CN109407121A - A kind of compatible acquisition and tracking device of configurable navigation signal - Google Patents
A kind of compatible acquisition and tracking device of configurable navigation signal Download PDFInfo
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- CN109407121A CN109407121A CN201811358195.1A CN201811358195A CN109407121A CN 109407121 A CN109407121 A CN 109407121A CN 201811358195 A CN201811358195 A CN 201811358195A CN 109407121 A CN109407121 A CN 109407121A
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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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Abstract
The invention discloses a kind of compatible acquisition and tracking devices of configurable navigation signal, in the initial state, navigation signal by it is orthogonal go frequency deviation module after enter correlation module, correlation module is sent into FFT judging module after carrying out coherently despreading processing to navigation signal, FFT judging module is adjudicating successfully lower output acquisition success mark, terminates acquisition procedure and start-up trace；Different search steppings is selected in the navigation signal type that capture unsuccessfully descends step by step modulating module to input according to system, adjustment code generation module carries out acquisition procedure next time；After start-up trace, correlator output multi-channel correlation in the morning, afternoon and evening, it triggers peak value jump module and carries out submaximum locking decision, step by step modulating module is promoted to carry out 1/2 chip phase jump if being locked on submaximum, code ring phase discriminator and filter realize that the real-time tracking of pseudo-code, carrier wave ring phase discriminator and filter complete the real-time tracking of carrier wave at the same time.The present apparatus has many advantages, such as that processing difficulty is low, compatible and passage consistency is good.
Description
Technical field
The present invention relates to navigation signal capture and tracking field, in particular to a kind of compatible capture of configurable navigation signal
Tracking device is mainly used for capture and tracking to new and old systems satellite navigation signals.
Background technique
With the rapid development of Global Satellite Navigation System (GNSS), in original direct expansion navigation signal (DSSS-BPSK)
On the basis of, people have developed binary offset carrier (BOC) modulation system, have effectively achieved that frequency range is public, frequency spectrum separation,
The advantages that bringing preferably anti-interference, high-acruracy survey.
The design realization of GNSS navigation signal imparts the ability of compatible operation between multiple systems, the compatible behaviour of multisystem
Mainly GPS, the signal of Beidou (BDS) and the big navigation system of Galileo (Galileo) three and the information processing for making to refer to have simultaneous
Capacitive.Wherein the B1C signal of the E1 and BDS of L1C, Galileo of GPS share original GPS L1 frequency point, i.e. 1575.42MHz, data
Component modulation system is (1,1) BOC, weight of pilot frequency be respectively TMBOC (6, Isosorbide-5-Nitrae/33), CBOC (6,1,1/11) and QMBOC (6,
1,4/33)；The B2a signal of the E5a and BDS of L5, Galileo of GPS use GPS L5 frequency point, i.e. 1176.45MHz, using or
It is equivalent to BPSK (10) modulation.In the acquisition and tracking channel hardware of multisystem navigation neceiver is realized, designing parameter can match
There are very big flexibility and versatility in the acquisition and tracking channel set, especially completes in three big navigation system not yet upgrading
In the case of, the navigation signal algorithm that can be compatible with original BPSK modulation is particularly important.
Summary of the invention
It is an object of that present invention to provide the compatible acquisition and tracking devices of navigation signal that a kind of channel can configure, and solve new and old body
The fast Acquisition of navigation signal processed and accurate tracking problem.Specifically, the present apparatus is mainly for New System navigation signal L1C/E1/
BPSK (1)/BPSK (2) of BOC (1,1) modulation of B1C, BPSK (10) modulation of L5/E5a/B2a and old system navigation signal is adjusted
System provides a kind of acquisition and tracking device that parameter is configurable, and with the different signal type of flexible adaptation, realization is to navigation signal
Integrated acquisition and tracking processing, improves the consistency in channel.
The present invention provides a kind of compatible acquisition and tracking device of configurable navigation signal comprising: it is orthogonal go frequency deviation module,
Correlation module, FFT judging module, step by step modulating module, code generation module, in the morning, afternoon and evening correlator, peak value jump module, code ring mirror
Phase device, carrier wave ring phase discriminator, Loop filter and carrier wave ring wave filter.
The orthogonal function of going frequency deviation module is that the carrier wave of the frequency word elimination navigation signal obtained according to capture and tracking is residual
Stay frequency deviation；
The function of correlation module is the coherently despreading that navigation signal is carried out according to the length of capture time；
The function of FFT judging module is to carry out FFT operation according to the coherently despreading result of correlation module and decide whether to catch
It succeeds；
The function of step by step modulating module is the discriminative information output chips provided according to navigation signal type and acquisition and tracking
Step motion control word；
The function of code generation module is that the chip step motion control word provided according to step by step modulating module controls the step of spreading code
Into generating the pseudo-random sequence of corresponding bit rate；
The function of correlator is to de-spread to navigation signal in the morning, afternoon and evening, is exported for code ring phase discriminator and carrier wave ring phase demodulation
The multichannel correlation that device uses；
The function of peak value jump module is the submaximum false-lock for solving the problems, such as BOC (1,1) signal and occurring in acquisition procedure；
The function of code ring phase discriminator is to export pseudo-code offset according to the correlation of correlator in the morning, afternoon and evening；
The function of carrier wave ring phase discriminator is the correlation outgoing carrier offset according to correlator in the morning, afternoon and evening；
The function of Loop filter is the high-frequency noise filtered out in pseudo-code offset；
The function of carrier wave ring wave filter is the high-frequency noise filtered out in carrier shift amount.
The present apparatus takes navigation signal Direct Acquisition to handle, and solves BOC (1,1) using peak value jump technology in tracking process
Acquisition phase ambiguity issue can effectively be suitable for GPS on the basis of compatible traditional BP SK acquisition and tracking algorithm
The processing of L1C/Galileo E1/BDS B1C signal and GPS L5/Galileo E5a/BDS B2a signal processing, uniquely
The difference is that tracking section increases peak value jump module, step by step modulating module is changed to that parameter is configurable, code generates mould
Block supports spreading code and BOC local code simultaneously.The present apparatus realizes the smooth upgrade of navigation signal Processing Algorithm, has lower
Algorithm complexity and preferable passage consistency have higher acquisition and tracking simultaneously because BOC signal uses Double Side-band Reception
Performance.
Detailed description of the invention
Fig. 1 is the compatible acquisition and tracking structural schematic diagram of configurable navigation signal of the invention；
Fig. 2 is the compatible acquisition and tracking flow diagram of configurable navigation signal of the invention；
Fig. 3 is that BOC of the invention (1,1) signal auto-correlation function is three peak structures.
1. orthogonal remove frequency deviation module 2. correlation module 3.FFT judging module, 4. step by step modulating module, 5. yards of generation modules
6. 7. peak value of correlator jump module, 8. yards of 9. carrier wave ring phase discriminator of ring phase discriminator, 10. Loop filters 11. carry in the morning, afternoon and evening
Wave ring wave filter
Specific embodiment
Detailed description of the preferred embodiments below.
A kind of specific steps of the compatible acquisition and tracking device of configurable navigation signal are as follows:
Step 1: the compatible acquisition and tracking structure of navigation signal that building is configurable, which includes: orthogonal to go frequency deviation module
1, correlation module 2, FFT judging module 3, step by step modulating module 4, code generation module 5, in the morning, afternoon and evening correlator 6, peak value jump module
7, code ring phase discriminator 8, carrier wave ring phase discriminator 9, Loop filter 10, carrier wave ring wave filter 11.
The orthogonal function of going frequency deviation module 1 is that the carrier wave of the frequency word elimination navigation signal obtained according to capture and tracking is residual
Stay frequency deviation；
The function of correlation module 2 is the coherently despreading that navigation signal is carried out according to the length of capture time；
The function of FFT judging module 3 is to carry out FFT operation according to the coherently despreading result of correlation module 2 and decide whether
Acquisition success；
The function of step by step modulating module 4 is the discriminative information output chips provided according to navigation signal type and acquisition and tracking
Step motion control word；
The function of code generation module 5 is that the chip step motion control word provided according to step by step modulating module 4 controls spreading code
Stepping generates the pseudo-random sequence of corresponding bit rate；
The function of correlator 6 is to de-spread to navigation signal in the morning, afternoon and evening, and output is reflected for code ring phase discriminator 8 and carrier wave ring
The multichannel correlation that phase device 9 uses；
The function of peak value jump module 7 is the submaximum false-lock for solving the problems, such as BOC (1,1) signal and occurring in acquisition procedure；
The function of code ring phase discriminator 8 is to export pseudo-code offset according to the correlation of correlator 6 in the morning, afternoon and evening；
The function of carrier wave ring phase discriminator 9 is the correlation outgoing carrier offset according to correlator 6 in the morning, afternoon and evening；
The function of Loop filter 10 is the high-frequency noise filtered out in pseudo-code offset；
The function of carrier wave ring wave filter 11 is the high-frequency noise filtered out in carrier shift amount.
Step 2: orthogonal go frequency deviation module 1 by the way of digital carrier NCO and mixing, carrier wave NCO first is according to FFT
The frequency word that judging module 3 and carrier wave ring wave filter 11 export generates the cosine and sine signal of corresponding frequencies；Secondly, by the sine and cosine
Signal and the baseband digital signal of input are sent into digital mixer, complete complex multiplication, and frequency deviation function is gone in realization.
Step 3: correlation module 2, which will remove the navigation signal after carrier wave, is sent into 11 road parallel correlators, while by 11 tunnel sheets
Ground code sequence is sent into parallel correlator, and correlator carried out integrating-clear operation according to given time, completes relevant despreading and handles
To 11 tunnel coherent integration amounts.
Step 4: FFT judging module 3 combines zero padding FFT technique, 11 tunnels that correlation module 2 is exported using segmentation is related
Coherent integration amount is accumulated to 256 groups, the Fast Fourier Transform (FFT) to being sent into after relevant value complement 256 zero of every road at 512 points
(FFT), FFT operation uses the flow work mode, is sequentially completed the FFT fortune of 11 × 512 correlations of 11 groups of outs of phase
It calculates and result modulus square, and completes maximum value search, using the maximum value that searches out as prize judgment amount, detection judgement amount is
No is more than thresholding.If being not above, the search that local code phase restarts next phase is adjusted, otherwise terminates acquisition procedure, is opened
Motion tracking.
Step 5: the jump of the court verdict of the comprehensive FFT judging module 3 of step by step modulating module 4, peak value jump module 7 makes
Code generation module 5 can be sent into the tracking frequency word output chips step by step modulating control word of Loop filter 10.Specifically, exist
Acquisition phase, step by step modulating module 4 provide different chips according to the modulation system type of signal to be captured and search for stepping length,
Wherein the search stepping of BOC (1,1) signal is 1/6 chip, and BPSK (1)/BPSK (2)/BPSK (10) search stepping is 1/2
Chip；Decide whether to carry out front and back 1/ after acquisition success is transferred to tracking, and according to the jump that peak value jump module 7 provides is enabled
The jump of 2 chips；During tenacious tracking, and the real-time tracking frequency word of comprehensive Loop filter 10 exports final control
Word.
Step 6: code generation module 5 is under high frequency clock driving, according to chip step motion control word, by generator polynomial or
Look-up table mode generates the local spread spectrum code sequence or BOC code sequence of bit rate identical as navigation signal.According to design, code is generated
Pseudo-code is divided into 11 tunnels by module 5, the pseudo-code that the capture of 11 tunnel of parallel output needs, at the same export instant road, advanced 1/2 chip,
5 road pseudo-code sequences of 1/2 chip of advanced 1/6 chip, 1/6 chip of lag and lag are used for subsequent tracking.
Step 7: the realization of correlator 6 carries out relevant despreading to navigation signal in the morning, afternoon and evening, export for 8 He of code ring phase discriminator
The 5 road correlations that carrier wave ring phase discriminator 9 uses.Instant road, advanced 1/2 chip, advanced 1/6 chip, 1/6 chip of lag might as well be set
It is denoted as P respectively with the correlated results amplitude of lag 1/2 chip, 5 branches0、E-1/2、E-1/6、L+1/6、L+1/2, and the I on the instant road of note,
Q branch correlated results is IP、QP。
Step 8: peak value jumps, module 7 is carried out the correlated results amplitude for 5 branches that correlator 6 in the morning, afternoon and evening exports big
Small judgement, rewriting formula (1), formula (2) obtain following formula (6) and formula (7),
Start comparison result counter Lcount and Rcount, from subtracting 1, Rcount adds Lcount certainly if meeting formula (6)
1；Lcount is certainly if meeting formula (7) plus 1, Rcount subtracts 1 certainly；Lcount and Rcount value remains unchanged if being not satisfied.
When Lcount be greater than 15 think current Phase Tracking be locked in left side submaximum on, when Rcount be greater than 15 think current phase with
Track is locked on the submaximum of right side, and peak value jump module output phase answers the jump of opposite direction enabled, driving code generation module 5 jump 1/
2 chips subsequently complete the clearing of counter Lcount and Rcount, start peak value jump detection next time.
Step 9: code ring phase discriminator 8 correlator 6 in the morning, afternoon and evening is provided advanced 1/6 chip, lag 1/6 chip two-way phase
Amplitude is closed to carry out calculating output pseudo-code offset delta according to formula (3)cp。
Step 10: carrier wave ring phase discriminator 9 carries out instant road I, Q correlation that correlator 6 in the morning, afternoon and evening provides according to formula (4)
Calculate outgoing carrier offset φe。
Step 11: Loop filter 10 carries out numeric field discretization to second order filter shown in formula (5), to input
Pseudo-code offset carries out high-frequency noise and filters out, and obtains code tracking frequency word, wherein loop characteristics circular frequency ωnSelect 1rad/s.
Step 12: carrier wave ring wave filter 11 according to second order filter shown in formula (5) to the carrier shift amount of input into
Row high-frequency noise filters out, and obtains carrier track frequency word, wherein loop characteristics circular frequency ωnSelect 16rad/s.
So far the compatible acquisition and tracking of configurable navigation signal is completed.
Specifically, the present apparatus is mainly for BOC (1, the 1) modulation of New System navigation signal L1C/E1/B1C, L5/E5a/
The BPSK (10) of B2a is modulated and the BPSK (1) of old system navigation signal/BPSK (2) modulation, provides that a kind of parameter is configurable to catch
Tracking device is obtained, with the different signal type of flexible adaptation, realizes and the integrated acquisition and tracking of navigation signal is handled, improve logical
The consistency in road.
The compatible acquisition and tracking device of a kind of configurable navigation signal proposed by the present invention include: it is orthogonal go frequency deviation module 1,
Correlation module 2, FFT judging module 3, step by step modulating module 4, code generation module 5, in the morning, afternoon and evening correlator 6, peak value jump module 7,
Code ring phase discriminator 8, carrier wave ring phase discriminator 9, Loop filter 10, carrier wave ring wave filter 11.
The orthogonal function of going frequency deviation module 1 is that the carrier wave of the frequency word elimination navigation signal obtained according to capture and tracking is residual
Stay frequency deviation；
The function of correlation module 2 is the coherently despreading that navigation signal is carried out according to the length of capture time；
The function of FFT judging module 3 is to carry out FFT operation according to the coherently despreading result of correlation module 2 and decide whether
Acquisition success；
The function of step by step modulating module 4 is the discriminative information output chips provided according to navigation signal type and acquisition and tracking
Step motion control word；
The function of code generation module 5 is that the chip step motion control word provided according to step by step modulating module controls the step of spreading code
Into generating the pseudo-random sequence of corresponding bit rate；
The function of correlator 6 is to de-spread to navigation signal in the morning, afternoon and evening, and output is reflected for code ring phase discriminator and carrier wave ring
The multichannel correlation that phase device uses；
The function of peak value jump module 7 is the submaximum false-lock for solving the problems, such as BOC (1,1) signal and occurring in acquisition procedure；
The function of code ring phase discriminator 8 is to export pseudo-code offset according to the correlation of correlator in the morning, afternoon and evening；
The function of carrier wave ring phase discriminator 9 is the correlation outgoing carrier offset according to correlator in the morning, afternoon and evening；
The function of Loop filter 10 is the high-frequency noise filtered out in pseudo-code offset；
The function of carrier wave ring wave filter 11 is the high-frequency noise filtered out in carrier shift amount.
Preferably, orthogonal to go frequency deviation module 1 by the way of digital mixing, base-band digital is completed using given frequency word
The purpose of signal removing carrier wave frequency deviation.It is orthogonal that go frequency deviation module include digital mixing and carrier wave digital oscillator (NCO) two parts,
Carrier wave NCO according to capture and tracking input frequency word generate corresponding frequencies cosine and sine signal, digital mixing by the signal with
The baseband digital signal of input carries out complex multiplication, and frequency deviation function is gone in realization.
Preferably, correlation module 2 completes the correlation product to the navigation signal after removing carrier wave according to the given time of integration
Point, despread processing obtains coherent integration amount.In view of signal type difference, PN-code capture length is different, and the present apparatus uses frequency
Domain parallel search capture technique, in order to accelerate chip linear search rate, correlation module 2 is using the completion pair of 11 road parallel correlators
The parallel despreading of signal integrates, and exports 11 road correlations.
Preferably, FFT judging module 3 combines zero padding FFT technique, 11 tunnels that correlation module 2 is exported using segmentation is related
Coherent integration amount mends appropriate zero successively progress Fast Fourier Transform (FFT) (FFT) after being accumulated to several groups, and FFT operation uses assembly line
Operating mode is sequentially completed the FFT operation and result modulus square of 11 groups of out of phase correlations, subsequently completes maximum value and search
Rope, the maximum value to search out detect whether judgement amount is more than thresholding θ as prize judgment amount Z.If being not above, adjust
Local code phase restarts the search of next phase, otherwise terminates acquisition procedure, start-up trace.
Preferably, the court verdict of the comprehensive FFT judging module of step by step modulating module 4, the jump of peak value jump module are enabled
With the tracking frequency word output chips step by step modulating control word of code ring, it is sent into code generation module.The core that can configure as parameter
One of module specifically in acquisition phase, provides different chips according to the modulation system type of signal to be captured and searches for stepping
Length, wherein the search stepping of BOC (1,1) signal is 1/6 chip, and BPSK (1)/BPSK (2)/BPSK (10) search stepping is equal
For 1/2 chip；Decide whether to carry out after acquisition success is transferred to tracking, and according to the jump that peak value jump module 7 provides is enabled
The jump of 1/2 chip of front and back；During tenacious tracking, and the real-time tracking frequency word of comprehensive coding ring exports final control word.
Preferably, code generation module 5 is under high frequency clock driving, according to chip step motion control word, by generator polynomial or
Look-up table mode generates the local spread spectrum code sequence or BOC code sequence of bit rate identical as navigation signal.As needed, code generates
Pseudo-code is divided into 11 tunnels by module 5, the pseudo-code that the capture of 11 tunnel of parallel output needs, at the same export instant road, advanced 1/2 chip,
5 road pseudo-code sequences of 1/2 chip of advanced 1/6 chip, 1/6 chip of lag and lag are used for subsequent tracking.
Preferably, the function of correlator 6 is relevant despreading to be carried out to navigation signal, while exporting for code ring mirror in the morning, afternoon and evening
The 5 road correlations that phase device and carrier wave ring phase discriminator use.
Preferably, the function of peak value jump module 7 is the phase mode for solving BOC (1,1) signal and occurring in acquisition procedure
Paste degree problem, it is possible to the submaximum false-lock phenomenon of appearance.As shown in figure 3, the single-peak structure relative to BPSK, BOC (1,1) signal
Auto-correlation function is three peak structures, and main peak is relatively narrower, and two submaximums are in ± 1/2 chip position.
Instant road, advanced 1/2 chip, advanced 1/6 chip, 1/6 chip of lag and lag 1/2 chip, 5 branches might as well be set
Correlated results amplitude be denoted as P respectively0、E-1/2、E-1/6、L+1/6、L+1/2.If current code tracking loop is locked on the submaximum of right side,
Then there is following relationship:
Conversely, having following relationship if being locked on the submaximum of left side:
If being not satisfied, show Current lock on main peak, does not need to adjust.In order to further decrease noise shadow
It rings, realizes tenacious tracking, continuous several times judgement need to be carried out to above-mentioned 5 groups of correlations, when the size for meeting formula (1) or formula (2) is closed
System is just considered being locked on submaximum after being accumulated to certain number, and peak value jump module output jump is enabled, Xiang Xiangying opposite direction
Jump 1/2 chip.
Preferably, the function of code ring phase discriminator 8 is to export pseudo-code offset, phase demodulation according to the correlation of correlator in the morning, afternoon and evening
Device subtracts lag amplitude calculation formula using incoherent in advance, i.e.,
Wherein, δcpFor the pseudo-code offset of phase discriminator output.
Preferably, the function of carrier wave ring phase discriminator 9 is according to the correlation outgoing carrier offset of correlator in the morning, afternoon and evening, mirror
The calculation formula that phase device uses for
φe=sign (IP)·QP (4)
Wherein, IPIndicate the road instant road I coherent integration value, QPIndicate the road instant road Q coherent integration value.Sign (x) is to take symbol
Number function, returns to the sign of x, φeFor the carrier phase offset amount of phase discriminator output.
Preferably, the function of Loop filter 10 is that the high frequency filtered out in yard pseudo-code offset of ring phase discriminator output is made an uproar
Sound, specifically, code ring select second order filter, and wherein the Laplace domain of filter transfer function H (s) is expressed as
Wherein, ωnFor the feature circular frequency of loop, s is Laplace operator.
Preferably, the function of carrier wave ring wave filter 11 is the high-frequency noise filtered out in carrier shift amount, and wherein filter selects
With with the consistent second order filter of code ring.
The present apparatus takes navigation signal Direct Acquisition to handle, and solves BOC (1,1) using peak value jump technology in tracking process
Acquisition phase ambiguity issue can effectively be suitable for GPS on the basis of compatible traditional BP SK acquisition and tracking algorithm
The processing of L1C/Galileo E1/BDS B1C signal and GPS L5/Galileo E5a/BDS B2a signal processing, uniquely
The difference is that tracking section increases peak value jump module, step by step modulating module is changed to that parameter is configurable, code generates mould
Block supports spreading code and BOC local code simultaneously.The present apparatus realizes the smooth upgrade of navigation signal Processing Algorithm, has lower
Algorithm complexity and preferable passage consistency have higher acquisition and tracking simultaneously because BOC signal uses Double Side-band Reception
Performance.
Claims (13)
1. a kind of compatible acquisition and tracking device of configurable navigation signal, which is characterized in that described device includes: orthogonal to go frequency deviation
Module (1), correlation module (2), FFT judging module (3), step by step modulating module (4), code generation module (5), in the morning, afternoon and evening correlator
(6), peak value jump module (7), code ring phase discriminator (8), carrier wave ring phase discriminator (9), Loop filter (10), carrier wave ring wave filter
(11)；
The orthogonal carrier residual frequency deviation for going frequency deviation module (1) to eliminate navigation signal according to the frequency word that capture and tracking obtain；
Correlation module (2) carries out the coherently despreading of navigation signal according to the length of capture time；
FFT judging module (3) carries out FFT operation according to the coherently despreading result of correlation module (2) and decides whether acquisition success；
The discriminative information output chips step motion control that step by step modulating module (4) is provided according to navigation signal type and acquisition and tracking
Word；
The stepping for the chip step motion control word control spreading code that code generation module (5) is provided according to step by step modulating module (4), generates
The pseudo-random sequence of corresponding bit rate；
Correlator (6) de-spreads navigation signal in the morning, afternoon and evening, exports for code ring phase discriminator (8) and carrier wave ring phase discriminator (9)
The multichannel correlation used；
Peak value jump module (7) solves the problems, such as the submaximum false-lock that BOC (1,1) signal occurs in acquisition procedure；
Code ring phase discriminator (8) exports pseudo-code offset according to the correlation of correlator (6) in the morning, afternoon and evening；
Carrier wave ring phase discriminator (9) is according to the correlation outgoing carrier offset of correlator (6) in the morning, afternoon and evening；
Loop filter (10) filters out the high-frequency noise in pseudo-code offset；
Carrier wave ring wave filter (11) filters out the high-frequency noise in carrier shift amount.
2. the compatible acquisition and tracking device of configurable navigation signal according to claim 1, which is characterized in that described orthogonal
Go frequency deviation module (1) by the way of digital carrier NCO and mixing, carrier wave NCO first is according to FFT judging module (3) and carrier wave
The frequency word of ring wave filter (11) output generates the cosine and sine signal of corresponding frequencies；Secondly, by the cosine and sine signal and input
Baseband digital signal is sent into digital mixer, completes complex multiplication, and frequency deviation function is gone in realization.
3. the compatible acquisition and tracking device of configurable navigation signal according to claim 1, which is characterized in that the correlation
Navigation signal after removing carrier wave is sent into 11 road parallel correlators by module (2), while 11 road local code sequences being sent into parallel
Correlator, correlator carried out integrating-clear operation according to given time, completed relevant despreading and handled to obtain 11 tunnel coherent integrations
Amount.
4. the compatible acquisition and tracking device of configurable navigation signal according to claim 1, which is characterized in that the FFT
Judging module (3) combines zero padding FFT technique using segmentation is related, and the 11 tunnel coherent integration amounts of correlation module (2) output are accumulative
To 256 groups, flowing water is used to Fast Fourier Transform (FFT) FFT, the FFT operation for being sent into after relevant value complement 256 zero of every road at 512 points
Line operating mode is sequentially completed the FFT operation and result modulus square of 11 × 512 correlations of 11 groups of outs of phase, and complete
At maximum value search, the maximum value to search out detects whether judgement amount is more than thresholding as prize judgment amount；If not surpassing
It crosses, adjusts the search that local code phase restarts next phase, otherwise terminate acquisition procedure, start-up trace.
5. the compatible acquisition and tracking device of configurable navigation signal according to claim 1, which is characterized in that the stepping
The jump of the court verdict, peak value jump module (7) that adjust module (4) comprehensive FFT judging module (3) enables and Loop filter
(10) tracking frequency word output chips step by step modulating control word is sent into code generation module (5).
6. the compatible acquisition and tracking device of configurable navigation signal according to claim 5, which is characterized in that in capture rank
Section, step by step modulating module (4) provide different chips according to the modulation system type of signal to be captured and search for stepping length, wherein
The search stepping of BOC (1,1) signal is 1/6 chip, and BPSK (1)/BPSK (2)/BPSK (10) search stepping is 1/2 yard
Piece；After acquisition success is transferred to tracking, and the jump provided according to peak value jump module (7) enables to decide whether to carry out front and back 1/
The jump of 2 chips；During tenacious tracking, and the real-time tracking frequency word of comprehensive Loop filter (10) exports final control
Word.
7. the compatible acquisition and tracking device of configurable navigation signal according to claim 1, which is characterized in that the code is raw
At module (5) under high frequency clock driving, according to chip step motion control word, is generated and led by generator polynomial or look-up table mode
Pseudo-code is divided into 11 tunnels by the local spread spectrum code sequence or BOC code sequence for the identical bit rate of signal of navigating, code generation module (5), and
Row output 11 tunnels capture need pseudo-code, while export instant road, advanced 1/2 chip, advanced 1/6 chip, lag 1/6 chip and
The 5 road pseudo-code sequences for lagging 1/2 chip are used for subsequent tracking.
8. the compatible acquisition and tracking device of configurable navigation signal according to claim 1, which is characterized in that in the morning
Late correlator (6), which is realized, carries out relevant despreading to navigation signal, exports for code ring phase discriminator (8) and carrier wave ring phase discriminator (9)
The 5 road correlations used, by instant road, advanced 1/2 chip, advanced 1/6 chip, 1/6 chip of lag and lag 1/2 chip 5
The correlated results amplitude of branch is denoted as P respectively0、E-1/2、E-1/6、L+1/6、L+1/2, and I, Q branch correlated results on the instant road of note are
IP、QP。
9. the compatible acquisition and tracking device of configurable navigation signal according to claim 8, which is characterized in that the peak value
The correlated results amplitude for 5 branches that jump module (7) exports correlator 6 in the morning, afternoon and evening is adjudicated according to formula (1), formula (2) size,
Start comparison result counter Lcount and Rcount, for Lcount from subtracting 1, Rcount adds 1 certainly if meeting formula (1)；If
Meeting formula (2), then Lcount is certainly plus 1, Rcount subtracts 1 certainly；Lcount and Rcount value remains unchanged if being not satisfied；When
Lcount be greater than 15 think current Phase Tracking be locked in left side submaximum on, when Rcount be greater than 15 think current phase with
Track is locked on the submaximum of right side, and peak value jump module output phase answers the jump of opposite direction enabled, driving code generation module (5) jump
1/2 chip subsequently completes the clearing of counter Lcount and Rcount, starts peak value jump detection next time.
10. the compatible acquisition and tracking device of configurable navigation signal according to claim 9, which is characterized in that the code
Advanced 1/6 chip that ring phase discriminator (8) provides correlator in the morning, afternoon and evening (6), 1/6 chip two-way related amplitude value of lag are according to formula
(3) it carries out calculating output pseudo-code offset deltacp。
11. the compatible acquisition and tracking device of configurable navigation signal according to claim 1, which is characterized in that the load
Wave ring phase discriminator (9) carries out calculating outgoing carrier according to formula (4) to instant road I, Q correlation that correlator in the morning, afternoon and evening (6) provides
Offset φe, wherein sign (x) is to take sign function, returns to the sign of x.
φe=sign (IP)·QP(4)
12. the compatible acquisition and tracking device of configurable navigation signal according to claim 1, which is characterized in that the code
Ring wave filter (10) carries out numeric field discretization to second order filter shown in formula (5), carries out to the pseudo-code offset of input high
Frequency noise filtering obtains code tracking frequency word, wherein loop characteristics circular frequency ωn1rad/s is selected,
ωnFor the feature circular frequency of loop, s is Laplace operator.
13. the compatible acquisition and tracking device of configurable navigation signal according to claim 12, which is characterized in that carrier wave ring
Filter (11) carries out high-frequency noise according to carrier shift amount of the second order filter shown in formula (5) to input and filters out, and is carried
Wave tracking frequency word, wherein loop characteristics circular frequency ωnSelect 16rad/s.
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