CN109358349A - A kind of satellite signal tracking method and device - Google Patents
A kind of satellite signal tracking method and device Download PDFInfo
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- CN109358349A CN109358349A CN201811593875.1A CN201811593875A CN109358349A CN 109358349 A CN109358349 A CN 109358349A CN 201811593875 A CN201811593875 A CN 201811593875A CN 109358349 A CN109358349 A CN 109358349A
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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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- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radio Relay Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the satellite signal acquisition devices of a kind of satellite signal tracking method and application correlation technique to improve the sensitivity of capture while can effectively reducing calculation amount during satellite signal acquisition.The satellite signal tracking method specific steps are the following steps are included: generate local carrier, and to input satellite-signal down coversion, and generation pilot tone and data passage spread spectrum code respectively, completion pilot channel and data channel signal capture；The pilot channel capture data imaginary part of symbol is negated, real and imaginary parts are then exchanged, data channel is obtained and captures result copy, it is added up, while subtraction is executed to the two with data channel capture result, maximum value is selected to carry out prize judgment.
Description
Technical field
The present invention relates to technical field of satellite navigation, are related specifically to a kind of satellite signal acquisition technology.
Background technique
With the fast development of satellite navigation system, second civil signal that B2A is Beidou three, for replacing Beidou
No. two B2I signals, predominantly double frequency or three frequency receivers provide service, can be used for life security service and high-acruracy survey
Contour capabilities service, it can also be used to consumer service higher to performance requirement.
Beidou III is 1 millisecond for the subcode of B2A signal, i.e., there may be different subcode modulation symbols between every millisecond,
This means that coherent integration length when capture, no more than 1 millisecond, capture gain is limited so that acquisition sensitivity compared with
It is low.In order to improve acquisition sensitivity, common mode is to carry out incoherent capture, but incoherent capture can bring Squared Error Loss.
If wishing to further increase acquisition sensitivity, need to carry out the non-coherent integration of long period, this will increase to a certain extent
Add capture operand.
Summary of the invention
The purpose of embodiments of the invention is to provide a kind of satellite signal tracking method and devices, can be effectively in reduction pair
On the basis of calculation amount during satellite signal acquisition, acquisition sensitivity is improved.
A kind of satellite signal tracking method that an embodiment of the present invention provides, described method includes following steps:
Step 1: obtaining satellite-signal, initialize satellite number, initialize local carrier frequency；
Step 2: it is local to generate carrier signal, pilot channel down coversion is carried out to input satellite-signal, generates down coversion letter
Number, it is local to generate pilot channel spreading code, pilot channel down coversion is believed under different code phases using pilot channel spreading code
Number despreading, obtain the despread signal sequence of each code phase, each code phase despread signal sequence added up, and
Each code phase obtains an accumulated value, completes pilot channel signal capture；
Step 3: it is local to generate carrier signal while completing step 2, down coversion is carried out to input satellite-signal, it is raw
It is local to generate data channel spreading code at data channel down-conversion signal, using data channel spreading code under different code phases
Data channel down-conversion signal is de-spread, the despread signal sequence of each code phase is obtained, each code phase is de-spread and is believed
Number sequence adds up, and obtains an accumulated value in each code phase, completes data channel signal capture；
Step 4: each pair of data channel identical for phase and pilot channel data are handled as follows: logical to pilot tone
The road signal capture data imaginary part of symbol negates, and then exchanges real and imaginary parts, obtains the number constructed with pilot capture signal data
Signal data copy is captured according to channel, the data channel of acquisition is captured into signal data copy and data channel signal captures data
It adds up, while cumulative, data channel is captured into signal data copy and data channel signal capture data execution subtracts
Method, and maximum value is selected to result that is cumulative and subtracting each other；
Step 5: judging whether previous step maximum value obtained is greater than threshold value, if so, present satellites are in some code
Acquisition success under phase, and present satellites acquisition success mark and capture parameter are exported, 7 are entered step, if not, determining current
Frequency acquisition failure, and it is directly entered next step；
Step 6: if current frequency capture failure, judges whether to complete all frequency acquisitions, if not, updating carrier frequency
Rate enters step 2 and step 3；If so, judging present satellites capture failure, output present satellites capture failure flags, under
One step；
Step 7: if receiving present satellites acquisition success or capture failure flags, present satellites capture finishes, judges whether
All satellite signal acquisitions are completed, if so, terminating capture；If not, updating satellite-signal and capture satellite number, and initialize load
Wave frequency rate enters step 1.
Preferably, a kind of satellite signal tracking method that an embodiment of the present invention provides, described in the step 2
Pilot channel captures result and it is assumed that spreading code has been aligned, is not considering the high fdrequency component in downconversion process, and uses not constant volume
Substitution definite integral is divided to analyze under pilot tone and data channel integral condition, calculated result are as follows:
F is satellite signal carrier frequency, flLocal signal carrier frequency, Δ f are that local signal carrier frequency and satellite carry
The difference of wave frequency rate, t are the time in a cycle.
Preferably, a kind of satellite signal tracking method that an embodiment of the present invention provides, described in the step 3
Data channel integral result it is assumed that spreading code has been aligned, is not considering the high fdrequency component in downconversion process, and uses not constant volume
Substitution definite integral is divided to analyze under pilot tone and data channel integral condition, calculated result are as follows:
F is satellite signal carrier frequency, flLocal signal carrier frequency, Δ f are that local signal carrier frequency and satellite carry
The difference of wave frequency rate, t are the time in a cycle.
Preferably, a kind of satellite signal tracking method that an embodiment of the present invention provides, the step 4, the number
The relationship between result and pilot channel capture result is captured according to channel are as follows: rp=± jrd。
rpIt captures for pilot channel as a result, rdResult is captured for data channel.
Another embodiment of the present invention provides a kind of satellite signal acquisition device using above-mentioned satellite signal tracking method,
Satellite capture device includes:
Satellite-signal obtains module, for obtaining satellite-signal, and initializes satellite number, initializes local carrier frequency,
Pilot channel trapping module and data channel trapping module are outputed signal to respectively；
Pilot channel trapping module, generates carrier signal for local, down coversion is carried out to input satellite-signal, under generation
Frequency variation signal, it is local to generate pilot channel spreading code, using pilot channel spreading code under pilot channel under different code phases
Frequency variation signal despreading, obtains the despread signal sequence of each code phase, each code phase despread signal sequence is carried out tired
Add, and obtain an accumulated value in each code phase, complete pilot channel signal capture, outputs signal to double-channel data processing
Module；
Data channel trapping module, generates carrier signal for local, down coversion is carried out to input satellite-signal, under generation
Frequency variation signal, it is local to generate data channel spreading code, using data channel spreading code under data channel under different code phases
Frequency variation signal despreading, obtains the despread signal sequence of each code phase, each code phase despread signal sequence is carried out tired
Add, and obtain an accumulated value in each code phase, complete data channel signal capture, outputs signal to double-channel data processing
Module；
Double-channel data processing module is carried out for each pair of data channel identical for phase and pilot channel data
Following processing: negating the pilot channel signal capture data imaginary part of symbol, then exchanges real and imaginary parts, obtains with pilot capture
The data channel of signal data construction captures signal data copy, and the data channel of acquisition is captured signal data copy and data
Channel signal capture data add up, and while cumulative, data channel are captured signal data copy and data channel is believed
Number capture data execute subtraction, and select maximum value to result that is cumulative and subtracting each other, output signal to prize judgment module；
Prize judgment module, for judging whether double-channel data processing module maximum value obtained is greater than threshold value, if
It is, then present satellites acquisition success under some code phase output capture parameter, and present satellites acquisition success mark is exported
Processing module is controlled to capture, controls processing module if not, exporting current frequency capture failure flags to capture；
Capture control processing module, if current frequency capture failure, judges whether that all frequency acquisitions finish, if it is not, then
Carrier frequency is updated, sending continues capture instruction；If so, determining present satellites capture failure, output present satellites capture is lost
Lose mark；If receiving present satellites acquisition success or failure flags, present satellites capture is finished, and judges whether all satellite captures
It finishes, if so, terminating capture；If it is not, then updating satellite-signal and capture satellite number, carrier frequency is initialized, respectively output letter
Number to pilot channel trapping module and data channel trapping module, and issues and continue capture instruction to satellite-signal and obtain module.
Preferably, another embodiment of the present invention provides satellite signal acquisition device, wherein the pilot channel trapping module
Include:
First carrier generator generates carrier signal for local, outputs signal to the first down coversion controller；
First down coversion controller, for obtaining module and input satellite-signal progress pilot channel to the satellite-signal
Down coversion outputs signal to the first solution extender controller；
First spectrum-spreading code generator generates pilot channel spreading code for local, outputs signal to the first solution extender controller；
First solution extender controller, for being believed under different code phases pilot channel down coversion using pilot channel spreading code
Number despreading, obtain the despread signal sequence of each code phase, output signal to the first accumulator；
Each code phase despread signal sequence is added up, and obtains one in each code phase by the first accumulator
Accumulated value completes pilot channel signal capture, outputs signal to double-channel data processing module.
Preferably, another embodiment of the present invention provides satellite signal acquisition devices, wherein the data channel trapping module
Including,
Second carrier generator generates carrier signal for local, outputs signal to the second down coversion controller；
It is logical to generate data for carrying out data channel down coversion to input specified satellite signal for second down coversion controller
Road down-conversion signal outputs signal to the second solution extender controller；
Second spectrum-spreading code generator generates data channel spreading code for local, outputs signal to the second solution extender controller；
Second solution extender controller, for being believed under different code phases data channel down coversion using data channel spreading code
Number despreading, output signal to the second accumulator；
Second accumulator, by each code phase, despread signal sequence adds up, and obtains one in each code phase
Accumulated value completes data channel signal capture, outputs signal to double-channel data processing module.
Preferably, another embodiment of the present invention provides satellite signal acquisition device, wherein the first carrier generator with
Second carrier generator is same device, and the first down coversion controller is same with the second down coversion controller
Device.
Preferably, another embodiment of the present invention provides a kind of satellite-signal using above-mentioned satellite signal tracking method catch
Device is obtained, the double-channel data processing module includes:
Real and imaginary parts exchange control unit, for each pair of data channel identical for phase and pilot channel data into
The following processing of row: negating the pilot channel signal capture data imaginary part of symbol, then exchanges real and imaginary parts, and acquisition is caught with pilot tone
The data channel capture signal data copy for obtaining signal data construction, outputs signal to adder and subtracter respectively；
Adder, data channel capture signal data copy and data channel signal capture data for that will obtain carry out
It is cumulative, output signal to modulus value comparison controller；
Subtracter, for data channel being captured signal data copy and data channel signal captures while cumulative
Data execute subtraction, output signal to modulus value comparison controller；
Modulus value comparison controller outputs signal to prize judgment mould for selecting maximum value to result that is cumulative and subtracting each other
Block.
Preferably, another embodiment of the present invention provides a kind of satellite-signal using above-mentioned satellite signal tracking method catch
Device is obtained, the capture control processing module includes:
Capture controller judges whether that completing all carrier frequencies searches for if current frequency capture failure, if not, by
Local carrier controller updates carrier frequency, and sending continues capture instruction, if so, then determining present satellites capture failure, output
Present satellites capture failure flags；If receiving present satellites acquisition success or failure flags, present satellites capture is finished, and judgement is
It is no to complete all satellite signal acquisitions, if so, terminating capture；If not, satellite signal acquisition conversion and control will be outputed signal to
Device and local carrier controller, and issue and continue capture instruction to satellite-signal acquisition module；
Satellite capture switching controller outputs signal to pilot channel trapping module sum number for updating satellite number respectively
According to channel trapping module；
Local carrier controller, for outputing signal to pilot channel trapping module and data channel trapping module respectively,
The carrier frequency used when updating pilot channel trapping module and data channel trapping module down coversion.
Preferably, another embodiment of the present invention provides a kind of satellite-signal using above-mentioned satellite signal tracking method catch
Device is obtained, the data channel trapping module includes,
Second carrier generator generates carrier signal for local, outputs signal to the second down coversion controller；
It is logical to generate data for carrying out data channel down coversion to input specified satellite signal for second down coversion controller
Road down-conversion signal outputs signal to the second solution extender controller；
Second spectrum-spreading code generator generates data channel spreading code for local, outputs signal to the second solution extender controller；
Second solution extender controller, for being believed under different code phases data channel down coversion using data channel spreading code
Number despreading, output signal to the second accumulator；
Second accumulator, by each code phase, despread signal sequence adds up, and obtains one in each code phase
Accumulated value completes data channel signal capture, outputs signal to double-channel data processing module.
The present invention is captured simultaneously using pilot tone and data channel, and is handled capture result, is then carried out relevant tired
Add.By processing, the present invention provides a kind of satellite signal tracking method and device on the basis of smaller operand, relative to 1 milli
Acquisition sensitivity about 3dB can be improved in second capture.
Detailed description of the invention
Fig. 1 is a kind of satellite signal tracking method schematic diagram shown in the embodiment of the present invention one；
Fig. 2 is a kind of satellite signal acquisition schematic device shown in the embodiment of the present invention two；
Fig. 3 is a kind of satellite signal acquisition schematic device shown in the embodiment of the present invention three.
300 obtain module to obtain satellite-signal, and 301_1 is first carrier generator, and 301_2 is the first down coversion mould
Block, 301_3 are the first spectrum-spreading code generator, and 301_4 is the first solution extender controller, and 301_5 is the first accumulator, and 301 be pilot tone
Channel trapping module, 302_1 are the second carrier generator, and 302_2 is the first down coversion controller, and 302_3 is the second spreading code
Generator, 302_4 are the second solution extender controller, and 302_5 is the second accumulator, and 302 be data channel trapping module, and 303_1 is
Real and imaginary parts exchange control unit, 303_2 are adder, and 303_3 is subtracter, and 303_4 is modulus value comparison controller, and 303 are
Binary channels controls data processing module；304 be prize judgment module；305_1 is capture controller, and 305_2 turns for satellite capture
Changer controller, 305_3 are local carrier controller, and 305 be capture control processing module.
Specific embodiment
On the basis of calculation amount during reducing satellite signal acquisition, acquisition sensitivity is improved, the present invention is real
It applies example one to three and provides a kind of satellite signal tracking method and should satellite signal acquisition device in this way.To make this hair
Bright purposes, technical schemes and advantages are clearer, and according to following example, invention is further described in detail.
As shown in Figure 1, the embodiment of the present invention one provides a kind of satellite signal tracking method, the method includes walking as follows
It is rapid:
Step 1: obtaining satellite-signal, initialize satellite number, initialize local carrier frequency；
Step 2: it is local to generate carrier signal, pilot channel down coversion is carried out to input satellite-signal, generates down coversion letter
Number, it is local to generate pilot channel spreading code, pilot channel down coversion is believed under different code phases using pilot channel spreading code
Number despreading, obtain the despread signal sequence of each code phase, each code phase despread signal sequence added up, and
Each code phase obtains an accumulated value, completes pilot channel signal capture；
Step 3: it is local to generate carrier signal while completing step 2, down coversion is carried out to input satellite-signal, it is raw
It is local to generate data channel spreading code at data channel down-conversion signal, using data channel spreading code under different code phases
Data channel down-conversion signal is de-spread, the despread signal sequence of each code phase is obtained, each code phase is de-spread and is believed
Number sequence adds up, and obtains an accumulated value in each code phase, completes data channel signal capture；
Step 4: each pair of data channel identical for phase and pilot channel data are handled as follows: logical to pilot tone
The road signal capture data imaginary part of symbol negates, and then exchanges real and imaginary parts, obtains the number constructed with pilot capture signal data
Signal data copy is captured according to channel, the data channel of acquisition is captured into signal data copy and data channel signal captures data
It adds up, while cumulative, data channel is captured into signal data copy and data channel signal capture data execution subtracts
Method, and maximum value is selected to result that is cumulative and subtracting each other；
Step 5: judging whether previous step maximum value obtained is greater than threshold value, if so, present satellites are in some code
Acquisition success under phase, and present satellites acquisition success mark and capture parameter are exported, 7 are entered step, if not, determining current
Frequency acquisition failure, and it is directly entered next step；
Step 6: if current frequency capture failure, judges whether to complete all frequency acquisitions, if not, updating carrier frequency
Rate enters step 2 and step 3；If so, judging present satellites capture failure, output present satellites capture failure flags, under
One step；
Step 7: if receiving present satellites acquisition success or capture failure flags, present satellites capture finishes, judges whether
All satellite signal acquisitions are completed, if so, terminating capture；If not, updating satellite-signal and capture satellite number, and initialize load
Wave frequency rate enters step 1.
It wherein for step 2 and step 3, is de-spread using spreading code, is the search to code phase, code phase search mistake
Journey can be serial search, be also possible to parallel search；All code phase search are carried out in specified carrier frequency value, it can be complete
At the capture under the frequency.
It is wherein as follows for the specific reckoning process of step 2 to step 6:
According to above-mentioned steps 2 to step 3, in a spreading period, pilot channel capture result be can be described as:
Wherein, A is satellite-signal amplitude, C (t) and ClIt (t) is respectively satellite spreading code and local spreading code, τ is satellite
With the phase difference between local spreading code, f and flRespectively satellite signal carrier frequency and local signal carrier frequency, T be
Integration period, t1For integration period initial time.
Above-mentioned calculated result it is assumed that spreading code has been aligned, is not considering the high fdrequency component in downconversion process, and using not
Definite integral substitutes definite integral and analyzes under pilot tone and data channel integral condition, calculated result are as follows:
Specifically, as temporarily do not consider code phase influence (it is also assumed that satellite-signal de-spread after again into
The following processing of row), signal amplitude is normalized, and is investigated from indefinite integral result, is not considered antiderivative normal
It is several, ignore the influence of high frequency item, capture result may be updated as:
In above formula, Δ f is the difference of local carrier frequency and satellite carrier frequencies；And since integral exists, it is equivalent to low pass
Filtering, so having ignored high frequency item expression formula part in result.
It according in above-mentioned steps 3, is equally handled according to aforementioned calculation, the data channel integral result is it is assumed that expand
Frequency code has been aligned, and does not consider the high fdrequency component in downconversion process, and using indefinite integral substitute definite integral analyze pilot tone and
Under data channel integral condition, calculated result are as follows:
As it can be seen that rp=-jrd, by rdIt is handled, obtains rpAnother copy rp1。
Further, need to consider the code phase difference between local and satellite, the code of satellite-signal pilot tone and data channel
Phase is completely the same, therefore there are identical phase differences between local code and pilot tone, data channel；
Secondly, code phase difference is C (t) and C when (being no more than ± 1 chip) near 0 between local and satellitel(t-τ)
Value it is approximately equal, r at this timep+rp1=2rp.It is then pseudo- in the correlation of other phase differences due to the pseudo-random characteristics of spreading code
Random noise, the variance after adding up become originalTimes.The effective breadth of signal increases by 2 times, and noise variance increases
Times, about 3dB can be improved in signal-to-noise ratio.
Since data channel and pilot channel are respectively modulated with subcode, and code symbol is not necessarily identical, therefore the two captures
As a result the relationship between should change are as follows: rp=± jrd。rpIt captures for pilot channel as a result, rdResult is captured for data channel.If
Wish that above-mentioned conclusion is still set up, then only needs in rp±rp1Between select the larger value.Step 4 has been carried out with phase and reverse phase
It is cumulative, and two kinds of results are compared, the larger value is chosen as capture result.
It can be seen that the present invention realizes a kind of satellite capture method, by two-way measuring, capture signal-to-noise ratio can be improved about
3dB is conducive to improve acquisition sensitivity.
As shown in Fig. 2, second embodiment of the present invention provides based on a kind of a kind of above-mentioned satellite of satellite signal tracking method
Signal capture device, described device include following part: satellite-signal obtains module 300, pilot channel trapping module 301, number
According to channel trapping module 302, double-channel data processing module 303；Prize judgment module 304；Capture control processing module 305,
Correlation module is connected according to following signal I/O mode.
The embodiment of the present invention two, specifically, satellite-signal obtains module 300, for obtaining specified satellite signal, initially
Change satellite number, initializes local carrier frequency, and exported respectively to pilot channel trapping module 301 and data channel trapping module
302；
Pilot channel trapping module 301, generates carrier signal for local, carries out down coversion to input satellite-signal, raw
It is local to generate pilot channel spreading code at down-conversion signal, it is logical to pilot tone under different code phases using pilot channel spreading code
Road down-conversion signal despreading, obtain the despread signal sequence of each code phase, by each code phase despread signal sequence into
Row is cumulative, and obtains an accumulated value in each code phase, completes pilot channel signal capture, signal is exported to binary channels number
According to processing module 303；
Data channel trapping module 302 generates carrier signal for local, carries out under data channel to input satellite-signal
Frequency conversion, generates down-conversion signal, and local generation data channel spreading code is right under different code phases using data channel spreading code
The despreading of data channel down-conversion signal, obtains the despread signal sequence of each code phase, by each code phase despread signal
Sequence adds up, and obtains an accumulated value in each code phase, completes data channel signal capture, signal is exported to double
Channel data processing module 303；
Double-channel data processing module 303 is used for each pair of data channel identical for phase and pilot channel data
It is handled as follows: the pilot channel signal capture data imaginary part of symbol is negated, then exchange real and imaginary parts, obtain with pilot tone
The data channel for capturing signal data construction captures signal data copy, by the data channel of acquisition capture signal data copy and
Data channel signal capture data add up, and while cumulative, data channel are captured signal data copy and data are led to
Road signal capture data execute subtraction, and select maximum value to result that is cumulative and subtracting each other, output signal to prize judgment module
304；
Prize judgment module 304, for judging whether double-channel data processing module maximum value obtained is greater than threshold value,
If so, present satellites acquisition success under some code phase, output capture parameter, and present satellites acquisition success mark is defeated
Out to capture control processing module 305, processing module is controlled if not, exporting current frequency capture failure flags to capture
305；
Capture control processing module 305, if current frequency capture failure, judges whether that all frequency acquisitions finish, if
It is no, then carrier frequency is updated, sending continues capture and instructs to pilot channel trapping module 301 and data channel trapping module 302,
If so, determining present satellites capture failure, output present satellites capture failure flags；If receive present satellites acquisition success or
Failure flags, present satellites capture finish, and judge whether that all satellite captures finish, if so, terminating capture；If it is not, then updating
Satellite-signal and capture satellite number, initialize carrier frequency, data are inputted pilot channel trapping module 301 respectively and data are led to
Road trapping module 302, and issue and continue capture instruction to satellite-signal acquisition module 300.
By above-mentioned specific embodiment one and embodiment two, it is seen that the present invention realizes a kind of satellite signal acquisition device, leads to
Two-way measuring is crossed, capture signal-to-noise ratio about 3dB can be improved, is conducive to improve and catches sensitivity.
As shown in figure 3, the embodiment of the present invention three is provided based on a kind of a kind of aforementioned satellite of satellite signal tracking method
Signal capture device, described device include following part:
It obtains satellite-signal and obtains module 300, by first carrier generator 301_1, the first down conversion module 301_2, the
The pilot channel trapping module that one spectrum-spreading code generator 301_3, the first solution extender controller 301_4, the first accumulator 301_5 are constituted
301, by the second carrier generator 302_1, the first down coversion controller 302_2, the second spectrum-spreading code generator 302_3, the second solution
The data channel trapping module 302 that extender controller 302_4, the second accumulator 302_5 are constituted, and be real and imaginary parts exchange control
The double-channel data processing module 303 that device 303_1 processed, adder 303_2, subtracter 303_3, comparator 303_4 are constituted, capture
Judging module 304, and by capture controller 305_1, satellite capture switching controller 305_2, local carrier controller 305_3
The capture of composition controls processing module 305.
Specifically, as shown in figure 3, the various functions of modules of the embodiment of the present invention three and signal input and output connect such as
Under:
Satellite-signal obtains module 300, for obtaining specified satellite signal, initializes satellite number, initializes local carrier
Frequency, and exported respectively to pilot channel trapping module 301 and data channel trapping module 302；
Pilot channel trapping module 301, by first carrier generator 301_1, the first down conversion module 301_2,301_3 is
First spectrum-spreading code generator, the first solution extender controller 301_4, the first accumulator 301_5 composition.Wherein, first carrier generator
301_1 outputs signal to the first down conversion module 301_2, the first down conversion module for generating local generation carrier signal
301_2 is used to obtain satellite-signal module 300 and the first down conversion module 301_2 input satellite-signal carries out down coversion, defeated
Out signal to first solution extender controller 301_4；First spectrum-spreading code generator 301_3 generates pilot channel spreading code for local；
First solution extender controller 301_4 is used for, using pilot channel spreading code to pilot channel down-conversion signal under different code phases
Despreading, obtains the despread signal sequence of each code phase；First accumulator 301_5 is used for each code phase despread signal
Sequence adds up, and obtains an accumulated value in each code phase, is finally completed pilot channel signal capture, and signal is defeated
Real part imaginary part exchange control unit 303_1 into double-channel data processing module 303 out；
Data channel trapping module 302, by the second carrier generator 302_1, the second down coversion controller 302_2, second
Spectrum-spreading code generator 302_3, the second solution extender controller 302_4, the second accumulator 302_5 composition.Wherein the second carrier generator
302_1 generates carrier signal for local；Second down coversion controller 302_2 obtains under module 300 and second satellite-signal
Frequency-variable module 302_2 inputs satellite-signal and carries out down coversion, generates down-conversion signal, outputs data to the second solution extender controller
302_4；Second spectrum-spreading code generator 302_3 generates data channel spreading code for local；Second solution extender controller 302_4 is used
The data channel spreading code of second spectrum-spreading code generator 302_3 output is under different code phases to data channel down-conversion signal solution
Expand, obtains the despread signal sequence of each code phase；Second accumulator 302_5 is used for each code phase despread signal sequence
Column add up, and obtain an accumulated value in each code phase, complete data channel signal capture, signal is exported respectively to
Adder 303_2 and subtracter 303_3 in double-channel data processing module 303；
Double-channel data processing module 303, by real part imaginary part exchange control unit 303_1, adder 303_2, subtracter
303_3, modulus value comparison controller 303_4 composition.Wherein, real part imaginary part exchange control unit 303_1 is used for pilot channel signal
The capture data imaginary part of symbol negates, and then exchanges real and imaginary parts, obtains the data channel constructed with pilot capture signal data
Signal data copy is captured, and outputs signal to adder 303_2 and subtracter 303_3 respectively, adder 303_2 will be for that will obtain
The data channel capture signal data copy and data channel signal capture data obtained adds up, and subtracter 303_3 is used for
While cumulative, data channel is captured into signal data copy and data channel signal capture data execute subtraction, modulus value compares
Controller 303_4 is used to select maximum value to result that is cumulative and subtracting each other, outputs data to prize judgment module 304；
Prize judgment module 304, for judging whether double-channel data processing module maximum value obtained is greater than threshold value,
If so, present satellites acquisition success under some code phase, output capture parameter, and acquisition success mark is exported to capture
Processing module 305 is controlled, controls processing module 305 if not, exporting current frequency capture failure flags to capture；
Capture control processing module 305, by capture controller 305_1, satellite capture switching controller 305_2, local load
Wave controller 305_3 composition.Wherein, capture controller 305_1 first judge whether current frequency whether acquisition success, if current frequency
Rate capture failure, judges whether to complete all frequency search, if it is not, then updating carrier frequency by local carrier controller 305_3
Rate, it is logical to the first carrier generator 301_1 and data for being used to indicate pilot channel trapping module 301 that sending continues capture instruction
Second carrier generator 302_1 of road trapping module 302 generates local carrier signal；If so, then determining that present satellites capture is lost
It loses, output present satellites capture failure flags；If receiving present satellites acquisition success or failure flags, present satellites have been captured
Finish；Judge whether that all satellite captures finish, if so, terminating capture；If it is not, then capture controller 305_1 is caught satellite is controlled
It obtains switching controller 305_2 and updates satellite number, control local carrier controller 305_3 initializes carrier frequency, and indicates pilot tone
The first carrier generator 301_1 of channel trapping module 301 and the second carrier generator 302_ of data channel trapping module 302
1 generates local carrier signal, and sending continues capture instruction to satellite-signal and obtains module 300, carries out the capture of a new round.
Wherein, pilot channel trapping module 301 is identical with 302 structure of data channel trapping module, the difference is that its
The spreading code that spectrum-spreading code generator generates is different.First carrier generator 301_1 and the second carrier generator 302_1 can be together
One device, the first down coversion controller 301_2 and the second down coversion controller 302_2 can be same device.
The upper only embodiment of the present invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of satellite signal tracking method, which is characterized in that described method includes following steps:
Step 1: obtaining satellite-signal, initialize satellite number, initialize local carrier frequency；
Step 2: it is local to generate carrier signal, pilot channel down coversion is carried out to input satellite-signal, generates down-conversion signal, this
Ground generates pilot channel spreading code, using pilot channel spreading code to pilot channel down-conversion signal solution under different code phases
Expand, obtains the despread signal sequence of each code phase, each code phase despread signal sequence is added up, and each
Code phase obtains an accumulated value, completes pilot channel signal capture；
Step 3: it is local to generate carrier signal while completing step 2, down coversion is carried out to input satellite-signal, generates number
It is local to generate data channel spreading code according to channel down-conversion signal, using data channel spreading code under different code phases logarithm
It is de-spread according to channel down-conversion signal, the despread signal sequence of each code phase is obtained, by each code phase despread signal sequence
Column add up, and obtain an accumulated value in each code phase, complete data channel signal capture；
Step 4: each pair of data channel identical for phase and pilot channel data are handled as follows: believing pilot channel
Number capture data imaginary part of symbol negates, and then exchanges real and imaginary parts, obtains and led to the data that pilot capture signal data construct
Road captures signal data copy, and the data channel of acquisition is captured signal data copy and data channel signal capture data carry out
It is cumulative, while cumulative, data channel is captured into signal data copy and data channel signal capture data execute subtraction, and
Maximum value is selected to result that is cumulative and subtracting each other；
Step 5: judging whether previous step maximum value obtained is greater than threshold value, if so, present satellites are in some code phase
Lower acquisition success, and present satellites acquisition success mark and capture parameter are exported, 7 are entered step, if not, determining current frequency
Capture failure, and it is directly entered next step；
Step 6: if current frequency capture failure, judges whether to complete all frequency acquisitions, if not, carrier frequency is updated, into
Enter step 2 and step 3；If so, judging present satellites capture failure, output present satellites capture failure flags, into next step
Suddenly；
Step 7: if receiving present satellites acquisition success or capture failure flags, present satellites capture finishes, judges whether to complete
All satellite signal acquisitions, if so, terminating capture；If not, updating satellite-signal and capture satellite number, and initialize carrier frequency
Rate enters step 1.
2. in step 2 according to claim 1, the pilot channel capture result is not examined it is assumed that spreading code has been aligned
Consider the high fdrequency component in downconversion process, and substitutes definite integral using indefinite integral to analyze pilot tone and data channel integral condition
Under, calculated result are as follows:
F is satellite signal carrier frequency, flFor local signal carrier frequency, Δ f is local signal carrier frequency and satellite carrier frequency
The difference of rate, t are the time in a cycle.
3. in step 3 according to claim 1, the data channel integral result is not examined it is assumed that spreading code has been aligned
Consider the high fdrequency component in downconversion process, and substitutes definite integral using indefinite integral to analyze pilot tone and data channel integral condition
Under, calculated result are as follows:
F is satellite signal carrier frequency, flFor local signal carrier frequency, Δ f is local signal carrier frequency and satellite carrier frequency
The difference of rate, t are the time in a cycle.
4. step 4 according to claim 1, between the data channel capture result and pilot channel capture result
Relationship are as follows: rp=± jrd。
rpIt captures for pilot channel as a result, rdResult is captured for data channel.
5. a kind of satellite signal acquisition device using claim 1, the satellite capture device is for carrying out satellite-signal
Capture, it is characterised in that, the satellite capture device includes:
Satellite-signal obtains module, for obtaining satellite-signal, and initializes satellite number, initializes local carrier frequency, respectively
Output signal to pilot channel trapping module and data channel trapping module；
Pilot channel trapping module, generates carrier signal for local, carries out down coversion to input satellite-signal, generates down coversion
Signal, it is local to generate pilot channel spreading code, using pilot channel spreading code to pilot channel down coversion under different code phases
Signal despreading, obtains the despread signal sequence of each code phase, each code phase despread signal sequence is added up, and
An accumulated value is obtained in each code phase, pilot channel signal capture is completed, outputs signal to double-channel data processing module；
Data channel trapping module, generates carrier signal for local, carries out down coversion to input satellite-signal, generates down coversion
Signal, it is local to generate data channel spreading code, using data channel spreading code to data channel down coversion under different code phases
Signal despreading, obtains the despread signal sequence of each code phase, each code phase despread signal sequence is added up, and
An accumulated value is obtained in each code phase, data channel signal capture is completed, outputs signal to double-channel data processing module；
Double-channel data processing module carries out as follows for each pair of data channel identical for phase and pilot channel data
Processing: negating the pilot channel signal capture data imaginary part of symbol, then exchanges real and imaginary parts, obtains with pilot capture signal
The data channel of data configuration captures signal data copy, and the data channel of acquisition is captured signal data copy and data channel
Signal capture data add up, and while cumulative, data channel are captured signal data copy and data channel signal is caught
It obtains data and executes subtraction, and maximum value is selected to result that is cumulative and subtracting each other, output signal to prize judgment module；
Prize judgment module, for judging whether double-channel data processing module maximum value obtained is greater than threshold value, if so,
Present satellites acquisition success under some code phase, output capture parameter, and present satellites acquisition success mark is exported to catching
Control processing module is obtained, controls processing module if not, exporting current frequency capture failure flags to capture；
Capture control processing module, if current frequency capture failure, judges whether that all frequency acquisitions finish, if it is not, then updating
Carrier frequency, sending continue capture instruction；If so, determining present satellites capture failure, output present satellites capture is unsuccessfully marked
Will；If receiving present satellites acquisition success or failure flags, present satellites capture is finished, and judges whether that all satellite captures are complete
Finish, if so, terminating capture；If it is not, then updating satellite-signal and capture satellite number, carrier frequency is initialized, respectively output signal
To pilot channel trapping module and data channel trapping module, and issues and continue capture instruction to satellite-signal and obtain module.
6. a kind of satellite signal acquisition device as claimed in claim 5, the pilot channel trapping module include:
First carrier generator generates carrier signal for local, outputs signal to the first down coversion controller；
First down coversion controller becomes under module and input satellite-signal progress pilot channel for obtaining to the satellite-signal
Frequently, the first solution extender controller is outputed signal to；
First spectrum-spreading code generator generates pilot channel spreading code for local, outputs signal to the first solution extender controller；
First solution extender controller, for using pilot channel spreading code under different code phases to pilot channel down-conversion signal solution
Expand, obtains the despread signal sequence of each code phase, output signal to the first accumulator；
First accumulator adds up each code phase despread signal sequence, and obtains one in each code phase and add up
Value completes pilot channel signal capture, outputs signal to double-channel data processing module.
7. a kind of satellite signal acquisition device as claimed in claim 6, the data channel trapping module include,
Second carrier generator generates carrier signal for local, outputs signal to the second down coversion controller；
Second down coversion controller generates under data channel for carrying out data channel down coversion to input specified satellite signal
Frequency variation signal outputs signal to the second solution extender controller；
Second spectrum-spreading code generator generates data channel spreading code for local, outputs signal to the second solution extender controller；
Second solution extender controller, for using data channel spreading code under different code phases to data channel down-conversion signal solution
Expand, outputs signal to the second accumulator；
Second accumulator, by each code phase, despread signal sequence adds up, and obtains one in each code phase and add up
Value completes data channel signal capture, outputs signal to double-channel data processing module.
8. a kind of satellite signal acquisition device as claimed in claim 7, the first carrier generator and second carrier wave
Generator is same device, and the first down coversion controller and the second down coversion controller are same devices.
9. a kind of satellite signal acquisition device as claimed in claim 5, the double-channel data processing module include:
Real and imaginary parts exchange control unit carries out such as each pair of data channel identical for phase and pilot channel data
Lower processing: negating the pilot channel signal capture data imaginary part of symbol, then exchanges real and imaginary parts, and acquisition is believed with pilot capture
The data channel of number construction captures signal data copy, outputs signal to adder and subtracter respectively；
Adder, it is tired for carrying out the data channel capture signal data copy of acquisition and data channel signal capture data
Add, outputs signal to modulus value comparison controller；
Subtracter, for data channel being captured signal data copy and data channel signal captures data while cumulative
Subtraction is executed, modulus value comparison controller is outputed signal to；
Modulus value comparison controller outputs signal to prize judgment module for selecting maximum value to result that is cumulative and subtracting each other.
10. a kind of satellite signal acquisition device as claimed in claim 5, the capture control processing module include:
Capture controller judges whether to complete all carrier frequency search, if not, by local if current frequency capture failure
Carrier controller updates carrier frequency, and sending continues capture instruction, if so, then determining present satellites capture failure, output is current
Satellite capture failure flags；If receiving present satellites acquisition success or failure flags, present satellites capture is finished, and has been judged whether
At all satellite signal acquisitions, if so, terminating capture；If not, will output signal to satellite signal acquisition switching controller and
Local carrier controller, and issue and continue capture instruction to satellite-signal acquisition module；
Satellite capture switching controller outputs signal to pilot channel trapping module respectively and data is logical for updating satellite number
Road trapping module；
Local carrier controller is updated for outputing signal to pilot channel trapping module and data channel trapping module respectively
The carrier frequency used when pilot channel trapping module and data channel trapping module down coversion.
11. a kind of satellite signal acquisition device as claimed in claim 5, the data channel trapping module include,
Second carrier generator generates carrier signal for local, outputs signal to the second down coversion controller；
Second down coversion controller generates under data channel for carrying out data channel down coversion to input specified satellite signal
Frequency variation signal outputs signal to the second solution extender controller；
Second spectrum-spreading code generator generates data channel spreading code for local, outputs signal to the second solution extender controller；
Second solution extender controller, for using data channel spreading code under different code phases to data channel down-conversion signal solution
Expand, outputs signal to the second accumulator；
Second accumulator, by each code phase, despread signal sequence adds up, and obtains one in each code phase and add up
Value completes data channel signal capture, outputs signal to double-channel data processing module.
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