CN107907893A - Segmented based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code - Google Patents
Segmented based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code Download PDFInfo
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- CN107907893A CN107907893A CN201711134666.6A CN201711134666A CN107907893A CN 107907893 A CN107907893 A CN 107907893A CN 201711134666 A CN201711134666 A CN 201711134666A CN 107907893 A CN107907893 A CN 107907893A
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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
- G01S19/24—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
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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
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/18—Military applications
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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
- G01S19/24—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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of segmented based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code, and satellite-signal is down-converted to base band satellite-signal first, similar to base band satellite-signal bandwidth by down-sampled processing sample rate；Then the local pseudo-code data of satellite-signal and 2ms after caching 2ms is down-sampled；The satellite-signal to caching and local pseudo-code carry out FFT computings after sectionally smooth join is handled afterwards again, carry out IFFT computings after multiplying again again；Finally, peak detection acquisition code phase and doppler values are carried out after obtaining Doppler's distribution of corresponding code phase, repeat preceding step M times, complete capture.Therefore, also being capable of the army's of quickly finishing code Direct Acquisition in the case of code phase time ambiguity degree is larger.
Description
Technical field
The present invention relates to a kind of segmented based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code, belong to
Satellite navigation applied technical field.
Background technology
With the rapid development of the industry that moves forward steadily and navigate of China's Beidou satellite navigation system construction, Beidou navigation connects
Receipts machine plays more and more important effect in military domain and civil field.In Beidou satellite navigation system, frequently with two
Kind ranging code：Two kinds of people's code (C codes) and army's code (P codes).Wherein, people's code can generally meet the needs of ordinary user's positioning among the people；
Army's code uses advanced encryption techniques, aims at military.People's code code cycle is shorter, when being positioned using people's code, people's Code acquisition time
It is shorter, it can quickly realize satellite positioning, but people's code is easily disturbed and cheats, and has certain limitation in complex environment
Property.Army's code sequence period length, relative to civilian short cycle ranging code (people's code), has higher confidentiality, antijamming capability.And
The capture technique of army's code usually need to carry out aided capture using people's code, and this method causes army's code for military field to rely on
In people's code, the performance of system largely reducing.Such as when the people code can not normal use when, can not the army of completion code capture, can only
Navigation Service is completed using army's code Direct Acquisition technology.Therefore in order to improve the antagonism of satellite navigation system, the army's of realization code
Efficient quick Direct Acquisition is most important.
Catch problem for army's code is straight, the cycle of army's code is very long, capture when can only intercept one section therein carry out it is related
Computing.During capture, no periodic code can only be regarded as, the circular convolution property based on FFT as C/A codes come
Realize the method for relevant treatment with regard to infeasible.In order to calculate relevant advantage using FFT, frequently with method have XFAST algorithms,
Method of matched filtering+DFT etc..XFAST algorithms are by by local PN codes overlap-add, further by the sequence of this overlap-add procedure
Circulation relevant treatment is carried out with receiving signal, it is mutual with from the overlapping symbol that comes of other sections due to receiving the symbol in signal
Closing property very little, therefore ambient noise can be introduced, cause relevant peaks signal-to-noise ratio degradation, and then cause acquisition performance to be deteriorated.Matching filter
Ripple+DFT algorithms, realize that pseudo-code time-domain parallel is searched for, the part that matched filter group is exported using Partial-matched filter group
Correlation carries out power spectrumanalysis using the FFT of small point, realizes the parallel search of carrier Doppler frequency offset.But the party
For method in code phase time uncertainty too big (such as ± 1s) or excessive carrier Doppler frequency offset, there are capture time length
The problems such as (tens seconds), larger consumption hardware resource.Therefore, one kind is sought quickly, it is straight that hardware resource takes less army's code
It is particularly important and urgent to connect catching method.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of situation larger even in code phase time uncertainty
Under also can be directed to army code realize quick Direct Acquisition, based on parallel frequencies and parallel code search segmented can configure army code
Straight method for catching.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme：
The present invention devises a kind of segmented based on parallel frequencies and the search of parallel code and can configure the straight method for catching of army's code, bag
Include following steps：
Step A. caches the local pseudo-code that preset duration is a, the local using base band satellite-signal bandwidth value as sample frequency
The length of pseudo-code is N, and is directed to the local pseudo-code, and b section local pseudo-codes are averagely divided into by the first default hop count, wherein, b the
One default hop count, the data length of each section of local pseudo-code is L, subsequently into step B；
Step B. is respectively for b sections of local pseudo-codes, in each section of local pseudo-code trailing zero, the data of the local pseudo-code of each section of extension
Length is 2L, updates b sections of local pseudo-codes；Then Fourier transformation is carried out for b sections of local pseudo-codes respectively, obtains b sections of frequency domain sheets
Ground pseudo-code, subsequently into step C；
Step C. carries out down-conversion operation for satellite RF signal to be analyzed, obtains analog intermediate frequency signal；Then for
The analog intermediate frequency signal carries out analog-to-digital conversion, and is sampled by preset sample frequency, obtains intermediate frequency digital analog signal, goes forward side by side
Enter step D；
Step D；Digital Down Convert operation is carried out for intermediate frequency digital analog signal, obtains base band satellite-signal, then pin
To base band satellite-signal, pass through down-sampled, filtering process, the sample frequency and base band satellite-signal band of renewal base band satellite-signal
Width values are equal, subsequently into step E；
For step E. using base band satellite-signal bandwidth value as sample frequency, caching preset duration is the base band satellite-signal of a, should
The length of base band satellite-signal is N, and is directed to the base band satellite-signal, and being averagely divided into b sections of base band by the first default hop count defends
Star signal, wherein, b is the first default hop count, and the data length of each section of base band satellite-signal is L, subsequently into step F；
Step F. is directed to b sections of base band satellite-signals, is respectively spliced adjacent two sections of base band satellite-signals, obtains b sections
Satellite data, the length of each section of satellite data is 2L；Then Fourier transformation is carried out for b sections of satellite datas respectively, obtains b sections
Frequency domain satellite data, subsequently into step G；
Step G. is directed to b sections of frequency domain local pseudo-codes and b sections of frequency domain satellite datas, sequentially corresponds and multiplies again, and it is multiple to obtain b groups
Multiply result data, then multiply result data again for b groups respectively, the data progress that length in result data is 2L is inverse for multiplying again
Fourier transformation, then retain the data that preceding length is L, length is the data of L after deletion, updates this and multiplies result data again, and then
The effective phase correlation results data of b groups is obtained, the length of the effective phase correlation results data of each group is L；Subsequently into step H；
Step H. is directed to the effective phase correlation results data of b groups, is extracted by the point under same code phase, obtains L groups
Data result is extracted, the length that each group extracts data result is b, then extracts data result for L groups respectively, is taken out for each group
Data result is taken to carry out increasing point zero padding operation, the data length that extension each group extracts data result is the second preset length, updates L
Group extracts data result, subsequently into step I；Wherein, if representing the second preset length, d with d>b；
Step I. extracts data result for L groups respectively and carries out Fourier transformation, obtains the d points that L groups are concerned with code phase
Frequency spectrum, subsequently into step J；
Step J. carries out peak-peak detection for the d points frequency spectrum that L groups are concerned with code phase respectively, if people's code, then obtains
The corresponding code phase of peak-peak and Doppler are taken, completes the satellite signal acquisition of preset duration a, and is transferred to tracking phase；If
For army's code, then the time ambiguity degree m of army code is obtained, and traversal number is obtained according to time ambiguity degree m, subsequently into step
K；Wherein, traversal number is represented with M,
Step K. judged whether to M times circulation, if so, then obtain the corresponding code phase of one group of peak-peak with it is how general
Strangle, complete the satellite signal acquisition that preset duration is a；If it is not, then return to step D.
As a preferred technical solution of the present invention：The preset duration is 2ms, i.e. a=2ms.
As a preferred technical solution of the present invention：Described first default hop count is 20, i.e. b=20.
As a preferred technical solution of the present invention：Described second default hop count is 32, i.e. d=32.
As a preferred technical solution of the present invention：It is described traversal number represented with M, the time ambiguity degree m
During expression, M=m*1000.
A kind of segmented based on parallel frequencies and the search of parallel code of the present invention can configure the straight method for catching of army's code, use
Above technical scheme compared with prior art, has following technique effect：Based on parallel frequencies and parallel code designed by of the invention
The segmented of search can configure the straight method for catching of army's code, overcome the deficiencies in the prior art, can be in code phase time uncertainty
Under the conditions of larger (± 1s), the army of realization is 2s the code first star time of Direct Acquisition, has quick acquisition performance；Meanwhile adopt
With the method for segmentation, reduce the points that FFT computings are directly carried out to a whole segment data, reduce hardware resource utilization；The party
Method has configurability capture ability for out of phase time ambiguity degree, and army's code that time ambiguity degree is ± m seconds is directly caught
Obtain, traversal number M can be set, realize army's code Direct Acquisition (capture time is 2*M milliseconds) in any fuzziness, this method energy
Conventional method ambient noise is enough overcome to introduce, army's code directly catches the problem of time is slow, and hardware resource utilization is higher, improves navigation
The performance of receiver acquisition.Simultaneously as design employs the way of search that granularity is 2ms, therefore by setting sampling frequency
The capture of the short period codes such as GPS-L1 frequency points, Big Dipper people code (B1, B3 frequency point) equally can be achieved in rate, traversal number M, has stronger
Adaptability.
Brief description of the drawings
Fig. 1 is that the segmented based on parallel frequencies and the search of parallel code of the present invention can configure the flow of the straight method for catching of army's code
Schematic diagram；
Fig. 2 a are the segmentation of base band satellite signal data and the splicing schematic diagrames of the present invention；
Fig. 2 b are the local pseudo-code data sectionals and splicing schematic diagram of the present invention；
Fig. 3 is the Fourier transformation and the pseudo-code relevant treatment schematic diagram of inverse Fourier change of the present invention；
Fig. 4 is Doppler's distribution and the peak detection schematic diagram of the corresponding code phase of acquisition of the present invention.
Embodiment
Hereinafter, it is described in detail based on attached drawing for the present invention.
As shown in Figure 1, the present invention, which devises a kind of segmented based on parallel frequencies and the search of parallel code, can configure army's code
Straight method for catching, in practical application, specifically comprises the following steps.
Step A：Using base band satellite-signal bandwidth value as sample frequency, caching preset duration is a, the local of such as a=2ms
Pseudo-code, the length of the local pseudo-code is N, and the local pseudo-code sampled value sequence of formation is classified as c=[c0,c1,…,cN-2,cN-1], and such as
Shown in Fig. 2 b, for the local pseudo-code, (represented by default hop count with b), the average local pseudo-code of division, the number of each section of local pseudo-code
It is L according to length, in the present embodiment, b is, for example, 20, then local pseudo-code is averagely divided into 20 sections.Enter step B.
Step B：As shown in figure 3, respectively for b sections of (the present embodiment is 20 sections) local pseudo-codes, after each section of local pseudo-code
Zero padding, the data length for extending each section of local pseudo-code is 2L, b sections of renewal (the present embodiment is 20 sections) local pseudo-code, after extension
Local pseudo-code sequence is Represent L 0 value；Then b is directed to respectively
Section (the present embodiment is 20 sections) local pseudo-code carries out Fourier transformation, obtains b sections of (the present embodiment is 20 sections) frequency domain local pseudo-codes,
Subsequently into step C.
Step C：Down-conversion operation is carried out for satellite RF signal to be analyzed, obtains analog intermediate frequency signal；Then for
The analog intermediate frequency signal carries out analog-to-digital conversion, and is sampled by preset sample frequency, obtains intermediate frequency digital analog signal, goes forward side by side
Enter step D.
Step D：Digital Down Convert operation is carried out for intermediate frequency digital analog signal, obtains base band satellite-signal, then pin
To base band satellite-signal, pass through down-sampled, filtering process, the sample frequency and base band satellite-signal band of renewal base band satellite-signal
Width values are equal, subsequently into step E.
Step E：Using base band satellite-signal bandwidth value as sample frequency, the base band satellite-signal that preset duration is 2ms is cached,
The length of the base band satellite-signal is N, and it is s=[s to form base band satellite signal samples value sequence0,s1,…,sN-2,sN-1], and such as
Shown in Fig. 2 a, for the base band satellite-signal, base band satellite-signal, each section of base band are averagely divided by default hop count (being represented with b)
The data length of satellite-signal is L, and in the present embodiment, b is, for example, 20, then base band satellite-signal is averagely divided into 20 sections.
Subsequently into step F.
Step F：As shown in figure 3, for b sections of (the present embodiment is 20 sections) base band satellite-signals, respectively will be per adjacent two sections
Base band satellite-signal is spliced, and obtains b sections of (the present embodiment is 20 sections) satellite datas, and the length of each section of satellite data is 2L,
Spliced satellite data is sp=[sn,0,sn,1,…,s n,L-1,s n+1,0,s n+1,1,…,s n+1,L-1], n=0 ..., 19 tables
Show n-th section in 20 sections；Then Fourier transformation is carried out for 20 sections of satellite datas respectively, obtains 20 sections of frequency domain satellite datas,
Subsequently into step G.
Step G：For b sections of (the present embodiment is 20 sections) frequency domain local pseudo-codes and b sections of (the present embodiment is 20 sections) section frequency domains
Satellite data, sequentially corresponds and multiplies again, obtains b groups (the present embodiment is 20 groups) and multiplies result data again, is then directed to 20 respectively
Group multiplies result data again, carries out inverse Fourier transform for the data that length in result data is 2L are multiplied again, then retain preceding length
For the data of L, length is the data of L after deletion, updates this and multiplies result data again, and then obtains 20 groups of effective phase correlated results
Data, the length of the effective phase correlation results data of each group is L；Subsequently into step H.
Step H：For b groups (the present embodiment is 20 groups) effectively phase correlation results data, by the point under same code phase
Extracted, obtain L groups and extract data result, the length that each group extracts data result is 20, i.e. r=[rn,0,rn,1,…,
rn,19], n=0 ..., L-1；Then data result is extracted for L groups respectively, carrying out increasing point for each group extraction data result mends
Z-operation, the data length that extension each group extracts data result be preset length (being represented with d), such as d=32, renewal L group pumpings
Access is according to as a result, i.e. 12 0 values are represented, subsequently into step I.
Step I：Data result is extracted for L groups respectively and carry out Fourier transformation, obtain the d points that L groups are concerned with code phase
(the present embodiment is 32 points) frequency spectrum, subsequently into step J.
Step J：As shown in figure 4, d points (the present embodiment the is 32 points) frequency spectrum being concerned with respectively for L groups under code phase carries out
Peak-peak detects, and if people's code, then obtains the corresponding code phase of peak-peak and Doppler, completes defending for preset duration 2ms
Star signal capture, and it is transferred to tracking phase；If army's code, then the time ambiguity degree m of army code is obtained, and according to M=m*1000,
Traversal number (being represented with M) is obtained, subsequently into step K.
Step K：M circulation has been judged whether to, has been to obtain the corresponding code phase of one group of peak-peak and Doppler,
The satellite signal acquisition of preset duration 2ms is completed, and is transferred to tracking phase；Otherwise return to step D.
The segmented based on parallel frequencies and the search of parallel code of above-mentioned technical proposal can configure the straight method for catching of army's code, overcome
The deficiencies in the prior art, can be under the conditions of the code phase time uncertainty larger (± 1s), the army's of realization code Direct Acquisition the
One star time is 2s, has quick acquisition performance；Meanwhile using the method for segmentation, reduce directly to a whole segment data
The points of FFT computings are carried out, reduce hardware resource utilization；This method has configurability for out of phase time ambiguity degree
Capture ability, to army's code Direct Acquisition that time ambiguity degree is ± m seconds, can set traversal number M, realize in any fuzziness
Army's code Direct Acquisition (capture time is 2*M milliseconds), this method can overcome conventional method ambient noise to introduce, when army's code is directly caught
Between slow, the problem of hardware resource utilization is higher, improve the performance of navigation neceiver capture.Simultaneously as design employs
Granularity is the way of search of 2ms, therefore by setting sample frequency, traversal number M that GPS-L1 frequency points, the Big Dipper equally can be achieved
The capture of the short period codes such as people's code (B1, B3 frequency point), has stronger adaptability.
It should be noted that described above is only the preferred embodiment of the present invention, it will be appreciated that for art technology
For personnel, some changes and improvements can also be made on the premise of the technology of the present invention design is not departed from, these are included in
In protection scope of the present invention.
Claims (5)
1. a kind of segmented based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code, it is characterised in that including
Following steps：
Step A：Using base band satellite-signal bandwidth value as sample frequency, the local pseudo-code that preset duration is a, the local pseudo-code are cached
Length be N, and be directed to the local pseudo-code, b section local pseudo-codes be averagely divided into by the first default hop count, wherein, b is first pre-
If hop count, the data length of each section of local pseudo-code is L, subsequently into step B；
Step B：Respectively for b sections of local pseudo-codes, in each section of local pseudo-code trailing zero, the data length of the local pseudo-code of each section of extension
For 2L, b sections of local pseudo-codes are updated；Then Fourier transformation is carried out for b sections of local pseudo-codes respectively, it is local pseudo- obtains b sections of frequency domains
Code, subsequently into step C；
Step C：Down-conversion operation is carried out for satellite RF signal to be analyzed, obtains analog intermediate frequency signal；Then in this
Frequency analog signal carries out analog-to-digital conversion, and is sampled by preset sample frequency, obtains intermediate frequency digital analog signal, and enter step
Rapid D；
Step D：Digital Down Convert operation is carried out for intermediate frequency digital analog signal, base band satellite-signal is obtained, then for base
Band satellite-signal, passes through down-sampled, filtering process, the sample frequency and base band satellite-signal bandwidth value of renewal base band satellite-signal
It is equal, subsequently into step E；
Step E：Using base band satellite-signal bandwidth value as sample frequency, the base band satellite-signal that preset duration is a, the base band are cached
The length of satellite-signal is N, and is directed to the base band satellite-signal, and b sections of base band satellite letters are averagely divided into by the first default hop count
Number, wherein, b is the first default hop count, and the data length of each section of base band satellite-signal is L, subsequently into step F；
Step F：For b sections of base band satellite-signals, adjacent two sections of base band satellite-signals are spliced respectively, obtain b sections of satellites
Data, the length of each section of satellite data is 2L；Then Fourier transformation is carried out for b sections of satellite datas respectively, obtains b sections of frequency domains
Satellite data, subsequently into step G；
Step G：For b sections of frequency domain local pseudo-codes and b sections of frequency domain satellite datas, sequentially correspond and multiply again, obtain b groups and multiply knot again
Fruit data, then multiply result data again for b groups respectively, are carried out for the data that length in result data is 2L are multiplied again in inverse Fu
Leaf transformation, then retain the data that preceding length is L, length is the data of L after deletion, updates this and multiplies result data again, and then obtains b
The effective phase correlation results data of group, the length of the effective phase correlation results data of each group is L；Subsequently into step H；
Step H：For the effective phase correlation results data of b groups, extracted by the point under same code phase, obtain L groups and extract
Data result, the length that each group extracts data result is b, then extracts data result for L groups respectively, and number is extracted for each group
Carry out increasing point zero padding operation according to result, the data length that extension each group extracts data result is the second preset length, and renewal L groups are taken out
Access is according to as a result, subsequently into step I；Wherein, if representing the second preset length, d with d>b；
Step I：Data result is extracted for L groups respectively and carries out Fourier transformation, obtain the d point frequency spectrums that L groups are concerned with code phase,
Subsequently into step J；
Step J：Peak-peak detection is carried out for the d points frequency spectrum that L groups are concerned with code phase respectively, if people's code, is then obtained most
The big corresponding code phase of peak value and Doppler, complete preset duration and are the satellite signal acquisition of a, and are transferred to tracking phase；If
Army's code, then obtain the time ambiguity degree (m) of army code, and obtains traversal number according to the time ambiguity degree (m), subsequently into step
Rapid K；Wherein, traversal number is represented with M,
Step K：M circulation has been judged whether to, if so, the corresponding code phase of one group of peak-peak and Doppler are then obtained,
Complete the satellite signal acquisition that preset duration is a；If it is not, then return to step D.
2. the segmented according to claim 1 based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code,
It is characterized in that：
The preset duration is 2ms, i.e. a=2ms.
3. the segmented according to claim 1 based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code,
It is characterized in that：
Described first default hop count is 20, i.e. b=20.
4. the segmented according to claim 1 based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code,
It is characterized in that：
Described second default hop count is 32, i.e. d=32.
5. the segmented according to claim 1 based on parallel frequencies and the search of parallel code can configure the straight method for catching of army's code,
It is characterized in that：
When number is represented the traversal with M, the time ambiguity degree is represented with m, M=m*1000.
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| CN111257913A (en) * | 2019-11-29 | 2020-06-09 | 交通运输部长江通信管理局 | Beidou satellite signal capturing method and device |
| CN114779284A (en) * | 2022-03-29 | 2022-07-22 | 湖南卫导信息科技有限公司 | Satellite navigation receiver military code signal capturing function test method |
| CN117724121A (en) * | 2024-02-18 | 2024-03-19 | 成都星联芯通科技有限公司 | PN code capturing method and device, storage medium and electronic equipment |
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