CN107728172A - A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method - Google Patents
A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method Download PDFInfo
- Publication number
- CN107728172A CN107728172A CN201710807088.1A CN201710807088A CN107728172A CN 107728172 A CN107728172 A CN 107728172A CN 201710807088 A CN201710807088 A CN 201710807088A CN 107728172 A CN107728172 A CN 107728172A
- Authority
- CN
- China
- Prior art keywords
- msub
- satellite
- signal
- mrow
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- 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
- G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
-
- 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
-
- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Present invention mainly discloses a kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method.Receiver includes 4 modules：Active antenna, radio-frequency front-end processing module, baseband signal digital signal processing module, positioning calculation module, wherein the navigation signal received is changed into current signal by active antenna, signal is amplified through low-noise amplifier, after bandpass filter improves signal to noise ratio, into radio-frequency front-end；Radio-frequency front-end processing module carries out lower mixing, intermediate frequency filtering, automatic growth control and analog-to-digital conversion to satellite-signal, finally gives 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 using navigation measurements and navigation message, finally gives the satellite information of user, obtains positioning view measured value.The present invention improves the precision of navigator fix and time service.
Description
Technical field
The present invention relates to Satellite Navigation Technique, is specifically related to a kind of miniature spaceborne high dynamic north based on DSP+FPGA
Bucket/GPS dual-mode receiver and its navigation locating method.
Background technology
Since the U.S. builds up global positioning system (abbreviation GPS) comprehensively, widely it has been used in by countries in the world
Military and civil fields.For the consideration of national strategy aspect, China also greatly develops Beidou satellite navigation system (referred to as in 21 century
BDS), tentatively build up at present, turn into the 3rd ripe satellite navigation system after GPS of America, Russian GLONASS
System.Signal receiver is equipment necessary to applied satellite navigation system.Asked in the market existing for the Big Dipper/GPS
Topic has：It is restricted using height and speed, the environment of spaceborne high dynamic can not be applied to；To both GPS and triones navigation system
Compatibility it is not strong；Foreign countries meet that the GPS of relevant art requirement has embargo.
The A of patent CN 104133226 disclose a kind of Big Dipper/GPS dual-mode location receiver, have a disadvantage in that and do not consider to defend
The influence of the environmental factor such as superelevation dynamic effects and the ultralow temperature of space environment that star flies around ground, strong electromagnetic, therefore not
Suitable for spaceborne high dynamic environment.Under high dynamic environment the development of receiver exist the high-performance Big Dipper/GPS loop tracks algorithm with
And the technological difficulties of fast positioning.In the market also solving above-mentioned difficult point, and have that arithmetic speed is fast, overall work(
Consume low, small volume, it is anti-interference, low temperature resistant the advantages that the spaceborne Big Dipper/GPS hardware systems and its corresponding software design.
The content of the invention
It is an object of the invention to provide one kind can overcome drawbacks described above to provide a kind of Big Dipper/GPS pairs for low orbit satellite
The spaceborne receiver of mould and its navigation locating method, improve the precision of navigator fix and time service.
The technical scheme for realizing the object of the invention is：A kind of spaceborne receiver of the Big Dipper/GPS dual-mode, based on DSP+FPGA framves
Structure, including 4 modules：Active antenna, radio-frequency front-end processing module, baseband signal digital signal processing module and positioning calculation module：
The navigation signal received is changed into current signal by active antenna, and signal is put through low-noise amplifier
Greatly, after bandpass filter improves signal to noise ratio, into radio-frequency front-end processing module；
Radio-frequency front-end processing module carries out lower mixing, intermediate frequency filtering, automatic growth control and analog-to-digital conversion to satellite-signal,
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, is obtained
To navigation measurements and navigation message；
Positioning calculation module carries out positioning calculation using navigation measurements and navigation message, finally gives the satellite letter of user
Breath, obtain positioning view measured value.
A kind of navigation locating method of the spaceborne receiver of the Big Dipper/GPS dual-mode, comprises the following steps：
Step 1, active antenna receive navigation signal, and are amplified and filtering and noise reduction；
Step 2, radio-frequency front-end processing module the signal of denoising is carried out lower mixing, intermediate frequency filtering, automatic growth control and
Analog-to-digital conversion, obtain digital medium-frequency signal；
Step 3, baseband signal digital signal processing module are captured to digital medium-frequency signal, tracked, bit synchronization and frame synchronization
Processing, obtains navigation measurements and navigation message；
Step 4, positioning calculation module carry out positioning calculation using navigation measurements and navigation message, obtain the positioning of satellite
Observation.
Compared with prior art, its remarkable advantage is the present invention：(1) present invention uses DSP+FPGA structure designs, improves
Arithmetic speed, it is convenient that algorithm is improved and updated, it is adapted to use in engineering；(2) present invention uses the Big Dipper/GPS pseudoranges
Blending algorithm, improve and receive star number amount, reduce and lose star probability；(3) present invention uses improved time domain code acquisition method, contracting
Short receiver primary positioning time.
Brief description of the drawings
Fig. 1 is the signal processing flow figure of the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention.
Fig. 2 is the system hardware structure figure of the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention.
Fig. 3 is the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver MAX2769 configuration module structure charts of the present invention.
Fig. 4 is the structure of the radio-frequency front-end processing module of the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention
Figure.
Fig. 5 is DSP and FPGA the bus connection figure of the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention.
Fig. 6 is the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention and its capture circuit diagram of air navigation aid.
Fig. 7 is the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention and its track loop figure of air navigation aid.
Fig. 8 is the second-order loop numeral of the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention and its air navigation aid
Filter block figure.
Fig. 9 is the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention and its air navigation aid by second order FLL
The filter block figure of the third order pll of auxiliary.
Figure 10 is the frame synchronization flow of the miniature spaceborne high dynamic Big Dipper/GPS dual-mode receiver of the present invention and its air navigation aid
Figure.
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 spaceborne receiver of the Big Dipper/GPS dual-mode of the present invention, the receiver is based on DSP+FPGA, including active
Antenna, radio-frequency front-end processing module, baseband signal digital signal processing module and positioning calculation module：Active antenna is led what is received
Boat signal is changed into current signal, and signal is amplified through low-noise amplifier, after bandpass filter improves signal to noise ratio, enters
Enter radio frequency front end processing block；Radio-frequency front-end processing module carries out lower mixing, intermediate frequency filtering, automatic growth control to satellite-signal
And analog-to-digital conversion, obtain digital medium-frequency signal；Baseband signal digital signal processing module captured to digital medium-frequency signal, tracked,
Bit synchronization and frame synchronization process, obtain navigation measurements and navigation message；Positioning calculation module utilizes navigation measurements and navigation
Text carries out positioning calculation, finally gives the positional information of user, obtains positioning view measured value.
The radio-frequency front-end processing module uses the model MAX2769 Big Dipper/GPS dual-mode receiver chip.The base
Band signal digital signal processing module uses altera corp model EP4CE115F23C8N fpga chip.Positioning calculation module is adopted
With fixed point/floating-point signal processor TMS320C6747, the dominant frequency 300MHz of TI companies, L1 and 256KB containing 64KB
L2 two-stage buffer memory structures.As shown in Fig. 2 particular hardware is described as follows：
(1) 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, be 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 preferable.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, with FPGA to design a SPI interface, and is write by this interface to MAX2769
Enter control word to realize MAX2769 configuration.
(2) baseband signal digital signal processing module uses the fpga chip EP4CE115F23C8N of altera corp, passes through SPI
Bus receives digital medium-frequency signal caused by MAX2769, 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 exports 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
With reference to GP2021 designs.Realize 32 passages in FPGA in the present embodiment at present, the resource of the GPS correlator in passage
Take as 750LE passages, in the pure same category code using LE to realize correlator of not frequency multiplication, optimize very much.Realize work(
Energy：The generation of local C/A codes；The generation of local carrier；IF input signals and local C/A codes and local carrier it is related.
(3) positioning calculation module uses fixed point/floating-point signal processor TMS320C6747 of TI companies, and dominant frequency is
300MHz, L1 and 256KB containing 64KB L2 two-stage buffer memory structures.Realize function：Capture control and prize judgment；
Phase discriminator and filtering in tracking；Bit synchronization；Frame synchronization；Positioning calculation.
(4) 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, be particularly suitable for battery powered system.
The navigation locating method of the spaceborne receiver of the Big Dipper/GPS dual-mode, comprises the following steps：
Step 1, active antenna receive navigation signal, and are amplified and filtering and noise reduction；
Step 2, radio-frequency front-end processing module carry out lower mixing, intermediate frequency filtering, automatic growth control to the signal after denoising
And analog-to-digital conversion, obtain digital medium-frequency signal；
Step 3, baseband signal digital signal processing module are captured to digital medium-frequency signal, tracked, bit synchronization and frame synchronization
Processing, obtains navigation measurements and navigation message；
Capture processing is specific as follows：
Need to judge whether satellite is visible in the acquisition procedure of gps satellite and GEO satellite and determine the spreading code of visible star
Phase and Doppler frequency shift are worth rough estimate value.MEO satellite and IGSO satellites using NH codes in spreading code because done secondary expansion
Frequently, on the basis of it is determined that satellite is visible, it is also necessary to it is determined that spread spectrum code phase and NH code phases, therefore acquisition algorithm will be done necessarily
Specially treated.Traditional time domain acquisition search algorithm steps are：
Step 1, Doppler frequency shift amount is set, and local replica carrier wave and input signal are mixed.Gps satellite is with L frequencies
As step-size in search, BDII satellites are no more than N using 2L frequencies as step-size in search, when local carrier differs with frequency input signal
Hz, then explanation completion carrier wave stripping.
The baseband signal that step 2, carrier wave obtain after peeling off is related to the local copy codes progress set by code step-size in search
Computing.So integration is obtained 2046 half of spreading code chip data sequences by 1ms gps signal, and BDII signals will integrate
To 4092 half of spreading code chip data sequences.Wherein MEO and IGSO satellite-signals because there is NH codes to carry out secondary spread spectrum,
The code phase of two codes is needed, whole quadratic code can regard a long spreading code as.If correlation reaches predetermined capture
Thresholding, then illustrate successfully to capture signal, conversely, correlator will change local replica code phase by code step-size in search, continue under
One search unit scans for.
If step 3, still fail to realize signal capture after having searched for whole code phases, by frequency search step-size change
Doppler frequency shift amount and repeat step 1, step 2；Satellite-signal is not captured still after all search units have been searched for,
Then think to fail to capture the satellite-signal, receiver related channel program will transfer to search for other satellites.
In order to allow receiver quickly to capture the Big Dipper/gps satellite signal, reduce primary positioning time and improve other
Performance, present invention employs improved time domain searching algorithm, specific improvement is as follows：
1) in the receiver design, using the high-performance TMS320C6747 digital signal processing chips of TI companies, it has
300MHz high speed processing abilities, it 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, there is the correlator of 32 passages, be easy to by the way of direct Parallel Hardware computing.These features are big
Search time of the big reduction receiver to the Big Dipper/gps satellite signal；
If 2) 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 utilizes satellite almanac information, substantially determines that each is defended
Star square position, and select optimal satellite acquisition order on the receiver this moment, ensures that capture rate；
3) the signal frequency precision that is captured of conventional search step-length more than is 400Hz, the capture result of the precision
The tracking time of track loop will be increased.For this, the present invention devises one and recaptures link, to the result of capture with 40Hz's
Step-length is captured again, reduces receiver acquisition, the overall time of tracking；
4) in order to shorten receiver primary positioning time, the present invention captures five visible satellites jointly first with 32 passages
Signal, after acquisition success, remaining 27 passages capture a satellite-signal respectively again.This catching method subtracts well
The primary positioning time of few receiver.
The specific search step of the present invention is as follows：
1) set search passage number, first step-size in search, search again for step-length；
2) satellite almanac information is utilized, it is rough to determine current position of each satellite above the Big Dipper/GPS, utilize
Satellite acquisition algorithm selects optimal satellite acquisition order；
3) all passages capture five optimal visible satellite signals jointly, remaining not capture satellite after acquisition success
The passage of signal is attempted to capture remaining satellite-signal again respectively, obtains the digital medium-frequency signal carrier frequency of satellite, each passage
The method of capture is：According to satellite acquisition order, according to the digital medium-frequency signal of all satellites of the capture of step-size in search first, to catching
The result obtained is captured according to searching again for step-length again, obtains the digital medium-frequency signal carrier frequency of satellite.
Tracking processing is specific as follows：
Tracking use FLL+PLL united carrier trackings, this method includes code tracking loop and carrier tracking loop, entirely with
The structured flowchart of track loop is as shown in Figure 7.
(2.1) 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, three pseudo-code sequences are copied, wherein advanced code (E codes) and hysteresis code (L codes) is that i.e. time-code (P codes) is advanced respectively
With the obtained spreading code of hysteresis half-chip, by its it is related to intermediate-freuqncy signal after, code tracking loop passes through the phase to E and L two-way
Close result and carry 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.The perfectly aligned of local pseudo-code and the pseudo-code in reception signal is realized with this.
Agate track loop carries out phase demodulation, correlation width advanced, immediately, on hysteresis branch road using delay-locked loop discriminator
Value is respectively：
In formula, E, P, L are respectively advanced, correlation amplitude immediately, on hysteresis branch road, IE、IP、ILRespectively in advance, i.e.
When, hysteresis branch road on I roads signal, QE、QP、QLQ roads signal respectively advanced, immediately, on hysteresis branch road.
Pseudo-code auto-correlation function main peak is a symmetrical triangle, if i.e. time-code in reception signal pseudo-code phase with protecting
Hold unanimously, E and L are equal；If i.e. time-code and reception signal pseudo-code phase is inconsistent, E and L, according to both E and L it
Between difference can reflect i.e. time-code and the phase difference value of reception signal spreading code.The phase discriminator that the present invention uses uses non-phase
Dry advanced subtract lags amplitude method：
In formula, δcpFor code phase difference, E, L are respectively correlation amplitude in advance, on hysteresis branch road.
Then identified result is filtered, code tracking loop uses 2 rank loop digital wave filters, as shown in figure 8, it is transmitted
Function is：
In formula, K is loop gain, a2For filtering parameter, ωnIt is characterized frequency.Then the system function 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.
(2.2) carrier tracking loop
Carrier tracking loop is made up of two kinds of loops of FLL and phaselocked loop, and carrier tracking loop reflects to correlated results
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 uses for section's Stas (Costas) ring,
Its need phase information be：
In formula, QP(n), IP(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：Mainly the frequency of signal is locked, and its dynamic range is more wider than institute phaselocked loop, energy
Enough quick lock in input signals.
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：
The frequency discrimination formula of the frequency discriminator of carrier tracking loop FLL is：
In formula, ωe(n) it is frequency discriminator output error, t is the sampling time.
When capturing just success and being switched to tracking mode, essence is improved although with improved time domain searching algorithm
Degree, but certain error compared with exact value still be present, therefore FLL plays a leading role in carrier tracking loop, it will be fast
Speed is led into signal.After the frequency of local carrier and the frequency of the Big Dipper/gps signal are closer to, phaselocked loop is in carrier track
Played a leading role in ring, make local signal more accurately synchronous with input signal.Carrier tracking loop is auxiliary using second order FLL
The loop structure of third order pll is helped, as shown in Figure 9.
The transmission function of wherein second order FLL is：
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.The value of parameters is a3=1.1, b3
=2.4, the ω in wave filternIt is to be determined by the noise bandwidth of its respective filter, wherein BL=0.7845 ωn.In the present invention
The a width of 18Hz of carrier loop filter noise band.
Numeric data code synchronization process is specific as follows：
(3.1) bit synchronization is handled
For the bit-synchronization algorithm that the present invention uses for cross zero detecting method, specific implementation step is as follows：It is adjacent to compare tracking result
The difference of point, i.e. tracking export the difference of this 1ms output valve and upper 1ms output valve, if this difference has exceeded setting thresholding,
Show there is data bit flipping, while judge that the data point is otherwise -1 for 1 if this 1ms data are more than zero.In this way
Whole data sequence is searched for, all data bit upturned positions can be found.The threshold value wherein set is generally output result
Minimum expectation amplitude, while in view of the strong and weak change of signal, this decision threshold can be according to signal intensity adaptive change.
The interval of data bit flipping point should be the multiple for differing 20ms or 20ms in ideal conditions, but always have various
Error is present, so after all data bit upturned positions are found, the method for also having some probability statistics is turned over according to data bit
Turn-week phase etc., fixed rule carried out secondary judgement to these Data flipping positions, finally determined the Data flipping of maximum probability
Position.After Data flipping position determines, 1000b/s tracking output can is converted into 50b/s navigation message.Specifically
Method is using continuous 20 output points after Data flipping position as 1 value.
(3.2) frame synchronization process
The purpose that the present invention carries out frame synchronization has at 2 points, and first is the original position for finding each subframe, correctly to divide
The word of 30 bit lengths in navigation message；Second is to determine whether to exist due to navigation bit caused by 180 degree phase ambiguity
It is anti-phase.
The frame synchronization algorithm flow chart used in the present invention is as shown in Figure 10, comprises the following steps that：
1) because the last dibit of each frame is fixed as " 00 ", 180 degree phase ambiguity can be eliminated using this characteristic.
If last position " 0 " of each frame, correctly；If last position " 1 " of each frame, is negated.Into 2)；
2) frame head " 0x8b " is found, can not find just to update the data and return to 1)；Frame synchronization success is temporarily thought if finding, is entered
Enter 3)；
3) the data frame head obtained in 2) is divided as original position to navigation bit stream, every 30 bit composition one
Individual word, even-odd check is carried out to TLM and HOW by 6 matrixes, and the number of weeks extracted in HOW, subframe numbers are compared with last two
Spy is checked, the frame synchronization success if by checking, while exportable navigation message, is otherwise updated the data and is returned to 1).
Step 4, positioning calculation module carry out positioning calculation using navigation measurements and navigation message, obtain the positioning of satellite
Observation, it is specific as follows：
(4.1) observed quantity of pseudorange
Pseudo range measurement is converted to the measurement of time.Timestamp in receiver according to satellite emission signal obtains tSV, knot
Close local zone time tR, pseudo range observed quantity is calculated, is specially：
ρG=c (tR-tSV)
tSV≈6(Z-1)+Nbit×0.02+NC×0.001+0.9775φC×10-6
In formula, 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 resolves
Satellite is around earth movements on definitive orbit, and its position is time t function, by what is included in ephemeris
Satellite Keplerian orbit parameter, calculate the polar equation of satellite orbit：
In formula, (r, v) be satellite position polar coordinates, asFor the major radius of satellite orbit, esIt is eccentric for satellite orbit
Rate, E are satellite orbit eccentric anomaly；
(4.3) receiver location resolves
Common receiver needs to set satellite elevation angle to filter angle before location Calculation.Elevation angle filter angle is a threshold value, any
The elevation angle less than this filter angle value satellite will all be " filtered " rather than location Calculation in.In general low elevation angle satellite letter
Number air delay correction error may be very big, and its multipath effect again may be very serious, thus it has been generally acknowledged that low face upward
Cornerdown's star does not support the harm of larger measurement error and position error caused by it to the benefit for improving positioning precision.It is but right
For spaceborne GNSS receiver, the satellite-signal at the low elevation angle remains to participate in calculating, and the satellite elevation angle that receiver acquisition arrives can
With less than horizontal line.Consider troposphere and the height in ionosphere, the spaceborne spaceborne receiver of the Big Dipper/GPS dual-mode of the invention
Elevation angle filter angle in capture processing is arranged to -25 °, i.e. satellite of the elevation angle less than -25 ° is not involved in positioning calculation.
If satellite i coordinate is set as (xi,yi,zi), the pseudorange of receiver to the satellite is ρi, the coordinate (x of receiveru,
yu,zu), the satellite clock and receiver local clock clock correction are δ tui, then have pseudorange ρiFormula：
Wherein, the satellite-signal captured for each success, the position (x of satellitei,yi,zi) and the puppet of satellite and receiver
Away from ρiIt can be tried to achieve by the information in navigation message, be known quantity.Coordinate (the x of receiveru,yu,zu) and clock correction δ tuTo be unknown
Amount, if receiving the navigation message that function obtains the satellite of more than 4, it is possible to list four above-mentioned equations, connect so as to calculate
The position of receipts machine.This is traditional single mode positioning.
The temporal error of both GPS and triones navigation system is considered in bimodulus positioning, and because control section is different, this
Individual error is indefinite, be there will not be in text, so clock correction can only be respectively set to δ tuGPSWith δ tuBDII.Melted using pseudorange
The Big Dipper and GPS pseudorange observation equation are uniformly processed conjunction method, obtain Simultaneous Equations：
Need receiver to obtain the navigation message of at least 5 satellites to solve 5 unknown quantitys, list five above-mentioned sides
Journey, so as to calculate the position of receiver.
Because equation group is nonlinear, the present invention is asked equation group using Newton iteration and its linearization technique
Solution, it is comprised the following steps that：
1) equation initial solution is set, gives 5 unknown numbers of equation group to set an initial value, the setting of initial value before iteration
It is divided into two kinds of situations：If positioning first, then 0 is all set to；If successfully positioning, the result of last time is arranged to this
The initial value of secondary iteration；
2) lienarized equation group, to pseudorange ρGFormula carry out Taylor expansion, obtain：
In formula, Δ x, Δ y, Δ z, Δ δ tuGPS、ΔδtuBDIIFor 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 represent 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) result in 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 return to 2)；The present invention judges whether convergent side
The length for the motion vector Δ x that formula is this time calculated for inspectionWhether threshold value 0.001 set in advance is less than.Typically
In the case of 3 to 5 iteration can restrain, last time iteration 4) value be receiver position coordinates and clock clock correction.
To sum up, the present invention is the spaceborne receiver of the Big Dipper/GPS dual-mode, and it can receive the Big Dipper and gps signal, its compatibility
It is good.And manufacturing cost is low, small volume, preventing test is appropriate for, timely to be verified to its algorithm.By to two
The combination of kind navigation signal, improve the precision of positioning.During whole digital baseband transmission system, computing is most complicated
Related operation when being just acquisition and tracking, plenty of time and space can be taken if being carried out in DSP, is unsatisfactory for real-time
It is required that.During due to carrying out related operation, the value condition of two values of multiplication is limited, therefore utilizes what is tabled look-up using FPGA
Method can only take up seldom resource to realize, and can carry out parallel capture using FPGA multichannel feature, so as to
Accelerate acquisition procedure.In capture and tracking, the subsequent operation of related operation includes the mathematical operation of large amount of complex, and this part is then
By the DSP processing with powerful mathematical operational ability.
Claims (10)
1. a kind of spaceborne receiver of the Big Dipper/GPS dual-mode, it is characterised in that based on DSP+FPGA, including 4 modules：Active day
Line, radio-frequency front-end processing module, baseband signal digital signal processing module, positioning calculation module：
The navigation signal received is changed into current signal by active antenna, and signal is amplified through low-noise amplifier, warp
After bandpass filter improves signal to noise ratio, into radio-frequency front-end；
Radio-frequency front-end processing module carries out lower mixing, intermediate frequency filtering, automatic growth control and analog-to-digital conversion to satellite-signal, finally
Obtain digital medium-frequency signal；
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；
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.
2. the spaceborne receiver of the Big Dipper/GPS dual-mode according to claim 1, it is characterised in that the active antenna uses band
There is the structure of high-frequency low-noise amplifier, bandpass filter.
3. the spaceborne receiver of the Big Dipper/GPS dual-mode according to claim 1, it is characterised in that the radio-frequency front-end handles mould
Block uses model MAX2769 GNSS receiver chip, and its crystal oscillator is 16.369MHz.
4. the spaceborne receiver of the Big Dipper/GPS dual-mode according to claim 1, it is characterised in that at the baseband signal numeral
The fpga chip EP4CE115F23C8N that module uses altera corp is managed, its crystal oscillator is 16.369MHz.
5. the spaceborne receiver of the Big Dipper/GPS dual-mode according to claim 1, it is characterised in that the positioning calculation module is adopted
With fixed point/floating-point signal processor TMS320C6747 of TI companies, its crystal oscillator is 24MHz.
6. one kind is applied to the navigation locating method of the spaceborne receiver of the Big Dipper/GPS dual-mode described in claim 1-5 any one,
It is characterised in that it includes following steps：
Step 1, active antenna receive navigation signal, and are amplified and filtering and noise reduction；
Step 2, radio-frequency front-end processing module carry out lower mixing, intermediate frequency filtering, automatic growth control and modulus to the signal of denoising
Conversion, obtains digital medium-frequency signal；
Step 3, baseband signal digital signal processing module are captured to digital medium-frequency signal, tracked, bit synchronization and frame synchronization process,
Obtain navigation measurements and navigation message；
Step 4, positioning calculation module carry out positioning calculation using navigation measurements and navigation message, obtain the location observation of satellite
Value.
7. the spaceborne receiver navigation locating method of the Big Dipper/GPS dual-mode according to claim 6, it is characterised in that step 3
Captured using improved time domain searching algorithm, specific method is as follows：
1) set search passage number, first step-size in search, search again for step-length；
2) satellite almanac information is utilized, it is rough to determine current position of each satellite above the Big Dipper/GPS, utilize satellite
Searching algorithm selects optimal satellite acquisition order；
3) all passages capture five optimal visible satellite signals jointly, remaining not capture satellite-signal after acquisition success
Passage attempt to capture remaining satellite-signal again respectively, obtain the digital medium-frequency signal carrier frequency of satellite, each passage capture
Specific method be：According to satellite acquisition order, according to the digital medium-frequency signal of all satellites of the capture of step-size in search first, to catching
The result obtained is captured according to searching again for step-length again, obtains the digital medium-frequency signal carrier frequency of satellite.
8. the spaceborne receiver navigation locating method of the Big Dipper/GPS dual-mode according to claim 6, it is characterised in that step 3
It is tracked using FLL+PLL united carrier trackings.
9. the spaceborne receiver navigation locating method of the Big Dipper/GPS dual-mode according to claim 6, it is characterised in that step 4
Resolve satellite information specific method be：
Step 4.1, using the satellite emission signal timestamp of navigation message obtain tSV, with reference to local zone time tR, calculate pseudorange and see
Measurement, it is specially：
ρG=c (tR-tSV)
tSV≈6(Z-1)+Nbit×0.02+NC×0.001+0.9775φC×10-6
In formula, 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；
The position of step 4.2, the satellite Keplerian orbit parameter calculation satellite included using ephemeris in navigation message, satellite orbit
Polar equation be：
<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>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>E</mi>
</mrow>
<mrow>
<mi>cos</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) be satellite position polar coordinates, asFor the major radius of satellite orbit, esFor eccentricity of satellite orbit, E
For satellite orbit eccentric anomaly；
The pseudorange equation of step 4.3, respectively structure capture satellite, it is specially：
<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>
In formula, (xi,yi,zi) represent i-th of satellite position, ρiFor the satellite and the pseudorange of receiver, (xu,yu,zu) it is to receive
The coordinate of machine, δ tuFor the clock correction of the Big Dipper or gps satellite and local clock；
Step 4.4, using pseudorange fusion method the Big Dipper and GPS pseudorange observation equation are uniformly processed, obtain Simultaneous Equations,
Specially：
<mrow>
<msub>
<mi>&rho;</mi>
<mrow>
<mi>G</mi>
<mi>i</mi>
</mrow>
</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>
<mrow>
<mi>u</mi>
<mi>G</mi>
<mi>P</mi>
<mi>S</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>&delta;t</mi>
<mrow>
<mi>u</mi>
<mi>B</mi>
<mi>D</mi>
<mi>I</mi>
<mi>I</mi>
</mrow>
</msub>
</mrow>
In formula, δ tuGPSFor GPS clock correction, δ tuBDIIFor the clock correction of the Big Dipper；
Step 4.5, solve the clock correction that equation produces the positioning view measured value, the i.e. coordinate of receiver, the Big Dipper and GPS of satellite.
10. the spaceborne receiver navigation locating method of the Big Dipper/GPS dual-mode according to claim 9, it is characterised in that utilize
Newton iteration method solves Simultaneous Equations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710807088.1A CN107728172A (en) | 2017-09-08 | 2017-09-08 | A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710807088.1A CN107728172A (en) | 2017-09-08 | 2017-09-08 | A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107728172A true CN107728172A (en) | 2018-02-23 |
Family
ID=61205033
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710807088.1A Pending CN107728172A (en) | 2017-09-08 | 2017-09-08 | A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107728172A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109581440A (en) * | 2018-12-18 | 2019-04-05 | 中国电子科技集团公司第五十四研究所 | A kind of integrated distribution formula multisystem navigation signal processing platform |
| CN110006296A (en) * | 2019-03-29 | 2019-07-12 | 河北省人工影响天气办公室 | Hail-suppression rocket bullet of increasing rain artificially sows job trace monitoring and trajectory deviation-rectifying system |
| CN110286395A (en) * | 2019-07-11 | 2019-09-27 | 国网上海市电力公司 | A kind of dipper system precision calculation method |
| CN110308466A (en) * | 2019-06-21 | 2019-10-08 | 南京理工大学 | Miniature dual mode receiver and its air navigation aid based on Zynq-7020 |
| 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 |
| CN111045041A (en) * | 2019-11-29 | 2020-04-21 | 交通运输部长江通信管理局 | Single-Beidou/multi-mode compatible working mode automatic switching method and device for satellite receiver |
| CN111458730A (en) * | 2020-04-17 | 2020-07-28 | 上海井融网络科技有限公司 | GNSS carrier tracking method based on Doppler residual estimation and receiver |
| CN111722255A (en) * | 2020-06-09 | 2020-09-29 | 上海交通大学 | Space-time modulation-based regional navigation positioning system and method |
| CN112099054A (en) * | 2020-09-22 | 2020-12-18 | 厦门星环科技有限公司 | One-machine-multiple-antenna Beidou high-precision receiver and Beidou high-precision measurement system |
| CN112835069A (en) * | 2020-10-30 | 2021-05-25 | 北京时代民芯科技有限公司 | Satellite-borne Beidou third-generation multi-frequency navigation receiving system |
| CN112904374A (en) * | 2021-01-29 | 2021-06-04 | 湖南国科微电子股份有限公司 | Satellite signal strength evaluation method and device, GNSS receiver and medium |
| CN113075712A (en) * | 2021-03-17 | 2021-07-06 | 北京云恒科技研究院有限公司 | Autonomous controllable multi-system high-precision navigation equipment and navigation method |
| CN113189627A (en) * | 2021-04-29 | 2021-07-30 | 中国电子科技集团公司第五十四研究所 | Communication positioning integrated dual-mode airborne system based on Beidou satellite |
| CN113328765A (en) * | 2021-04-25 | 2021-08-31 | 北京航空航天大学 | Method for realizing universal receiver of multiple spread spectrum systems under high dynamic condition |
| CN113447964A (en) * | 2021-06-15 | 2021-09-28 | 深圳市远东华强导航定位有限公司 | RNSS (radio network subsystem) assistance-based RSMC (remote subscriber identity Module) receiving method |
| CN114095070A (en) * | 2021-10-29 | 2022-02-25 | 中国电子科技集团公司第五十四研究所 | Rocket body information returning device based on Beidou satellite navigation |
| CN114594500A (en) * | 2022-02-10 | 2022-06-07 | 湖北第二师范学院 | GNSS/LEO fusion positioning receiver system and positioning method |
| CN115342820A (en) * | 2022-10-18 | 2022-11-15 | 深圳市诚王创硕科技有限公司 | Navigation positioning system for automobile driving at night |
| CN116774264A (en) * | 2023-06-25 | 2023-09-19 | 西安电子科技大学 | Moving target positioning method based on low orbit satellite opportunistic signal Doppler |
| CN117269998A (en) * | 2023-11-20 | 2023-12-22 | 北京凯芯微科技有限公司 | GNSS receiver and noise estimation method |
| CN117420579A (en) * | 2023-12-19 | 2024-01-19 | 中天引控科技股份有限公司 | Data signal positioning method and system based on satellite tracking |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201707440U (en) * | 2010-07-05 | 2011-01-12 | 西安展意信息科技有限公司 | High-dynamic GNSS multimode satellite navigation receiver integrated module device |
| EP2568315A1 (en) * | 2008-04-15 | 2013-03-13 | Qualcomm Incorporated | Method and apparatus for position determination with hybrid SPS orbit data |
| CN107121685A (en) * | 2017-06-08 | 2017-09-01 | 南京理工大学 | A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid |
-
2017
- 2017-09-08 CN CN201710807088.1A patent/CN107728172A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2568315A1 (en) * | 2008-04-15 | 2013-03-13 | Qualcomm Incorporated | Method and apparatus for position determination with hybrid SPS orbit data |
| CN201707440U (en) * | 2010-07-05 | 2011-01-12 | 西安展意信息科技有限公司 | High-dynamic GNSS multimode satellite navigation receiver integrated module device |
| CN107121685A (en) * | 2017-06-08 | 2017-09-01 | 南京理工大学 | A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid |
Non-Patent Citations (4)
| Title |
|---|
| 孟维晓: "《卫星定位导航原理》", 30 September 2013, 哈尔滨工业大学出版社 * |
| 张丽山: "BD2_GPS双模软件接收机研究", 《中国优秀硕士学位论文全文数据库 基础科学辑》 * |
| 杨树伟: "基于FPGA与DSP嵌入式北斗_GPS兼容型接收机设计与试验", 《中国优秀硕士学位论文全文数据库 基础科学辑》 * |
| 熊能: "GNSS高精度实时定位的研究与实现", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109581440A (en) * | 2018-12-18 | 2019-04-05 | 中国电子科技集团公司第五十四研究所 | A kind of integrated distribution formula multisystem navigation signal processing platform |
| CN110006296A (en) * | 2019-03-29 | 2019-07-12 | 河北省人工影响天气办公室 | Hail-suppression rocket bullet of increasing rain artificially sows job trace monitoring and trajectory deviation-rectifying system |
| CN110308466A (en) * | 2019-06-21 | 2019-10-08 | 南京理工大学 | Miniature dual mode receiver and its air navigation aid based on Zynq-7020 |
| CN110286395A (en) * | 2019-07-11 | 2019-09-27 | 国网上海市电力公司 | A kind of dipper system precision calculation method |
| 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 |
| CN111045041A (en) * | 2019-11-29 | 2020-04-21 | 交通运输部长江通信管理局 | Single-Beidou/multi-mode compatible working mode automatic switching method and device for satellite receiver |
| CN111458730A (en) * | 2020-04-17 | 2020-07-28 | 上海井融网络科技有限公司 | GNSS carrier tracking method based on Doppler residual estimation and receiver |
| CN111722255A (en) * | 2020-06-09 | 2020-09-29 | 上海交通大学 | Space-time modulation-based regional navigation positioning system and method |
| CN111722255B (en) * | 2020-06-09 | 2022-08-26 | 上海交通大学 | Space-time modulation-based regional navigation positioning system and method |
| CN112099054A (en) * | 2020-09-22 | 2020-12-18 | 厦门星环科技有限公司 | One-machine-multiple-antenna Beidou high-precision receiver and Beidou high-precision measurement system |
| CN112835069A (en) * | 2020-10-30 | 2021-05-25 | 北京时代民芯科技有限公司 | Satellite-borne Beidou third-generation multi-frequency navigation receiving system |
| CN112835069B (en) * | 2020-10-30 | 2023-12-19 | 北京时代民芯科技有限公司 | Satellite-borne Beidou third-generation multi-frequency navigation receiving system |
| CN112904374A (en) * | 2021-01-29 | 2021-06-04 | 湖南国科微电子股份有限公司 | Satellite signal strength evaluation method and device, GNSS receiver and medium |
| CN112904374B (en) * | 2021-01-29 | 2024-03-19 | 湖南国科微电子股份有限公司 | Satellite signal strength evaluation method and device, GNSS receiver and medium |
| CN113075712A (en) * | 2021-03-17 | 2021-07-06 | 北京云恒科技研究院有限公司 | Autonomous controllable multi-system high-precision navigation equipment and navigation method |
| CN113075712B (en) * | 2021-03-17 | 2023-08-11 | 北京云恒科技研究院有限公司 | Autonomous controllable multi-system high-precision navigation equipment |
| CN113328765A (en) * | 2021-04-25 | 2021-08-31 | 北京航空航天大学 | Method for realizing universal receiver of multiple spread spectrum systems under high dynamic condition |
| CN113328765B (en) * | 2021-04-25 | 2022-07-26 | 北京航空航天大学 | Method for realizing universal receiver of multiple spread spectrum systems under high dynamic condition |
| CN113189627A (en) * | 2021-04-29 | 2021-07-30 | 中国电子科技集团公司第五十四研究所 | Communication positioning integrated dual-mode airborne system based on Beidou satellite |
| CN113447964A (en) * | 2021-06-15 | 2021-09-28 | 深圳市远东华强导航定位有限公司 | RNSS (radio network subsystem) assistance-based RSMC (remote subscriber identity Module) receiving method |
| CN114095070B (en) * | 2021-10-29 | 2023-12-29 | 中国电子科技集团公司第五十四研究所 | Arrow body information feedback device based on Beidou satellite navigation |
| CN114095070A (en) * | 2021-10-29 | 2022-02-25 | 中国电子科技集团公司第五十四研究所 | Rocket body information returning device based on Beidou satellite navigation |
| CN114594500A (en) * | 2022-02-10 | 2022-06-07 | 湖北第二师范学院 | GNSS/LEO fusion positioning receiver system and positioning method |
| CN115342820A (en) * | 2022-10-18 | 2022-11-15 | 深圳市诚王创硕科技有限公司 | Navigation positioning system for automobile driving at night |
| CN116774264A (en) * | 2023-06-25 | 2023-09-19 | 西安电子科技大学 | Moving target positioning method based on low orbit satellite opportunistic signal Doppler |
| CN116774264B (en) * | 2023-06-25 | 2024-01-23 | 西安电子科技大学 | Moving target positioning method based on low orbit satellite opportunistic signal Doppler |
| CN117269998A (en) * | 2023-11-20 | 2023-12-22 | 北京凯芯微科技有限公司 | GNSS receiver and noise estimation method |
| CN117269998B (en) * | 2023-11-20 | 2024-02-02 | 北京凯芯微科技有限公司 | GNSS receiver and noise estimation method |
| CN117420579A (en) * | 2023-12-19 | 2024-01-19 | 中天引控科技股份有限公司 | Data signal positioning method and system based on satellite tracking |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107728172A (en) | A kind of spaceborne receiver of the Big Dipper/GPS dual-mode and its navigation locating method | |
| CN107121685A (en) | A kind of miniature spaceborne high-dynamic GNSS receiver and its air navigation aid | |
| AU658167B2 (en) | Global positioning system receiver digital processing technique | |
| US7280071B2 (en) | Method and apparatus for computing position and velocity of receiver using independently-derived sets of satellites | |
| CN105116422A (en) | Spaceborne high dynamic GNSS receiver and navigation method thereof | |
| US20070211793A1 (en) | Multipath error estimation in satellite navigation receivers | |
| CN103728634B (en) | Double-antenna A-GNSS receiving machine system | |
| JP4099351B2 (en) | Radio frequency signal receiver comprising means for correcting the action of a multipath signal and method of operating the receiver | |
| CN110673177A (en) | High dynamic GNSS receiver based on flexible substrate and navigation method thereof | |
| CN105917585A (en) | Method and receiver for receiving a composite signal | |
| CN103592662A (en) | Carrier wave tracking method and loop for GPS signal receiver | |
| CN106291614A (en) | For the device of tracking satellite radio navigation signal in multi-path environment | |
| CN107450084A (en) | A kind of high sensitivity GNSS receiver and reacquisition implementation method based on CSAC | |
| CN104614739B (en) | Anti-interference filter-based Beidou multi-frequency receiver signal combined tracking method | |
| JP2000511278A (en) | Multipath error reduction in spread spectrum receivers for position determination applications. | |
| CN102914783B (en) | Chinese area positioning system (CAPS)/global positioning system (GPS) dual-mode receiver | |
| CN101498784A (en) | Apparatus and method for tracking satellite signal | |
| CN103698780A (en) | Capture engine for satellite navigation signal aiming at secondary code modulation | |
| CN104931980B (en) | Carrier phase measurement half cycle obscures release method | |
| CN101430373B (en) | Continuous tracing and positioning method for global positioning system receiver in signal lack condition | |
| CN102565825A (en) | Method of determining reliability of received signal, method of calculating code phase error, and apparatus for determining reliability of received signal | |
| CN102375149B (en) | Multi-associated-branch mixed spacing delay lock loop and application method thereof | |
| CN102857469B (en) | Quaternary phase-shift keying signal tracking method and device | |
| CN106154300B (en) | A kind of hypercompact combination implementing method of inertia/satellite | |
| CN108169773A (en) | A kind of satellite navigation signals tracking based on maximum likelihood coherent integration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180223 |