signal generation module, the digital intermediate frequency of visible GLONASS aeronautical satellites is exported for producing simultaneously combining
Signal；
D/A converter module, under the control of local oscillator, digital medium-frequency signal to pass through digital-to-analogue conversion；Pass through again
Filtration module handles to obtain analog if signal；
Radiofrequency signal generation module, for by analog if signal again by up-converter module and gain control after, obtain
To final GLONASS radiofrequency signals.
By adopting the above-described technical solution, the beneficial effects of the invention are as follows：
(1) to provide one kind can only need less hardware, and so as to which cost reduces, but flexibility is increased based on software
GLONASS satellite navigation signal generates system；
(2) one kind is provided by analog simulation navigation message, so as to generate simulation GLONASS digital medium-frequency signals and radio frequency
The method of navigation signal.
(3) invention simplifies the hardware configuration of existing GLONASS navigation signals generation system, and carrier wave NCO is controlled in advance
Word processed, code NCO control words and navigation message deposit SRAM, loaded by FPGA according to frequency control word by way of software；
By software analog simulation navigation message, mode caused by signal is simplified, the simulation GLONASS civil navigation signals of generation,
Both the debugging and verification of GLONASS receiver developments had been can be used for, it can also be used to for the interference of GLONASS navigation signals
Confrontation.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the simulation GLONASS radiofrequency signal generating principle figures of one embodiment of the present invention；
Fig. 2 is the GLONASS digital medium-frequency signal generating principle figures of one embodiment of the present invention；
Fig. 3 is the GLONASS navigation message generating process of one embodiment of the present invention；
Fig. 4 is the GLONASS intermediate-freuqncy signal analog module simulation contact surfaces of one embodiment of the present invention.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification, unless specifically stated otherwise, can be equivalent by other or with similar purpose
Alternative features are replaced.I.e., unless specifically stated otherwise, each feature is an example in a series of equivalent or similar characteristics
.
The core concept of the present invention is on the hardware platform based on FPGA, and by emulating construction, to meet GLONASS civilian
The navigation message of navigation signal structure, analog intermediate frequency signal is produced, led by producing the simulation civilian radio frequencies of GLONASS after frequency conversion
Navigate signal.
The CA bit rates that GLONASS L1 signals use are 511kHZ, and the signal bandwidth of each satellite is 1022kHZ, so
And the interval between the two neighboring frequency channels of GLONASS only has 562.5kHZ, so the signal of two neighboring frequency channel can be sent out
Raw spectral aliasing.The signal for the two neighboring frequency that GLONASS ICD files regulation subscriber computer front end receives simultaneously is mutual
The decay of signal can not be less than 48dB at frequency center point, so having to be filtered the baseband signal of each satellite, make
It meets conditions above, and then in re-modulation to IF-FRE, the signal of each satellite could be so recovered when receiving.Institute
The baseband filter needed should select a low pass filter, and it is arranged to by frequency Fpass=511kHZ, cut-off frequency
Fstop=550Khz.
According to the description to GLONASS signal structure, by the C/A code sequences for constructing GLONASS commercial satellite navigation signals
Row and navigation message, and be modulated in carrier signal, and it is converted to the L1 frequencies (centre frequency 1602MHz) of L frequency ranges, so that it may
GLONASS civil navigation signals are simulated to produce.
The GLONASS navigation signals generation system that the present invention designs mainly includes digital medium-frequency signal generation module, digital-to-analogue
Modular converter, filtration module, up-converter module, gain control module and local oscillator.GLONASS navigation signal generation systems
Composition frame chart it is as shown in Figure 1.
1) produced in the digital medium-frequency signal generation module based on FPGA and combining exports visible GLONASS aeronautical satellites
Digital medium-frequency signal；
2) under the control of local oscillator, digital medium-frequency signal obtains mould after digital-to-analogue conversion and filtration module
Intend intermediate-freuqncy signal；
3) analog if signal obtains final GLONASS radio frequencies letter again after up-converter module and gain control
Number.
Wherein, GLONASS digital intermediate frequencies analog module is completed based on FPGA, mainly includes code control word register mould
Block, band spectrum modulation module, BPSK modulation modules.FPGA reads corresponding signal control word, and loads to each control word register,
And produce corresponding code NCO control words, carrier wave NCO control words, navigation message.One skilled in the art that SRAM is based on,
FPGA can obtain corresponding carrier wave NCO according to carrier wave NCO control words, and corresponding carrier wave DDS signals are obtained further according to carrier wave NCO；Together
Reason, one skilled in the art that being based on SRAM, FPGA can obtain corresponding code NCO, according to code according to code NCO control words
NCO obtains CA codes.
CA codes carry out band spectrum modulation with navigation message and carry out BPSK carrier modulations with carrier wave DDS again, and multiple signals are entered
Row synthesis is modulated to intermediate frequency output, obtains GLONASS digital medium-frequency signals, and generation scheme is as shown in Figure 2.
The GLONASS navigation messages that the present invention designs need what is announced with GLONASS ICD agreements (Interface Controller agreement)
Mode is identical, it is necessary to including contents such as frame head structure, the orbital position of satellite, temporal informations.Produce correct GLONASS letters
Number, first have to correct navigation message.In IGS websites (ftp://cddis.gsfc.nasa.gov/glonass/data/
Daily/ newest GLONASS navigation message files can be downloaded on), navigation message file is using xxg as suffix name, wherein xx
It is the rear double figures in time, it is navigation message file that g, which is represented, such as：16g represents the navigation message file of 2016.Can be following
The text file at a certain moment in the past is carried, the navigation message at emulation moment is then calculated according to the text in this file.Its
In most importantly renewal to time and satellite position and speed.Calculating for GLONASS satellite position and speed is general
Realized using Long Beige-Ku Ta algorithms, its general principle is exactly the satellite position speed and acceleration according to a certain moment, is led to
Cross and stress model analysis is carried out to satellite, then integral and calculating to be emulated the satellite position at moment.GLONASS navigation messages by
A series of character string that duration are 2s forms, and the process for generating a navigation message character string is as shown in Figure 3.
The original navigation telegraph text data sequence accordingly gone here and there is added into Hamming check code first, it is then relative by being converted to
Code, at this moment data are 85bit, and the wide code per bit is 20ms.Again by its tortuous code (01 constantly repeated with a width of 10ms of code
Sequence) be multiplied obtain a width of 10ms of 170bit codes two-way offset code, finally along with 30bit set time flag sequence just
Obtain the 200bit texts of a character string.
GLONASS digital medium-frequency signals analog module uses the framework of software, can generate what dynamic subscriber received
GLONASS L1 frequency range intermediate-freuqncy signals, and various error models are added, IF-FRE and sample frequency can be set.
User inputs simulation configuration file, user movement command file, GLONASS ephemeris file and error model file,
By the simulation run of GLONASS digital medium-frequency signal analog modules, output GLONASS digital intermediate frequency signals file, error text
Part and user trajectory file.
By simulation configuration file, user can specify ephemeris file, output file, ionospheric error and orbit error etc.
The storage path of model file, emulation initial time, the emulation parameter such as duration and user's initial position can be set.With
Family movement instruction file is used for setting the motion process of receiver, and simulator calculates the movement locus of user simultaneously according to this file
User movement trail file is exported, the customer location and speed at each moment in simulation time are have recorded in this document.GLONASS is led
Avionics text file is the navigation message file that a certain reception downloaded on IGS websites arrives, and navigation message file is to calculate
The important evidence of navigation message in simulation time.Error model file has ionospheric error model file, orbit error model text
Part etc., which specifically used file is relevant with error source that module is considered and error model, and the various errors text exported
Part records the error amount at each moment calculated according to these models.Intermediate-freuqncy signal file is being modulated with of finally giving
The digital intermediate frequency signal file of CA codes and navigation message, this intermediate-freuqncy signal is emitted just with radio-frequency module again by DA conversions
Positioning can be received with receiver.
The simulation contact surface of GLONASS intermediate-freuqncy signal analog modules is as shown in Figure 4.
Simulation flow can be divided into Simulation Control stage and signal generation stage.Module enters emulation and controlled after emulation starts
In the stage processed, control parameter is read in first, mainly reads the arrange parameter in configuration file.Then navigation message file is read,
Formed in the proper ratio after coefficient converts by corresponding parameter deposit structure variable in text, and according to ICD files regulation
Binary stream so as to the framing followed by navigation message.Next generation CA codes, are defended because GLONASS L1 signals are all
Star uses same CA codes sequence, it is possible to first calculates CA code sequences with MATLAB, is then defining the storage of CA codes
Directly it is initialized during array.Last module calculates the movement locus of user, according to what is set in movement instruction file
User's initial position and the position of each moment user and speed in the movement instruction computer sim- ulation time.
Following module entering signal generation phase, one cycle is carried out per 1ms in the signal generation stage, first determine whether to work as
The preceding emulation moment whether the integral multiple for being 30s, if it is first determine whether which current satellite is visible, then calculate visible
The position of satellite and speed, then navigation message is updated, various error amounts are next calculated, a counter PRN is set, initial value is set
For -1, PRN+1 and judge whether the GLONASS satellite of PRN numberings is visible, and the life of baseband signal is then carried out if visible star
Into, baseband filtering, it is modulated to intermediate frequency；The PRN+1 if invisible, until PRN<24, which have traveled through 24 star backed off after random, counts.If
The current emulation moment is not that 30s integral multiple need not then update navigation message, and direct calculation error simultaneously generates signal.Work as emulation
Time, then module exited signal generation circulation, and emulation terminates.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (8)
1. a kind of GLONASS civil navigation signals simulate production method, it is characterised in that comprise the following steps：
S1：Produced in the digital medium-frequency signal generation module based on FPGA and combining exports visible GLONASS aeronautical satellites
Digital medium-frequency signal；
S2：Under the control of local oscillator, digital medium-frequency signal obtains mould after digital-to-analogue conversion, then by filtration module
Intend intermediate-freuqncy signal；
S3：Analog if signal after up-converter module and gain control, obtains final GLONASS radiofrequency signals again.
2. GLONASS civil navigation signals according to claim 1 simulate production method, it is characterised in that in the S1
In, described digital medium-frequency signal analog module is completed based on FPGA, including code control word register module, band spectrum modulation
Module, BPSK modulation modules；FPGA takes out corresponding signal control word from SRAM, and loads to each control word register mould
Block, and produce corresponding code NCO control words, carrier wave NCO control words；Based on the SRAM in FPGA, FPGA obtains a yard NCO controls respectively
CA codes, carrier wave DDS signals corresponding to word, carrier wave NCO control words；After CA codes and navigation message are by band spectrum modulation module, formed
Modulated signal；The modulated signal is input to multichannel intermediate-freuqncy signal synthesis module after carrying out BPSK carrier modulations with carrier wave DDS signals
Synthesis is modulated to intermediate frequency output, obtains GLONASS digital medium-frequency signals.
3. a kind of GLONASS civil navigation signals simulation production method according to claim 1, it is characterised in that described to lead
The literary generation process of electricity boat：The original navigation telegraph text data sequence accordingly gone here and there is added into Hamming check code, then by being converted to phase
To code, at this moment data are 85bit, and the wide code per bit is 20ms；Again by its with a width of 10ms of code tortuous code-phase is multiplied arrives
The a width of 10ms of 170bit codes two-way offset code, finally along with 30bit set time flag sequence just obtains a character
The 200bit of string conductive text.
4. GLONASS civil navigation signals according to claim 1 simulate production method, it is characterised in that in the S1
In, GLONASS digital medium-frequency signals generation module uses the framework of software, can generate the GLONASS that dynamic subscriber receives
L1 frequency range intermediate-freuqncy signals, and various error models are added, IF-FRE and sample frequency can be set.
5. GLONASS civil navigation signals according to claim 1 simulate production method, it is characterised in that user inputs
Simulation configuration file, user movement command file, GLONASS ephemeris file and error model file, by described GLONASS
The simulation run of digital medium-frequency signal generation module, output GLONASS digital intermediate frequency signals file, error file and user trajectory
File.
6. GLONASS civil navigation signals according to claim 5 simulate production method, it is characterised in that digital intermediate frequency is believed
Number file is that what is finally given be modulated with the digital intermediate frequency signal file of CA codes and navigation message, and this intermediate-freuqncy signal is turned by DA
Change to be emitted with radio-frequency module again and just can receive positioning with receiver.
7. GLONASS civil navigation signals according to claim 1 simulate production method, it is characterised in that in GLONASS
The simulation flow of frequency signal generation module is divided into Simulation Control stage and signal generation stage；Mainly read in the Simulation Control stage
Take the position of each moment user and speed in the arrange parameter in configuration file and computer sim- ulation time；In the signal generation stage
One cycle is carried out per 1ms, calculation error simultaneously generates GLONASS intermediate-freuqncy signals.
8. based on the generation device of one of claim 1 to 7 GLONASS civil navigation signals simulation production method, it is special
Sign is to include：
Digital medium-frequency signal generation module, the digital medium-frequency signal of visible GLONASS aeronautical satellites is exported for producing simultaneously combining；
D/A converter module, under the control of local oscillator, digital medium-frequency signal to pass through digital-to-analogue conversion；Pass through filtering again
Resume module obtains analog if signal；
Radiofrequency signal generation module, for by analog if signal again by up-converter module and gain control after, obtain most
Whole GLONASS radiofrequency signals.
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| CN112583496A (en) * | 2020-12-02 | 2021-03-30 | 四川安迪科技实业有限公司 | Satellite communication space link conversion simulation device and method |
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| CN114035209A (en) * | 2021-11-03 | 2022-02-11 | 湖南国天电子科技有限公司 | Satellite navigation signal model design calculation method |
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