CN107907893B - Sectional configurable military code direct capturing method based on parallel frequency and parallel code search - Google Patents
Sectional configurable military code direct capturing method based on parallel frequency and parallel code search Download PDFInfo
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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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Abstract
The invention relates to a sectional configurable military code direct capturing method based on parallel frequency and parallel code search, which comprises the steps of firstly, down-converting a satellite signal into a baseband satellite signal, and enabling the sampling rate to be similar to the bandwidth of the baseband satellite signal through down-sampling processing; then buffering the satellite signal after 2ms down-sampling and the local pseudo code data of 2 ms; then, carrying out segmented splicing processing on the cached satellite signals and the local pseudo codes, then carrying out FFT operation, and carrying out IFFT operation after complex multiplication; and finally, after Doppler distribution of the corresponding code phase is obtained, peak detection is carried out to obtain the code phase and the Doppler value, and the previous steps are repeated for M times to finish capturing. Therefore, even under the condition of large code phase time ambiguity, the direct acquisition of the code can be rapidly completed.
Description
Technical Field
The invention relates to a segmented configurable military code direct capturing method based on parallel frequency and parallel code search, and belongs to the technical field of satellite navigation application.
Background
With the steady promotion of the construction of the Beidou satellite navigation system and the rapid development of the navigation industry in China, the Beidou navigation receiver plays an increasingly important role in the military field and the civil field. In the big dipper satellite navigation system, two kinds of range finding codes are often adopted: civil code (C code) and military code (P code). The civil code can generally meet the positioning requirements of common users in the folk; the military code adopts advanced encryption technology and is specially used for military. The civil code has a short period, and when the civil code is used for positioning, the acquisition time of the civil code is short, the satellite positioning can be quickly realized, but the civil code is easy to interfere and cheat, and has certain limitation in a complex environment. The military code sequence has a long period, and has higher confidentiality and anti-interference capability compared with civil short-period ranging codes (civil codes). The military code capturing technology usually needs to utilize civil codes to perform auxiliary capturing, and the method enables the military codes used in the military field to depend on the civil codes, thereby greatly weakening the performance of the system. For example, when the civil code cannot be used normally, the capture of the military code cannot be completed, and only the navigation service can be completed by adopting the military code direct capture technology. Therefore, in order to improve the countervailing capability of the satellite navigation system, the realization of efficient and rapid direct acquisition of military codes is important.
Aiming at the problem of direct capture of military codes, the period of the military codes is long, and only one section of the military codes can be captured to carry out correlation operation. In the process of capturing, the code can only be regarded as a non-periodic code, and a method for realizing correlation processing based on the FFT circular convolution property like a C/A code is not feasible. In order to take advantage of the FFT computation correlation, XFAST algorithm, matched filter + DFT method, etc. are commonly used. The XFAST algorithm performs cyclic correlation processing on the sequence of the superposition processing and the received signal by overlapping and adding local PN codes, and since the cross-correlation between the symbols in the received signal and the symbols overlapped from other sections is small, background noise is introduced, which causes the signal-to-noise ratio of the correlation peak to deteriorate, and further causes the acquisition performance to deteriorate. And the matched filtering and DFT algorithm adopts a partial matched filter bank to realize the parallel search of the pseudo code time domain, and performs power spectrum analysis on partial related values output by the matched filter bank by using the FFT of a small point number to realize the parallel search of carrier Doppler frequency offset. However, when the uncertainty of the code phase time is too large (such as ± 1s) or the carrier doppler frequency shift is too large, the method has the problems of long acquisition time (tens of seconds), large consumption of hardware resources and the like. Therefore, it is important and urgent to find a fast direct acquisition method of military codes with small occupation of hardware resources.
Disclosure of Invention
The invention aims to solve the technical problem of providing a segmented configurable military code direct capturing method which can realize rapid and direct capturing aiming at military codes even under the condition of large uncertainty of code phase time and is based on parallel frequency and parallel code search.
The invention adopts the following technical scheme for solving the technical problems:
the invention designs a segmented configurable military code direct capturing method based on parallel frequency and parallel code search, which comprises the following steps of:
step A, taking a baseband satellite signal bandwidth value as a sampling frequency, caching a local pseudo code with preset duration a, wherein the length of the local pseudo code is N, and averagely dividing the local pseudo code into B sections of local pseudo codes according to a first preset section number aiming at the local pseudo code, wherein B is the first preset section number, and the data length of each section of the local pseudo code is L, and then entering step B;
b, aiming at the local pseudo codes of the section b, filling zero after each section of local pseudo codes, expanding the data length of each section of local pseudo codes to be 2L, and updating the local pseudo codes of the section b; then, respectively carrying out Fourier transform on the b-section local pseudo codes to obtain b-section frequency domain local pseudo codes, and then entering the step C;
c, performing down-conversion operation on the satellite radio-frequency signal to be analyzed to obtain an intermediate-frequency analog signal; performing analog-to-digital conversion on the intermediate-frequency analog signal, sampling according to a preset sampling frequency to obtain an intermediate-frequency digital analog signal, and entering the step D;
step D; performing digital down-conversion operation on the intermediate-frequency digital analog signal to obtain a baseband satellite signal, then updating the sampling frequency of the baseband satellite signal to be equal to the bandwidth value of the baseband satellite signal through down-sampling and filtering processing on the baseband satellite signal, and then entering the step E;
step E, taking the bandwidth value of the baseband satellite signal as a sampling frequency, caching the baseband satellite signal with the preset duration of a, wherein the length of the baseband satellite signal is N, averagely dividing the baseband satellite signal into b sections of baseband satellite signals according to a first preset section number aiming at the baseband satellite signal, wherein b is the first preset section number, and the data length of each section of baseband satellite signal is L, and then entering the step F;
f, splicing two adjacent sections of baseband satellite signals aiming at the section b baseband satellite signals respectively to obtain section b satellite data, wherein the length of each section of satellite data is 2L; then, respectively carrying out Fourier transform on the satellite data of the section b to obtain the satellite data of the frequency domain of the section b, and then entering the step G;
step G, performing one-to-one corresponding complex multiplication on the b-segment frequency domain local pseudo code and the b-segment frequency domain satellite data in sequence to obtain b groups of complex multiplication result data, then performing inverse Fourier transform on data with the length of 2L in the complex multiplication result data respectively aiming at the b groups of complex multiplication result data, retaining the data with the length of L before, updating the complex multiplication result data after deleting the data with the length of L, and further obtaining b groups of effective phase correlation result data, wherein the length of each group of effective phase correlation result data is L; then entering step H;
step H, aiming at b groups of effective phase correlation result data, extracting according to points under the same code phase to obtain L groups of extracted data results, wherein the length of each group of extracted data results is b, then respectively aiming at the L groups of extracted data results, carrying out point increasing and zero filling operation on each group of extracted data results, expanding the data length of each group of extracted data results to be a second preset length, updating the L groups of extracted data results, and then entering the step I; wherein if d represents a second preset length, d > b;
step I, respectively carrying out Fourier transform on the L groups of data extraction results to obtain d-point frequency spectrums under the L groups of coherent code phases, and then entering step J;
step J, maximum peak detection is carried out on the d-point frequency spectrums under the L groups of coherent code phases respectively, if the frequency spectrums are civilian codes, the code phase and Doppler corresponding to the maximum peak are obtained, satellite signal capture with preset duration a is completed, and the tracking stage is switched to; if the military code is the military code, acquiring the time ambiguity m of the military code, acquiring the traversal times according to the time ambiguity m, and entering the step K; wherein, the traversal times are expressed by M,
step K, judging whether M times of circulation is performed, if so, obtaining a group of code phases and Doppler corresponding to the maximum peak value, and completing the acquisition of the satellite signal with preset duration a; if not, returning to the step D.
As a preferred technical scheme of the invention: the preset time duration is 2ms, namely a is 2 ms.
As a preferred technical scheme of the invention: the first preset number of stages is 20, that is, b is 20.
As a preferred technical scheme of the invention: the second predetermined number of stages is 32, i.e., d is 32.
As a preferred technical scheme of the invention: when the number of traversal is denoted by M and the time ambiguity is denoted by M, M is 1000.
Compared with the prior art, the sectional configurable military code direct capturing method based on parallel frequency and parallel code search has the following technical effects: the segmented configurable military code direct capturing method based on the parallel frequency and parallel code search overcomes the defects of the prior art, can realize that the first satellite time of the military code direct capturing is 2s under the condition of large uncertainty (+/-1 s) of code phase time, and has quick capturing performance; meanwhile, a segmentation method is adopted, the number of points for directly carrying out FFT operation on the whole data is reduced, and the utilization rate of hardware resources is reduced; the method has configurability capture capacity aiming at different phase time ambiguities, can directly capture military codes with the time ambiguities of +/-M seconds, can set traversal times M, and realizes the direct capture of the military codes in any ambiguities (the capture time is 2 x M milliseconds). Meanwhile, a searching mode with granularity of 2ms is adopted in the design, so that the acquisition of short-period codes such as GPS-L1 frequency points, Beidou civil codes (B1 and B3 frequency points) and the like can be realized by setting the sampling frequency and the traversal times M, and the method has strong adaptability.
Drawings
FIG. 1 is a schematic flow chart of a segmented configurable military code direct acquisition method based on parallel frequency and parallel code search according to the present invention;
FIG. 2a is a schematic diagram of the segmentation and splicing of baseband satellite signal data according to the present invention;
FIG. 2b is a schematic diagram of local pseudo-code data segmentation and concatenation according to the present invention;
FIG. 3 is a schematic representation of the pseudo code correlation process of the Fourier transform and inverse Fourier transform of the present invention;
fig. 4 is a diagram illustrating the doppler distribution and peak detection for obtaining the corresponding code phase according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the invention designs a segmented configurable military code direct acquisition method based on parallel frequency and parallel code search, which specifically includes the following steps in practical application.
Step A: the method comprises the steps of caching a local pseudo code with preset duration a, for example, a being 2ms by taking a baseband satellite signal bandwidth value as a sampling frequency, wherein the length of the local pseudo code is N, and a formed local pseudo code sampling value sequence is c ═ c0,c1,…,cN-2,cN-1]As shown in fig. 2b, for the local pseudo code, the local pseudo code is divided equally by a preset number of segments (denoted by b), the data length of each segment of the local pseudo code is L, and in this embodiment, b is, for example, 20, the local pseudo code is divided equally into 20 segments. And entering the step B.
And B: as shown in fig. 3, for each b-segment (20 segments in this embodiment), zero padding is performed after each segment of local pseudo code, the data length of each segment of local pseudo code is extended to 2L, the b-segment (20 segments in this embodiment) local pseudo code is updated, and the sequence of the extended local pseudo code is the sequence of the extended local pseudo code
Represents L0 values; then, fourier transform is performed on the b-segment (20 segments in this embodiment) local pseudo codes to obtain b-segment (20 segments in this embodiment) frequency domain local pseudo codes, and then step C is performed.
And C: performing down-conversion operation on a satellite radio frequency signal to be analyzed to obtain an intermediate frequency analog signal; and D, performing analog-to-digital conversion on the intermediate-frequency analog signal, sampling according to a preset sampling frequency to obtain an intermediate-frequency digital analog signal, and entering the step D.
Step D: and D, performing digital down-conversion operation on the intermediate-frequency digital analog signal to obtain a baseband satellite signal, then updating the sampling frequency of the baseband satellite signal to be equal to the bandwidth value of the baseband satellite signal through down-sampling and filtering processing on the baseband satellite signal, and then entering the step E.
Step E: the method comprises the steps of taking a baseband satellite signal bandwidth value as a sampling frequency, caching a baseband satellite signal with preset duration of 2ms, wherein the length of the baseband satellite signal is N, and forming a baseband satellite signal sampling value sequence with s ═ s0,s1,…,sN-2,sN-1]As shown in fig. 2a, the baseband satellite signal is divided equally by a preset number of segments (denoted by b), the data length of each segment of the baseband satellite signal is L, and in the embodiment, b is, for example, 20, the baseband satellite signal is divided equally into 20 segments. Then step F is entered.
Step F: as shown in fig. 3, for the b-segment (20 segments in this embodiment) baseband satellite signal, each two adjacent segments of baseband satellite signals are spliced to obtain b-segment (20 segments in this embodiment) satellite data, the length of each segment of satellite data is 2L, and the 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 is 0, …,19 denotes the nth of the 20 segments; then, Fourier transform is respectively carried out on 20 satellite data segments to obtain 20 satellite data segments in frequency domain, and thenAnd then step G is carried out.
Step G: for b-segment (20-segment in this embodiment) frequency domain local pseudo codes and b-segment (20-segment in this embodiment) frequency domain satellite data, sequentially performing one-to-one complex multiplication to obtain b-group (20-group in this embodiment) complex multiplication result data, then respectively performing inverse fourier transform on data with the length of 2L in the complex multiplication result data for 20 groups of complex multiplication result data, retaining data with the length of L before, deleting data with the length of L after, updating the complex multiplication result data, and further obtaining 20 groups of effective phase correlation result data, wherein the length of each group of effective phase correlation result data is L; then step H is entered.
Step H: for b groups (20 groups in this embodiment) of valid phase correlation result data, the extraction is performed at points in the same code phase to obtain L groups of extraction data results, and the length of each group of extraction data results is 20, that is, r ═ rn,0,rn,1,…,rn,19]N-0, …, L-1; then, the data result is extracted for each of L groups, the zero padding operation is performed for each group of extracted data results, the data length of each group of extracted data results is extended to a preset length (denoted by d), for example, d is 32, and the L groups of extracted data results, that is, the L groups of extracted data results are updated
Representing 12 0 values and then proceed to step I.
Step I: fourier transform is performed on the L groups of extracted data results to obtain d-point (32-point in this embodiment) frequency spectrums in the L groups of coherent code phases, and then the process proceeds to step J.
Step J: as shown in fig. 4, maximum peak detection is performed on the d-point (32 points in this embodiment) spectrum under L groups of coherent code phases, if the spectrum is an civil code, a code phase and doppler corresponding to the maximum peak are obtained, satellite signal acquisition with a preset duration of 2ms is completed, and the tracking stage is started; and if the military code is the military code, acquiring the time ambiguity M of the military code, acquiring the traversal times (denoted by M) according to the M-M-1000, and then entering the step K.
Step K: judging whether M cycles are performed, if so, acquiring a group of code phases and Doppler corresponding to the maximum peak value, completing satellite signal acquisition with preset time duration of 2ms, and transferring to a tracking stage; otherwise, returning to the step D.
The sectional configurable military code direct capturing method based on the parallel frequency and parallel code search overcomes the defects of the prior art, can realize that the first satellite time of the military code direct capturing is 2s under the condition of large uncertainty (+/-1 s) of code phase time, and has quick capturing performance; meanwhile, a segmentation method is adopted, the number of points for directly carrying out FFT operation on the whole data is reduced, and the utilization rate of hardware resources is reduced; the method has configurability capture capacity aiming at different phase time ambiguities, can directly capture military codes with the time ambiguities of +/-M seconds, can set traversal times M, and realizes the direct capture of the military codes in any ambiguities (the capture time is 2 x M milliseconds). Meanwhile, a searching mode with granularity of 2ms is adopted in the design, so that the acquisition of short-period codes such as GPS-L1 frequency points, Beidou civil codes (B1 and B3 frequency points) and the like can be realized by setting the sampling frequency and the traversal times M, and the method has strong adaptability.
It should be noted that the above description is only a preferred embodiment of the present invention, and it should be understood that various changes and modifications can be made by those skilled in the art without departing from the technical idea of the present invention, and these changes and modifications are included in the protection scope of the present invention.
Claims (5)
1. A segmented configurable military code direct capturing method based on parallel frequency and parallel code search is characterized by comprising the following steps:
step A: taking a baseband satellite signal bandwidth value as a sampling frequency, caching a local pseudo code with preset duration a, wherein the length of the local pseudo code is N, and averagely dividing the local pseudo code into B sections of local pseudo codes according to a first preset section number aiming at the local pseudo code, wherein B is the first preset section number, and the data length of each section of local pseudo code is L, and then entering the step B;
and B: respectively aiming at the b-segment local pseudo codes, zero padding is carried out after each segment of local pseudo codes, the data length of each segment of local pseudo codes is expanded to be 2L, and the b-segment local pseudo codes are updated: then, respectively carrying out Fourier transform on the b-section local pseudo codes to obtain b-section frequency domain local pseudo codes, and then entering the step C;
and C: carrying out down-conversion operation on satellite radio-frequency signals to be analyzed to obtain intermediate-frequency analog signals: performing analog-to-digital conversion on the intermediate-frequency analog signal, sampling according to a preset sampling frequency to obtain an intermediate-frequency digital analog signal, and entering the step D;
step D: performing digital down-conversion operation on the intermediate-frequency digital analog signal to obtain a baseband satellite signal, then updating the sampling frequency of the baseband satellite signal to be equal to the bandwidth value of the baseband satellite signal through down-sampling and filtering processing on the baseband satellite signal, and then entering the step E;
step E: taking the bandwidth value of a baseband satellite signal as a sampling frequency, caching the baseband satellite signal with preset duration a, wherein the length of the baseband satellite signal is N, and dividing the baseband satellite signal into b sections of baseband satellite signals according to a first preset section number on average, wherein b is the first preset section number, and the data length of each section of baseband satellite signal is L, and then entering the step F;
step F: aiming at the b-section baseband satellite signals, splicing two adjacent sections of baseband satellite signals respectively to obtain b-section satellite data, wherein the length of each section of satellite data is 2L; then, respectively carrying out Fourier transform on the satellite data of the section b to obtain the satellite data of the frequency domain of the section b, and then entering the step G;
step G: aiming at b sections of frequency domain local pseudo codes and b sections of frequency domain satellite data, sequentially carrying out one-to-one complex multiplication to obtain b groups of complex multiplication result data, then respectively aiming at the b groups of complex multiplication result data, carrying out inverse Fourier transform on data with the length of 2L in the complex multiplication result data, retaining the data with the length of L before, deleting the data with the length of L, updating the complex multiplication result data, and further obtaining b groups of effective phase correlation result data, wherein the length of each group of effective phase correlation result data is L; then entering step H;
step H: aiming at b groups of effective phase related result data, extracting according to points under the same code phase to obtain L groups of extracted data results, wherein the length of each group of extracted data results is b, then respectively aiming at the L groups of extracted data results, carrying out point increasing and zero filling operation on each group of extracted data results, expanding the data length of each group of extracted data results to be a second preset length, updating the L groups of extracted data results, and then entering the step I; wherein if d represents a second preset length, d > b;
step I: respectively carrying out Fourier transform on the L groups of data extraction results to obtain d-point frequency spectrums under the L groups of coherent code phases, and then entering the step J;
step J: respectively carrying out maximum peak value detection on the d-point frequency spectrum under the L groups of coherent code phases, if the frequency spectrum is an civil code, acquiring a code phase and a Doppler frequency shift corresponding to the maximum peak value, completing satellite signal acquisition with preset duration a, and turning to a tracking stage; if the military code is the military code, acquiring the time ambiguity (m) of the military code, acquiring the traversal times according to the time ambiguity (m), and entering the step K; wherein, the traversal times are expressed by M;
step K: judging whether M times of circulation is performed, if so, obtaining a group of code phases and Doppler frequency shifts corresponding to the maximum peak values, and completing the acquisition of the satellite signals with preset duration a; if not, returning to the step D.
2. The segmented configurable military code direct acquisition method based on parallel frequency and parallel code search according to claim 1, characterized in that:
the preset time length is 2ms, and a is 2 ms.
3. The segmented configurable military code direct acquisition method based on parallel frequency and parallel code search according to claim 1, characterized in that: the first preset number of stages is 20, that is, b is 20.
4. The segmented configurable military code direct acquisition method based on parallel frequency and parallel code search according to claim 1, characterized in that: the second predetermined number of stages is 32, i.e., d is 32.
5. The segmented configurable military code direct acquisition method based on parallel frequency and parallel code search according to claim 1, characterized in that:
when the number of traversals is represented by M and the time ambiguity is represented by M, M ═ M lo.
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| CN114779284B (en) * | 2022-03-29 | 2022-09-20 | 湖南卫导信息科技有限公司 | Satellite navigation receiver military code signal capturing function test method |
| CN117724121B (en) * | 2024-02-18 | 2024-05-03 | 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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