CN108761499A - A kind of test system and method for the spaceborne GNSS receiver operation on orbit of simulation - Google Patents
A kind of test system and method for the spaceborne GNSS receiver operation on orbit of simulation Download PDFInfo
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- CN108761499A CN108761499A CN201711447603.6A CN201711447603A CN108761499A CN 108761499 A CN108761499 A CN 108761499A CN 201711447603 A CN201711447603 A CN 201711447603A CN 108761499 A CN108761499 A CN 108761499A
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Abstract
The present invention provides a kind of test system and method for simulating spaceborne GNSS receiver operation on orbit, according to the scene condition of spaceborne GNSS receiver operation on orbit, establishes GNSS system simulation model, generates the emulation signal that simultaneously the output phase answers navigation satellite；Semi-physical simulation module, according to preset positioning calculation algorithm, obtains the parameters under simulation run state for receiving above-mentioned emulation signal, is exported according to the demand of control observation module；PC control observation modules send control instruction according to test detailed rules and regulations, while receiving and observing the output signal of semi-physical simulation module, and convert it to the decimal system from hexadecimal, to be observed assessment to the performance of emulation module.This system test environment builds simplicity, and overall cost is low, and work efficiency is high, and a kind of easy, efficient, reliable way is provided for the in-orbit emulation testing of spaceborne GNSS receiver.
Description
Technical field
The present invention relates to a kind of system and method based on testing spaceborne GNSS receiver working performance and assessing, especially
A kind of test system and method for the spaceborne GNSS receiver operation on orbit of simulation, belong to navigation field.
Background technology
Currently used GNSS system includes the GPS system in the U.S., Chinese dipper system, Russian GLONASS and
The GALILEO etc. in Europe, the application of GNSS receiver is very extensive, carrier differ from mobile phone, automobile to ship, satellite and
Foot.By the navigation satellite signal for receiving 4 or more, you can position and the clock correction of receiver are found out, realizes One-Point Location, by
Be in the observational equation of One-Point Location it is nonlinear, therefore positioning calculation need solve Nonlinear System of Equations, at present it is the most frequently used
Orientation be Kalman filtering and least square method.
No matter take which kind of calculation method, the positioning result of receiver to there will necessarily be error, needs through test system pair
Its performance carries out test and evaluation.For spaceborne GNSS receiver, currently used test mainly uses whole star Orbital detection, whole
Star combines the modes such as ground test, static ground fixed test, wherein whole star Orbital detection input is huge, of high cost, and to surveying
The competency profiling of examination personnel is high, while being rectified and improved after pinpointing the problems in test process difficult；Whole star joint ground test also needs
Build complicated test environment, experiment package, a large amount of testers, working efficiency is relatively low；Static ground fixed test is only
One-Point Location test can be carried out, dynamic scene that can not be under analog satellite actual working state, test event is not enough.
Invention content
It is existing to overcome the present invention provides a kind of test system and method for the spaceborne GNSS receiver operation on orbit of simulation
There is the defects of economic cost and human cost are high, working efficiency is low, test event is insufficient and rectification is not easy in test method.
The technical scheme is that：A kind of test system of the spaceborne GNSS receiver operation on orbit of simulation, including：GNSS
Model emulation module, semi-physical simulation module, PC control observation modules；
GNSS model emulation modules, can construct GNSS system of the GNSS system model for simulating realistic, and simulation is defended
The scene condition of star navigation neceiver operation on orbit generates the emulation signal of navigation satellite, and exports to semi-physical simulation module；
Semi-physical simulation module receives the emulation signal of navigation satellite, and according to the emulation signal of navigation satellite, according to pre-
If positioning calculation algorithm, obtain satellite navigation receiver emulation operation on orbit state under parameter, according to PC control observation moulds
The control instruction of block, output parameter give PC control observation modules；
PC control observation modules receive and observe the parameter that semi-physical simulation module is sent；Meanwhile, it is capable to be wanted according to test
It asks to semi-physical simulation module and exports control instruction, observation semi-physical simulation module feeds back the work of control instruction.
GNSS system model by Global Navigation System (GPS, 24 satellites) and Beidou satellite navigation system (BDS, at present
Emit 16 satellites) two constellation compositions, the two is coordination.
The emulation signal of generation navigation satellite that GNSS model emulation modules generate includes：Global Navigation System (GPS) L1
Frequency point (1575.4MHz), the modulation system for emulating signal are respectively BPSK, bandwidth 1.023MHz, transmission rate 50bit/
s；Beidou satellite navigation system (BDS) B1 frequency points (1561.098MHz), the modulation system for emulating signal are respectively QPSK, bandwidth
For 2.046MHz, transmission rate 50bit/s.
The scene condition of operation on orbit is track six roots of sensation number and scene time.
Semi-physical simulation module is amplified, filters, then according to preset to the emulation signal of the navigation satellite of reception
Positioning calculation algorithm resolves ephemeris information, obtains the parameter under satellite navigation receiver emulation operation on orbit state, including：When
Between information, location information and orbit information.
Semi-physical simulation module, including：Navigation chip and master cpu, navigation chip can be according to preset positioning calculations
Algorithm is settled accounts, and the parameter resolved is sent to master cpu；All parameters are packaged by master cpu according to format
Afterwards, PC control observation modules are transmitted to by RS422 interface circuits；Master cpu can also send internal enabled letter by GPIO
Number navigation chip is given, realizes control to navigation chip.
Semi-physical simulation modular peripheral is equipped with temperature sensor, and collecting temperature data, the processing of sensing data is by master control
CPU is completed.
PC control observation modules will receive parameter and be converted into the decimal system from hexadecimal and observe the corresponding position in interface
Set display.
Export the demand for needing to consider PC control observation modules to the parameter of PC control observation modules, PC control observation moulds
The demand of block is that test job personnel need the data class observed.
Further include：Signal conversion module, it is imitative for connecting GNSS model emulations module and semi-physical simulation module, semi physical
True module and PC control observation modules realize that signal transmits.
GNSS model emulations module is connected by sma interfaces and radio frequency line with semi-physical simulation module；Semi-physical simulation mould
Block is connected by 232 turns of RS422 data converters with PC control observation modules.
Test request, including and be not limited to：Switch under different operating modes；Export different data；It is turned on and off
The partial function of semi-physical simulation module switchs；Pouring functions etc. in execution.
Semi-physical simulation module is fed back through to the work of control instruction to export to the parameter value body of PC control observation modules
It is existing.
A kind of test method of the spaceborne GNSS receiver operation on orbit of simulation of the present invention, steps are as follows：
(1) GNSS system of the GNSS system model for simulating realistic, the in-orbit work of analog satellite navigation neceiver are constructed
The scene condition of work generates the emulation signal of navigation satellite
(2) it obtains satellite according to preset positioning calculation algorithm according to the emulation signal of the navigation satellite of step (1) and leads
The parameter navigated under receiver emulation operation on orbit state, according to control instruction, output parameter；
(3) it receives and the output parameter of observation procedure (2) is observed meanwhile, it is capable to export control instruction according to test request
To the work feedback of control instruction.
The present invention compared with the existing technology the advantages of be：
(1) in the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention, GNSS model emulation moulds
Block can be established GNSS system simulation model and export corresponding imitative according to the scene condition of spaceborne GNSS receiver operation on orbit
True signal greatly reduces the cost for building experimental situation, improves working efficiency；
(2) in the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention, semi-physical simulation module
Above-mentioned emulation signal is received, according to preset positioning calculation algorithm, the parameters under simulation run state are obtained, according to control
The demand output of system observation module, ensures the adequacy of test event；
(3) in the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention, PC control observation moulds
It is simultaneously converted to the decimal system by block, the output data for receiving semi-physical simulation module by hexadecimal so that tester can be with
It directly observes data and carries out preliminary assessment, observed without preserving after data are converted with software again, greatly simplify workflow
Journey improves working efficiency.
(4) in the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention, PC control observation moulds
Block receives and observes the output data of semi-physical simulation module, without connecting satellited system, simplifies experimental situation, improves work
Efficiency.
Description of the drawings
Fig. 1 is the example structure signal of the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention
Figure；
Fig. 2 is a kind of specific embodiment of the test system of spaceborne GNSS receiver operation on orbit of simulation provided by the invention
Structural schematic diagram；
Specific implementation mode
The specific implementation mode of the present invention is further described in detail below in conjunction with the accompanying drawings.
The present invention provides a kind of test system and method for the spaceborne GNSS receiver operation on orbit of simulation, according to spaceborne GNSS
The scene condition of receiver operation on orbit establishes GNSS system simulation model, generates and the output phase answers the emulation of navigation satellite to believe
Number；Semi-physical simulation module, according to preset positioning calculation algorithm, obtains simulation run for receiving above-mentioned emulation signal
Parameters under state are exported according to the demand of control observation module；PC control observation modules send control according to test detailed rules and regulations
System instruction, while the output signal of semi-physical simulation module is received and observing, and convert it to the decimal system from hexadecimal, from
And assessment is observed to the performance of emulation module.This system test environment builds simplicity, and overall cost is low, and work efficiency is high,
A kind of easy, efficient, reliable way is provided for the in-orbit emulation testing of spaceborne GNSS receiver.
The present invention is used for the ground test of GNSS receiver, simulates its in-orbit working environment and adequately survey comprehensively
Examination.As shown in Figure 1, including：GNSS model emulations module, semi-physical simulation module, PC control observation modules；
Wherein, GNSS model emulations module can construct GNSS system of the GNSS system model for simulating realistic, mould
The scene condition of quasi- satellite navigation receiver operation on orbit generates the emulation signal of navigation satellite, and exports to semi-physical simulation
Module；
Semi-physical simulation module receives the emulation signal of navigation satellite, and according to the emulation signal of navigation satellite, according to pre-
If positioning calculation algorithm, obtain satellite navigation receiver emulation operation on orbit state under parameter, according to PC control observation moulds
The control instruction of block, output parameter give PC control observation modules；
PC control observation modules receive and observe the parameter that semi-physical simulation module is sent；Meanwhile, it is capable to be wanted according to test
It asks to semi-physical simulation module and exports control instruction, observation semi-physical simulation module feeds back the work of control instruction.
In the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention, GNSS model emulation modules
The GNSS system model of structure, by Global Navigation System (GPS, 24 satellites) and Beidou satellite navigation system (BDS, at present
Emit 16 satellites) two constellation compositions, the two is coordination.GPS system is most ripe, most common in the world at present leads
Boat system, BDS systems are the navigation system that China voluntarily develops, emphasis is promoted, the abundant mould of GNSS models being made of both
Intend reality scene and meets testing requirement.
Specifically, the emulation signal for the generation navigation satellite that GNSS model emulation modules generate includes：Global Navigation System
(GPS) L1 frequency points (1575.4MHz), the modulation system for emulating signal are respectively BPSK, bandwidth 1.023MHz, transmission rate
For 50bit/s；Beidou satellite navigation system (BDS) B1 frequency points (1561.098MHz), the modulation system for emulating signal are respectively
QPSK, bandwidth 2.046MHz, transmission rate 50bit/s.L1 frequency points and B1 frequency points are common civilian frequency point, Neng Gouchong
Divide and meets testing requirement.
Specifically, as shown in Fig. 2, GNSS model emulation modules are divided into host and signal simulator, on host adjustment exist
To update GNSS system model, signal simulator generates and exports the emulation letter of corresponding navigation satellite the scene condition of rail satellite
Number.The scene condition of operation on orbit is track six roots of sensation number and scene time.
In addition, the signal of GNSS model emulation modules output here may be normal emulation signal, correspondingly, half object
Location data and the time data for managing the generation of emulation module 102 are correct, precision in claimed range；Certainly, here
The emulation signal of GNSS model emulation modules output is also possible to as abnormal emulation signal, including signal strength is low, part
The signal of navigation satellite is shielded etc., correspondingly, needed for location data and time data that semi-physical simulation module 102 generates
Time increase, accuracy decline or export corresponding data according to preset algorithm.
In the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention, semi-physical simulation module connects
The emulation signal for receiving the output of GNSS system model obtains the parameters under simulation run state according to preset algorithm, according to
The demand of PC control observation modules exports.
Specifically, semi-physical simulation module pair, the emulation signal of the navigation satellite of reception, are amplified, filter, then root
According to preset positioning calculation algorithm, ephemeris information is resolved, obtains the parameter under satellite navigation receiver emulation operation on orbit state,
Including：Temporal information, location information and orbit information.
Specifically, as shown in Fig. 2, semi-physical simulation module, including：Navigation chip, external sensor and master cpu, lead
Boat chip is settled accounts according to preset positioning calculation algorithm, and the parameter resolved is sent to master cpu；External sensor obtains
The data such as temperature, voltage are taken, and are sent to master cpu；After all parameters are packaged by master cpu according to format, pass through
RS422 interface circuits are transmitted to PC control observation modules, additionally it is possible to internal enable signal is sent to navigation chip by GPIO,
Realize the control to navigation chip.
In the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention, PC control observation modules connect
Receive and observe the parameter that semi-physical simulation module is sent；It is controlled meanwhile, it is capable to be exported to semi-physical simulation module according to test request
System instruction, observation semi-physical simulation module feed back the work of control instruction.
Specifically, PC control observation modules, will receive parameter and are converted into the decimal system from hexadecimal and are observing interface
Corresponding position shows, the advantage of doing so is that, tester can directly observe data, and by with GNSS model emulation moulds
The working performance of entry evaluation semi-physical simulation module, is reduced compared to traditional test mode after the reference data comparison that block is shown
20% time.
Specifically, PC control observation modules, can send control instruction according to test request to semi-physical simulation module；It surveys
Examination requires to be formulated according to the project that actual test needs, including and is not limited to：Switch under different operating modes；It exports different
Data；It is turned on and off certain functional switches of semi-physical simulation module；Execute, terminate upper pouring functions etc..
Specifically, semi-physical simulation module, the work to coming from PC control observation module control instructions feds back through it
It exports to certain parameter values of PC control observation modules and embodies, such parameter value is in PC control observation modules from hexadecimal
It can directly be observed after being converted into the decimal system.
Specifically, the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention, because PC controls are seen
Survey module can will receive parameter and be converted into the decimal system from hexadecimal and be shown in the observation corresponding position in interface, then no longer needs to
Satellited system is connected, whole system reduces 25% component and 25% tester, reduces human cost, improves efficiency.
In addition, the test system of the spaceborne GNSS receiver operation on orbit of simulation provided by the invention also includes signal conversion
Module, for connecting GNSS model emulations module and semi-physical simulation module, semi-physical simulation module and PC control observation modules,
Realize that signal transmits.
Specifically, in signal conversion module, GNSS model emulations module passes through sma interfaces and radio frequency line and semi-physical simulation
Module is connected；Semi-physical simulation module is connected by 232 turns of RS422 data converters with PC control observation modules.
In specific implementation process, according to entire test system is connected shown in figure two, in the master of GNSS model emulation modules
Being imitated at cabinet operative scenario (time and track six roots of sensation number), then from PC control observations module to semi physical needed for setting test on machine
True module sends control instruction, you can the ginseng exported from the observation interface observation semi-physical simulation module of PC control observation modules
Number, the working performance of entry evaluation semi-physical simulation module.In addition, using specific software to preserving in PC control observation modules
The processing of semi-physical simulation module output parameter can further assess the working performance of semi-physical simulation module.
It has been given in Table 1 traditional ground single board testing system workload identical as test system proposed by the present invention
Under, the comparison of required time and tester's quantity, it is seen that test system proposed by the present invention save 20% testing time with
25% human cost.Further it is proposed that test system without connecting satellited system, surveyed compared to traditional ground veneer
Component needed for test system is less, and the cost for building experimental situation is lower.
The traditional ground single board testing system of table 1 proposes the working efficiency contrast table of test system with the present invention
Finally, it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, and those skilled in the art should understand that：It is still
The technical solution that can be recorded to previous embodiment is modified；It does not separate the essence of the corresponding technical solution for these modifications originally
The spirit and scope of inventive embodiments technical solution.
The content that description in the present invention is not described in detail belongs to the known technology of professional and technical personnel in the field.
Claims (10)
1. a kind of test system of the spaceborne GNSS receiver operation on orbit of simulation, which is characterized in that including：GNSS model emulation moulds
Block, semi-physical simulation module, PC control observation modules；
GNSS model emulation modules, can construct GNSS system of the GNSS system model for simulating realistic, and analog satellite is led
The scene condition of boat receiver operation on orbit generates the emulation signal of navigation satellite, and exports to semi-physical simulation module；
Semi-physical simulation module receives the emulation signal of navigation satellite, and according to the emulation signal of navigation satellite, according to preset
Positioning calculation algorithm obtains the parameter under satellite navigation receiver emulation operation on orbit state, according to PC control observation modules
Control instruction, output parameter give PC control observation modules；
PC control observation modules receive and observe the parameter that semi-physical simulation module is sent；Meanwhile, it is capable to according to test request to
Semi-physical simulation module exports control instruction, and observation semi-physical simulation module feeds back the work of control instruction.
2. a kind of test system of spaceborne GNSS receiver operation on orbit of simulation according to claim 1, it is characterised in that：
The GNSS system model is made of two constellations of Global Navigation System and Beidou satellite navigation system, and the two is coordination,
The scene condition of operation on orbit is track six roots of sensation number and scene time.
3. a kind of test system of spaceborne GNSS receiver operation on orbit of simulation according to claim 1, it is characterised in that：
The emulation signal of generation navigation satellite that GNSS model emulation modules generate includes：Global Navigation System L1 frequency points emulate signal
Modulation system be respectively BPSK, bandwidth 1.023MHz, transmission rate 50bit/s；Beidou satellite navigation system B1 frequency points,
The modulation system for emulating signal is respectively QPSK, bandwidth 2.046MHz, transmission rate 50bit/s.
4. a kind of test system of spaceborne GNSS receiver operation on orbit of simulation according to claim 1, it is characterised in that：
Semi-physical simulation module is amplified, filters to the emulation signal of the navigation satellite of reception, then according to preset positioning calculation
Algorithm resolves ephemeris information, obtains the parameter under satellite navigation receiver emulation operation on orbit state, including：Temporal information, position
Confidence ceases and orbit information.
5. a kind of test system of spaceborne GNSS receiver operation on orbit of simulation according to claim 1, it is characterised in that：
Semi-physical simulation module, including：Navigation chip and master cpu, navigation chip can be carried out according to preset positioning calculation algorithm
Clearing, the parameter resolved are sent to master cpu；After all parameters are packaged by master cpu according to format, pass through
RS422 interface circuits are transmitted to PC control observation modules；Master cpu can also send internal enable signal to navigation by GPIO
Chip realizes the control to navigation chip.
6. a kind of test system of spaceborne GNSS receiver operation on orbit of simulation according to claim 1, it is characterised in that：
Semi-physical simulation modular peripheral is equipped with temperature sensor, and the processing of collecting temperature data, sensing data is completed by master cpu；
PC control observation modules will receive parameter and be converted into the decimal system from hexadecimal and be shown in the observation corresponding position in interface；
The demand for needing to consider PC control observation modules to the parameter of PC control observation modules is exported, the demand of PC control observation modules is
Test job personnel need the data class observed.
7. a kind of test system of spaceborne GNSS receiver operation on orbit of simulation according to claim 1, it is characterised in that：
Further include：Signal conversion module, for connect GNSS model emulations module and semi-physical simulation module, semi-physical simulation module and
PC control observation modules realize that signal transmits.
8. a kind of test system of spaceborne GNSS receiver operation on orbit of simulation according to claim 6, it is characterised in that：
GNSS model emulations module is connected by sma interfaces and radio frequency line with semi-physical simulation module；Semi-physical simulation module passes through 232
Turn RS422 data converters with PC control observation modules to be connected.
9. a kind of test system of spaceborne GNSS receiver operation on orbit of simulation according to claim 1, it is characterised in that：
Test request, including and be not limited to：Switch under different operating modes；Export different data；It is imitative to be turned on and off semi physical
The partial function switch of true module；Pouring functions etc. in execution.
10. a kind of test method of the spaceborne GNSS receiver operation on orbit of simulation, it is characterised in that steps are as follows：
(1) GNSS system of the GNSS system model for simulating realistic is constructed, analog satellite navigation neceiver operation on orbit
Scene condition generates the emulation signal of navigation satellite
(2) it obtains satellite navigation according to preset positioning calculation algorithm according to the emulation signal of the navigation satellite of step (1) and connects
Receipts machine emulates the parameter under operation on orbit state, according to control instruction, output parameter；
(3) it receives and the output parameter of observation procedure (2) is observed meanwhile, it is capable to export control instruction according to test request to control
The work feedback of system instruction.
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| CN110691326A (en) * | 2019-09-10 | 2020-01-14 | 东南大学 | Indoor hybrid positioning semi-physical simulation method and platform |
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| CN110907965A (en) * | 2019-11-27 | 2020-03-24 | 中国科学院微小卫星创新研究院 | Navigation task processor simulator and implementation method thereof |
| CN113050133A (en) * | 2021-02-20 | 2021-06-29 | 郑州中科集成电路与信息系统产业创新研究院 | GNSS satellite card data interface processing capacity test method of satellite system application equipment |
| CN113110098A (en) * | 2021-03-02 | 2021-07-13 | 西安电子科技大学 | Generalized semi-physical simulation verification system for guidance information fusion algorithm |
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| CN110739990A (en) * | 2019-10-08 | 2020-01-31 | 北京航天飞腾装备技术有限责任公司 | Tester and testing method for coordinates of target point of satellite guided weapon |
| CN110907965A (en) * | 2019-11-27 | 2020-03-24 | 中国科学院微小卫星创新研究院 | Navigation task processor simulator and implementation method thereof |
| CN113050133A (en) * | 2021-02-20 | 2021-06-29 | 郑州中科集成电路与信息系统产业创新研究院 | GNSS satellite card data interface processing capacity test method of satellite system application equipment |
| CN113050133B (en) * | 2021-02-20 | 2023-05-02 | 郑州中科集成电路与系统应用研究院 | GNSS star card data interface processing capability test method of satellite system application equipment |
| CN113110098A (en) * | 2021-03-02 | 2021-07-13 | 西安电子科技大学 | Generalized semi-physical simulation verification system for guidance information fusion algorithm |
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| CN116819574A (en) * | 2023-08-29 | 2023-09-29 | 极诺星空(北京)科技有限公司 | GNSS positioning occultation reflection receiver integrated test method and system |
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