CN109613570B - Universal BPSK/QPSK/BOC navigation signal tracking method - Google Patents

Universal BPSK/QPSK/BOC navigation signal tracking method Download PDF

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CN109613570B
CN109613570B CN201811510739.1A CN201811510739A CN109613570B CN 109613570 B CN109613570 B CN 109613570B CN 201811510739 A CN201811510739 A CN 201811510739A CN 109613570 B CN109613570 B CN 109613570B
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CN109613570A (en
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赵丙风
赵中阳
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CETC 54 Research Institute
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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
    • G01S19/243—Demodulation of navigation message
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides a general BPSK/QPSK/BOC navigation signal tracking method which can realize compatible tracking of multi-body navigation signals. The navigation signal of which the physical tracking channel tracking modulation type is BPSK, QPSK and BOC is realized through configuration, and the resource consumption of the modern multi-system multi-frequency-point GNSS receiver is reduced through dynamic configuration of the channel; the application range of the FPGA program is expanded, and the maintainability of the FPGA program is improved; the scheduling complexity of the information processing software for signal receiving is reduced, and the program design is simplified.

Description

Universal BPSK/QPSK/BOC navigation signal tracking method
Technical Field
The invention relates to the field of satellite navigation, in particular to a universal BPSK/QPSK/BOC navigation signal tracking method.
Background
The traditional navigation signal regime is BPSK. QPSK and BOC modulation modes are added in the modern GNSS signal. In the QPSK mode, a pilot frequency branch is added on the basis of the traditional BPSK for improving the signal receiving sensitivity; according to a BOC (Binary offset carrier) modulation mode, on the basis of a pseudo code with the rate of n × 1.023M, Binary subcarriers with the rate of M × 1.023M are added through exclusive OR operation and are marked as BOC (M, n) (the Binary subcarriers are abbreviated as BOC herein), the Binary subcarriers are 0/1 alternate Binary data and can be regarded as a special pseudo code, the Binary data are divided into sine types and cosine types according to different subcarrier signals, and the BOC modulation divides the frequency spectrum of a navigation signal into two symmetrical parts in a mode of adding the Binary subcarriers, so that the multipath resistance and the positioning accuracy of the navigation signal are improved.
To improve the reliability of location services and the ability to cope with complex usage environments, multi-system multi-frequency points are the mainstream trend of modern GNSS receivers. Therefore, the tracking channels of the modern GNSS receiver cannot be reused, and more tracking channels are needed to meet the use requirement of multiple systems for multiple frequencies, so that the received tracking scheme is complex and the information processing scheduling is complex.
Disclosure of Invention
The invention aims to solve the defects of the prior art, provides a general BPSK/QPSK/BOC navigation signal tracking method, and overcomes the defects of large number of tracking channels and large resource consumption in a modern GNSS receiver; the disadvantage of complex information processing scheduling.
A method for tracking a general BPSK/QPSK/BOC navigation signal, the method comprising the steps of:
(1) in the channel initialization process, determining a pilot frequency enabling control signal, a subcarrier type control signal, a subcarrier enabling signal and a local pseudo code space selection control signal in a channel according to the debugging type of a navigation signal tracked by the current channel;
(2) performing down-conversion and AD sampling on a satellite navigation signal broadcast by a navigation satellite to obtain digital intermediate frequency data;
(3) carrying out carrier stripping on the digital intermediate frequency data by using a local carrier copied by a local carrier NCO to obtain I branch intermediate frequency data and Q branch intermediate frequency data;
(4) obtaining a local pseudo code rate control signal by using a local pseudo code NCO;
(5) generating a data branch local pseudo code under the control of a local pseudo code rate control signal;
(6) under the control of the pilot frequency enabling control signal and the local pseudo code rate control signal, generating a local pseudo code of a pilot frequency branch circuit;
(7) generating local subcarriers under the control of a subcarrier enabling signal, a subcarrier type control signal and a local pseudo code rate control signal;
(8) under the control of a subcarrier enabling signal and a local pseudo code rate control signal, adding local subcarriers on a data branch local pseudo code and a pilot branch local pseudo code through an exclusive OR operation;
(9) under the control of the local pseudo code rate control signal, obtaining a data branch local pseudo code group and a pilot branch local pseudo code group with set intervals and set lengths through shifting operation;
(10) under the control of a local pseudo code interval selection control signal and a local pseudo code rate control signal, 6 local pseudo codes are extracted from a data branch local pseudo code group and a pilot branch local pseudo code group;
(11) performing coherent accumulation on the extracted 6 paths of local pseudo codes and the I branch intermediate frequency data and the Q branch intermediate frequency data obtained in the step (3) to obtain an original correlation integral result;
(12) truncating the obtained original correlation integral result to obtain a coherent accumulation result;
(13) and (4) obtaining the accumulated stepping values of the carrier NCO and the pseudo code NCO through error identification and loop filtering according to the obtained coherent accumulation result, updating the carrier NCO in the step (3) and the pseudo code NCO in the step (4), and returning to the step (3).
In step (1), according to the navigation signal debugging type tracked by the current channel, determining a pilot frequency enabling control signal, a subcarrier type control signal, a subcarrier enabling signal and a local pseudo code interval selection control signal in the channel, specifically:
when the tracked navigation signal is in a BPSK debugging mode, the pilot frequency enabling control signal is 0, the subcarrier type control signal is 0, the subcarrier enabling signal is 0, and the local pseudo code interval selection control signal is 0;
when the tracked navigation signal is QPSK, the pilot frequency enable control signal is 1, the subcarrier type control signal is 0, the subcarrier enable signal is 0, and the local pseudo code interval selection control signal is 1;
when the tracked navigation signal is a cosine BOC, the pilot frequency enabling control signal is 1, the subcarrier type control signal is 1, the subcarrier enabling signal is 1, and the local pseudo code interval selecting control signal is 2;
when the tracked navigation signal is sine BOC, a pilot frequency enabling control signal is 1, a subcarrier type control signal is 0, a subcarrier enabling signal is 1, and a local pseudo code interval selection control signal is 2;
when the pilot frequency enabling control signal is 0, the pilot frequency branch local pseudo code is completely filled with 0, and when the pilot frequency enabling control signal is 1, the pilot frequency branch local pseudo code sequence is generated; when the subcarrier enabling signal is 0, the steps (7) and (8) are directly skipped, and when the subcarrier enabling signal is 1, the steps (7) and (8) are sequentially executed; when the value of the local pseudo code interval selection control signal is 0, the data branch local pseudo code group is centered on the instant branch, three paths are selected at set intervals, and the rest three paths are filled with 0; when the value of the local pseudo code interval selection control signal is 1, the pilot frequency branch local pseudo code group is centered on the instant branch, three paths are taken at set intervals, one path is taken from the data branch local pseudo code group centered on the instant branch, and the rest two paths are filled with 0; when the value of the local pseudo code interval selection control signal is 2, indicating that five paths are taken at set intervals by taking the instant branch as the center in the pilot branch local pseudo code group, and taking one path by taking the instant branch as the center in the data branch local pseudo code group; when the subcarrier type control signal is 1, the local subcarrier is in a cosine type, and when the subcarrier type control signal is 0, the local subcarrier is in a sine type.
Wherein, the setting interval value is 1/2 local pseudo code width;
the set length L of the data branch local pseudo code group and the pilot branch local pseudo code group takes values as follows:
for BPSK and QPSK navigation signals, L takes a value of length 3;
for the BOC navigation signal, the modulation factor p is 2m/n, and L is set to L-2 p +1, where m is the subcarrier frequency and n is the spreading code rate.
Compared with the prior art, the invention has the beneficial effects that: the navigation signal of which the physical tracking channel tracking modulation type is BPSK, QPSK and BOC is realized through configuration, and the resource consumption of the modern multi-system multi-frequency-point GNSS receiver is reduced through dynamic configuration of the channel; the application range of the FPGA program is expanded, and the maintainability of the FPGA program is improved; the scheduling complexity of the information processing software for signal receiving is reduced, and the program design is simplified.
Drawings
FIG. 1 is a general block diagram of an implementation of an embodiment of the invention.
Detailed Description
An embodiment of the present invention is described with reference to fig. 1.
A method for tracking a general BPSK/QPSK/BOC navigation signal, the method comprising the steps of:
and in the channel initialization process, determining the value of each control signal in the channel according to the signal debugging type tracked by the current channel. The method specifically comprises the following steps:
when the tracked navigation signal is in a BPSK debugging mode, the pilot frequency enabling control signal is 0, the subcarrier type control signal is 0, the subcarrier enabling signal is 0, and the local pseudo code interval selection control signal is 0; when the tracked navigation signal is QPSK, the pilot frequency enable control signal is 1, the subcarrier type control signal is 0, the subcarrier enable signal is 0, and the local pseudo code interval selection control signal is 1; when the tracked navigation signal is a cosine BOC, the pilot frequency enabling control signal is 1, the subcarrier type control signal is 1, the subcarrier enabling signal is 1, and the local pseudo code interval selecting control signal is 2; when the tracked navigation signal is sine BOC, the pilot frequency enabling control signal is 1, the subcarrier type control signal is 0, the subcarrier enabling signal is 1, and the local pseudo code interval selection control signal is 2.
(2) Performing down-conversion and AD sampling on a satellite navigation signal broadcast by a navigation satellite to obtain digital intermediate frequency data;
(3) carrying out carrier stripping on digital intermediate frequency data input to a tracking channel by using a local carrier copied by a local carrier NCO to obtain I branch intermediate frequency data and Q branch intermediate frequency data;
(4) obtaining a local pseudo code rate control signal by using a local pseudo code NCO;
in the embodiment, the value of the local pseudo code rate control signal is controlled by an NCO accumulated step value and is related to the modulation mode of the current tracking signal of the tracking channel, which is specifically shown in Table 1;
TABLE 1
Signal modulation mode Local pseudo code rate control signal
BPSK/QPSK 2Rcode
BOC 4Rsub
In Table 1, RcodeRepresenting the pseudo-code rate, R, of the signalsubIndicating the subcarrier rate of the signal, e.g. BPSK modulation at GPS L1 CA frequency points, RcodeIf the local pseudo code rate is 1.023M, the local pseudo code rate control signal is 2.046M; galileo E5a frequency point is QPSK modulated, RcodeIf the local pseudo code rate is 10.23M, the local pseudo code rate control signal is 20.46M; the Beidou No. three B1C frequency point signal comprises BOC (1,1) and BOC (6,1), taking BOC (1,1) component as an example, RcodeIs 1.023M, RsubAt 1.023M, the local pseudo code rate control signal is 4.092M.
(5) And generating the local pseudo code of the data branch circuit under the control of the local pseudo code rate control signal.
(6) Under the control of the pilot frequency enabling control signal and the local pseudo code rate control signal, generating a local pseudo code of a pilot frequency branch circuit;
in an embodiment, the specific value of the pilot signal is controlled by the pilot enable control signal.
When the pilot frequency enabling control signal is 0, the current tracking channel is indicated to have no pilot frequency branch, so that all pilot frequency branch pseudo codes are 0;
when the pilot frequency enabling control signal is 1, the current tracking channel is indicated to have a pilot frequency branch, and therefore, a pilot frequency branch local pseudo code is generated.
The values of the pilot enable control signal are shown in table 2.
TABLE 2
Signal modulation mode Pilot enable control signal dereferencing
BPSK 0
QPSK/BOC 1
(7) Generating local subcarriers under the control of a subcarrier enabling signal, a subcarrier type control signal and a local pseudo code rate control signal;
(8) adding subcarriers on the local pseudo code of the data branch and the local pseudo code of the pilot branch through an exclusive OR operation under the control of a subcarrier enabling signal and a local pseudo code rate control signal;
in an embodiment, the subcarrier enable signal determines whether the local pseudo code tracked by the current tracking channel (including the data branch local pseudo code and the pilot branch local pseudo code) needs to add a subcarrier:
when the subcarrier enabling signal is 0, the local pseudo code does not need to add a subcarrier;
when the subcarrier enabling signal is 1, the local pseudo code needs to be added with a subcarrier;
the value of the subcarrier enabling signal is determined by the modulation method, and is specifically shown in table 3.
TABLE 3
Signal modulation mode Subcarrier enable signal dereferencing
BPSK/QPSK 0
BOC 1
The addition of the subcarrier signal is completed by an exclusive-or operation and is controlled by a local pseudo code rate control signal.
The value type of the subcarrier is determined by a subcarrier type control signal, and the specific method comprises the following steps:
when the subcarrier type control signal is 0, the local subcarrier is sine type;
when the subcarrier type control signal is 1, the local subcarrier is in a cosine type;
(9) under the control of a local pseudo code rate control signal, obtaining a data branch local pseudo code group and a pilot branch local pseudo code group with an interval of d and a length of L through a shift operation;
in an embodiment, the local pseudo-code interval d takes the value 1/2 pseudo-code width.
In the embodiment, the length L is obtained by the following steps:
for BPSK and QPSK, the value length of L "&gtTtransition = L" &gtTL &ltt/T &gttis 3;
for BOC (m, n) modulation, let modulation factor p be 2m/n, and L be L be 2 p +1, where m is the subcarrier frequency and n is the spreading code rate.
In all currently known navigation signals, the maximum modulation coefficient is 12, so that the maximum value of L is 25, and for the sake of scalability of the method, the value of L is 64, so as to adapt to a BOC modulation mode with a higher modulation coefficient in the future.
(10) Under the control of a local pseudo code interval selection control signal and a local pseudo code rate control signal, 6 paths of data branch local pseudo code groups and pilot branch local pseudo code groups are extracted;
when the value of the local pseudo code interval selection control signal is 0, the data branch local pseudo code group is centered on the instant branch, three paths are selected at set intervals, and the rest three paths are filled with 0; when the value of the local pseudo code interval selection control signal is 1, the pilot frequency branch local pseudo code group is centered on the instant branch, three paths are taken at set intervals, one path is taken from the data branch local pseudo code group centered on the instant branch, and the rest two paths are filled with 0; when the value of the local pseudo code interval selection control signal is 2, the pilot frequency branch local pseudo code group takes the instant branch as the center, five branches are taken at set intervals, and one branch is taken by taking the instant branch as the center.
(11) Performing coherent accumulation on the extracted 6 paths of local pseudo codes and the I branch intermediate frequency data and the Q branch intermediate frequency data obtained in the step (3) to obtain an original correlation integral result;
(12) and truncating the obtained original correlation integral result to obtain a coherent accumulation result.
(13) And (4) obtaining the accumulated stepping values of the carrier NCO and the pseudo code NCO through error identification and loop filtering according to the obtained coherent accumulation result, updating the carrier NCO in the step (3) and the pseudo code NCO in the step (4), and returning to the step (3).
In the embodiment, the software calculates the tracking error by the way of classical loop from the read 6 paths of coherent integration results, and obtains the corresponding carrier NCO accumulated step value and the pseudo code NCO accumulated step value through a loop filter, and the carrier NCO accumulated step value and the pseudo code NCO accumulated step value are used for updating an NCO accumulator of a tracking channel.
According to the general BPSK/QPSK/BOC navigation signal tracking method, the function of tracking any frequency point navigation signal by a physical tracking channel is realized through simple control signal configuration, and the resource consumption is reduced; the application range of the FPGA program is expanded, and the maintainability of the FPGA program is improved; the scheduling complexity of the information processing software for signal receiving is reduced, and the program design is simplified. Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present application and not for limiting, and although the present application is described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application, which should be covered by the claims of the present application.

Claims (3)

1. A method for tracking a BPSK/QPSK/BOC navigation signal, the method comprising the steps of:
(1) in the channel initialization process, determining a pilot frequency enabling control signal, a subcarrier type control signal, a subcarrier enabling signal and a local pseudo code space selection control signal in a channel according to the debugging type of a navigation signal tracked by the current channel;
(2) performing down-conversion and AD sampling on a satellite navigation signal broadcast by a navigation satellite to obtain digital intermediate frequency data;
(3) carrying out carrier stripping on the digital intermediate frequency data by using a local carrier copied by a local carrier NCO to obtain I branch intermediate frequency data and Q branch intermediate frequency data;
(4) obtaining a local pseudo code rate control signal by using a local pseudo code NCO;
(5) generating a data branch local pseudo code under the control of a local pseudo code rate control signal;
(6) under the control of the pilot frequency enabling control signal and the local pseudo code rate control signal, generating a local pseudo code of a pilot frequency branch circuit;
(7) generating local subcarriers under the control of a subcarrier enabling signal, a subcarrier type control signal and a local pseudo code rate control signal;
(8) under the control of a subcarrier enabling signal and a local pseudo code rate control signal, adding local subcarriers on a data branch local pseudo code and a pilot branch local pseudo code through an exclusive OR operation;
(9) under the control of the local pseudo code rate control signal, obtaining a data branch local pseudo code group and a pilot branch local pseudo code group with set intervals and set lengths through shifting operation;
(10) under the control of a local pseudo code interval selection control signal and a local pseudo code rate control signal, extracting 6 local pseudo codes from the data branch local pseudo code group and the pilot branch local pseudo code group;
(11) performing coherent accumulation on the extracted 6 paths of local pseudo codes and the I branch intermediate frequency data and the Q branch intermediate frequency data obtained in the step (3) to obtain an original correlation integral result;
(12) truncating the obtained original correlation integral result to obtain a coherent accumulation result;
(13) and (4) obtaining the accumulated stepping values of the carrier NCO and the pseudo code NCO through error identification and loop filtering according to the obtained coherent accumulation result, updating the carrier NCO in the step (3) and the pseudo code NCO in the step (4), and returning to the step (3).
2. The method for tracking generic BPSK/QPSK/BOC navigation signal according to claim 1, wherein in step (1), according to a navigation signal debugging type tracked by a current channel, a pilot enable control signal, a subcarrier type control signal, a subcarrier enable signal, and a local pseudo code interval selection control signal in the channel are determined, specifically:
when the tracked navigation signal is in a BPSK debugging mode, the pilot frequency enabling control signal is 0, the subcarrier type control signal is 0, the subcarrier enabling signal is 0, and the local pseudo code interval selection control signal is 0;
when the tracked navigation signal is QPSK, the pilot frequency enable control signal is 1, the subcarrier type control signal is 0, the subcarrier enable signal is 0, and the local pseudo code interval selection control signal is 1;
when the tracked navigation signal is cosine BOC, the pilot frequency enabling control signal is 1, the subcarrier type control signal is 1, the subcarrier enabling signal is 1, and the local pseudo code interval selecting control signal is 2;
when the tracked navigation signal is sine BOC, a pilot frequency enabling control signal is 1, a subcarrier type control signal is 0, a subcarrier enabling signal is 1, and a local pseudo code interval selection control signal is 2;
when the pilot frequency enabling control signal is 0, the pilot frequency branch local pseudo code is completely filled with 0, and when the pilot frequency enabling control signal is 1, the pilot frequency branch local pseudo code sequence is generated; when the subcarrier enabling signal is 0, the steps (7) and (8) are directly skipped, and when the subcarrier enabling signal is 1, the steps (7) and (8) are sequentially executed; when the value of the local pseudo code interval selection control signal is 0, the data branch local pseudo code group is centered on the instant branch, three paths are selected at set intervals, and the rest three paths are filled with 0; when the value of the local pseudo code interval selection control signal is 1, the pilot frequency branch local pseudo code group is centered on the instant branch, three paths are taken at set intervals, one path is taken from the data branch local pseudo code group centered on the instant branch, and the rest two paths are filled with 0; when the value of the local pseudo code interval selection control signal is 2, indicating that five paths are taken at set intervals by taking the instant branch as the center in the pilot branch local pseudo code group, and taking one path by taking the instant branch as the center in the data branch local pseudo code group; when the subcarrier type control signal is 1, the local subcarrier is in a cosine type, and when the subcarrier type control signal is 0, the local subcarrier is in a sine type.
3. The method of claim 2, wherein the BPSK/QPSK/BOC navigation signal tracking method comprises,
setting the interval value to be 1/2 local pseudo code width;
the set length L of the data branch local pseudo code group and the pilot branch local pseudo code group takes values as follows:
for BPSK and QPSK navigation signals, L takes a value of length 3;
for the BOC navigation signal, the modulation factor p is 2m/n, and L is set to L-2 p +1, where m is the subcarrier frequency and n is the spreading code rate.
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