CN110045398A - Optimal correlation interval-based code phase zero crossing point deviation suppression method - Google Patents
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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 provides a code phase zero crossing point deviation suppression method based on an optimal correlation interval, which effectively suppresses the code phase zero crossing point deviation of an early-late code phase discriminator by designing the optimal correlation interval of the early-late code phase discriminator, wherein the code phase zero crossing point deviation is suppressed at a known spreading code rate fcAnd a baseband signal sampling frequency fsUnder the condition (D), the designed optimal correlation interval D is:the method for suppressing the zero crossing point deviation of the code phase based on the optimal correlation interval can be applied to a satellite navigation signal receiver or other types of spread spectrum receivers. The invention only changes the relevant interval of the code phase discriminator in the whole implementation process, has simple implementation, small operand and very convenient implementation, and can be directly used in a pseudo code tracking loop in a traditional satellite navigation signal receiver or other types of spread spectrum receivers.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to a code phase zero crossing point deviation method based on optimal correlation interval, which can be applied to a satellite navigation signal receiver or other types of spread spectrum receivers.
Background
In a time synchronization system such as satellite navigation, the code phase of a spread spectrum signal is an important observation quantity, and a high-precision unambiguous time difference observation result can be provided for a user. The spread spectrum signal is theoretically infiniband if the side lobes are not ignored. When an infiniband signal is sampled using a finite sampling rate, the resulting digital signal is distorted. Therefore, when estimating the code phase of a digital spread spectrum signal of limited sampling, there is an influence of distortion error in addition to thermal noise, which is not negligible in high-precision applications.
In early-late (Earlyminus Later, E-L) code phase discriminators, zero-crossing bias refers to code phase estimation error due to sampling distortion. The zero crossing point deviation has two types, one is that the code phase resolution of the digital signal correlation curve is insufficient; the other is the asymmetry of the autocorrelation curve of the digital signal. The time domain resolution of the digital signal is determined by the sampling rate. For a digital spread spectrum signal, the initial code phase information may be distributed over different sampling instants and resolved in the correlation domain. Therefore, the code phase resolution of the correlation domain of the digital spread spectrum signal is much greater than the time domain phase resolution. The unequal sampling is to design the sampling frequency of the non-integral multiple spread spectrum code rate to improve the resolution of the digital spread spectrum code signal in a related domain, thereby effectively inhibiting the zero crossing point deviation caused by the resolution. However, the non-equal sampling does not eliminate the asymmetry of the autocorrelation curve, and therefore, the zero-crossing point deviation due to the asymmetry cannot be eliminated. Some researchers have proposed a method for optimal sampling of spread spectrum signals, but the design has too high requirements on sampling frequency and spreading code rate, and is not favorable for engineering implementation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a code phase zero crossing point deviation suppression method based on an optimal correlation interval, aiming at suppressing the zero crossing point deviation of an early-late digital code phase discriminator.
In order to realize the technical purpose of the invention, the following technical scheme is adopted:
a code phase zero crossing point deviation restraining method based on optimal correlation interval effectively restrains code phase zero crossing point deviation of an early-late code phase discriminator by designing the optimal correlation interval of the early-late code phase discriminator, wherein the code phase zero crossing point deviation is restrained at a known spreading code rate fcAnd a baseband signal sampling frequency fsUnder the condition (D), the designed optimal correlation interval D is:
an early-late code phase discriminator adopts the optimal correlation interval-based code phase zero crossing point deviation suppression method to suppress the code phase zero crossing point deviation of the early-late code phase discriminator. Specifically, the code phase zero crossing point deviation of the early-late code phase discriminator is effectively suppressed by designing the optimal correlation interval of the early-late code phase discriminator, wherein the code phase zero crossing point deviation is at a known spreading code rate fcAnd a baseband signal sampling frequency fsUnder the condition (D), the designed optimal correlation interval D is:
the method for suppressing the zero crossing point deviation of the code phase based on the optimal correlation interval can be applied to a satellite navigation signal receiver or other types of spread spectrum receivers. A satellite navigation signal receiver comprising an early-late code phase discriminator for suppressing a code phase zero-crossing deviation of the early-late code phase discriminator using the optimal correlation interval-based code phase zero-crossing deviation suppressing method according to claim 1. Specifically, the code phase zero crossing point deviation of the early-late code phase discriminator is effectively suppressed by designing the optimal correlation interval of the early-late code phase discriminator, wherein the code phase zero crossing point deviation is at a known spreading code rate fcAnd a baseband signal sampling frequency fsUnder the condition (D), the designed optimal correlation interval D is:
the invention has the beneficial effects that:
by designing the optimal correlation interval of the early-late code phase discriminator, the zero crossing point deviation of the code phase can be effectively inhibited. In addition, only the relevant interval of the code phase discriminator is changed in the whole implementation process of the invention, and complex operations such as matrix inversion, characteristic decomposition and the like are not involved, so the invention has simple implementation, small computation amount and very convenient implementation, and can be directly used in a pseudo code tracking loop in a traditional satellite navigation signal receiver or other types of spread spectrum receivers.
Drawings
FIG. 1 is a schematic time domain sample of an early-late code signal;
FIG. 2 is a schematic of the resolution of the code phase and zero crossing point bias;
FIG. 3 is a code phase discrimination curve for different correlator intervals;
FIG. 4 is a graph of code phase zero crossing point deviations for different correlator intervals;
fig. 5 is a plot of standard deviation of code phase zero crossing deviation versus correlator interval.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a time synchronization system such as satellite navigation, the code phase of a spread spectrum signal is an important observation quantity, and a high-precision unambiguous time difference observation result can be provided for a user. However, in a digital code phase discriminator, the baseband signal of limited sampling distorts the correlation peak, thereby producing a code phase zero crossing offset. The invention provides a code phase zero crossing point deviation suppression method based on an optimal correlation interval, which effectively suppresses and effectively suppresses the code phase zero crossing point deviation caused by asymmetry of a correlation peak by designing the optimal correlation interval of an early-late code phase discriminator. Simulation results show that the digital code phase discriminator based on the optimal correlation interval can restrain the zero crossing point deviation within the range of the phase resolution of the correlation peak code.
Specifically, the invention provides a code phase zero crossing point deviation suppression method based on an optimal correlation interval, which is used for effectively suppressing the code phase zero crossing point deviation of an early-late code phase discriminator by designing the optimal correlation interval of the early-late code phase discriminator, wherein the code phase zero crossing point deviation is generated at a known spreading code rate fcAnd a baseband signal sampling frequency fsUnder the condition (D), the designed optimal correlation interval D is:
the method for suppressing the zero crossing point deviation of the code phase based on the optimal correlation interval can be applied to a satellite navigation signal receiver or other types of spread spectrum receivers, namely a pseudo code tracking loop of the satellite navigation signal receiver or other types of spread spectrum receivers.
The design idea of the optimal correlation interval D of the early-late code phase discriminator is as follows:
firstly, establishing a zero crossing point deviation analysis model of the spread spectrum signal.
When the early-late code phase discriminator samples the received signal in a non-equal manner, the sampling positions of different spreading code symbols differ. For different spreading code symbols with the same theoretical width, the actual number of sampling points may also differ. In an early-late code phase discriminator, the initial phase of the received signal is estimated by a matched correlation of the local signal and the received signal. The time domain resolution of the initial phase of the signal depends on the sampling interval in the time domain, but its resolution in the correlation domain is affected by both the spreading code rate and the sampling frequency. Since the phase information of different sampling points can be integrated, the resolution of the initial phase of the signal in the relevant domain is usually higher than that in the time domain.
For an ideal infinitely sampled spread spectrum signal, the correlation curve of the local signal to the received signal is a smooth symmetrical triangle. The leading correlator and the lagging correlator are two sampling points on the correlation peak which are symmetrical about zero phase respectively, and when the central value of the correlation peak (namely the phase difference between the local spread spectrum code signal and the spread spectrum code signal received by the navigation receiver) deviates from the zero phase, the leading correlation value and the lagging correlation value also generate deviation. The early-late code phase discriminator estimates the phase difference using the linear relationship between the code phase offset and the difference between the early and late correlation values.
However, for digital signals, the correlation curve of the local signal to the received signal is not a smooth symmetrical triangle. When the details of the correlation peak are amplified, the correlation peak is found to have a saw-tooth shape with a certain code phase resolution d, as shown in fig. 3rAnd can be represented as:
dr＝1/LCM(fs,fc)
wherein LCM (a, b) represents the least common multiple of solving a and b, namely LCM (f)s,fc) Representation solution fcAnd fsThe least common multiple of.
And secondly, defining the average sampling point number of the rectangular reference waveform.
The zero crossing point deviation of the early-late Code phase discriminator is analyzed by a Code Correlation Reference Waveform (CCRW). Assume that the local initial code phase of the look-ahead correlator isThe local initial code phase of the late correlator isWherein,a local initial code phase representing the on-time correlator, representing the local time of the receiver; 2d0Representing the correlation interval of the early-late code phase discriminator. If the leading code and the lagging code are directly differenced in the time domain, a rectangular reference waveform can be obtained, and the gate width of the rectangular reference waveform is D (D is 2D)0) (i.e., early retard code phase discriminator correlation interval). Now define the average number of sample points of the rectangular reference waveform as csAnd can be expressed as:
cs＝Dfs/fc
and thirdly, designing an optimal correlation interval of the early and late code phase discriminator.
According to the symmetry principle of the reference code waveform, when the average sampling point number c of the rectangular reference waveformsWhen the number is even, the optimum zero-crossing point deviation suppression capability can be obtained. Therefore, the following proposes a design method of the optimal gate width (i.e. the optimal correlation interval D) of the early-late code phase discriminator.
After the spreading code rate f is setcAnd a baseband signal sampling frequency fsUnder the condition that the spreading code rate f is knowncAnd a baseband signal sampling frequency fsThe designed zero crossing point deviation suppression performance optimal correlation interval D under the condition is as follows:
FIG. 1 is a schematic time-domain sampling of the early-late code and its rectangular reference waveform of a spread spectrum signal with an initial phase ofIs sampled by a pseudo-random code sequence of spreading codes having a symbol width tc(＝1/fc，fcFor spreading code rate) The sampling interval of the digital signal is ts(＝1/fs，fsAt baseband signal sampling frequency). Assume that the local initial code phase of the look-ahead correlator isThe local initial code phase of the late correlator isWherein D (═ 2D)0) Representing the correlation interval of the early-late code phase discriminator. If the difference between the early code and the late code is made in the time domain directly, a rectangular reference waveform can be obtained, and the gate width of the rectangular waveform is D. Now define the average number of sample points of the rectangular reference waveform as cs。
Fig. 2 is a schematic diagram of the resolution of the code phase and zero-crossing point deviation. For an ideal infinitely sampled spread spectrum signal, the autocorrelation curve is a smooth symmetrical triangle. The early and late correlators are two sampling points on the correlation peak, which are symmetric about zero phase, respectively, when the central value of the correlation peak (i.e. the phase difference between the local signal and the received signal) deviates from zero phase, the early and late correlation values will also deviate, and the early and late code phase discriminator uses the linear relationship between the code phase deviation and the correlation value deviation to estimate the phase difference. However, for digital signals, the correlation curve is not a smooth symmetrical triangle. When the details of the correlation peak are amplified, the correlation peak is found to be jagged and has a certain code phase resolution dr
Fig. 3 is a code phase discrimination curve for different correlator intervals. The code phase zero crossing point deviation is actually the zero crossing point deviation of a code phase discrimination curve, and by taking an early-late code phase discriminator as an example, the simulation is carried out on correlator intervals with different widths. Experimental settings of the sampling frequency f of the baseband spread spectrum signalsIs 100MHz, spreading code rate fc10.23MHz, the spreading code period is 10230 chips, the spreading code sequence adopts the 1 number of the BD B3I signal, and the correlation integration time is 1 ms. According to the optimal correlation interval formula, the minimum correlation intervalThe space D0 is 0.2046 chips. The following simulations were performed for four sets of correlation intervals D0, 0.5D0, 0.25D0, and 0.125D0, as shown in fig. 3, with only the correlation interval D0 being the smallest zero-crossing deviation of the code phase discriminator. In practice, the zero crossing deviation can be minimized when the correlation interval is an integer multiple of D0 and does not exceed one chip width.
Fig. 4 is a graph showing the variation of the zero-crossing point deviation of the code phase for different correlator intervals. Except subject to the sampling frequency fsSpreading code rate fcAnd the influence of the correlation interval D, the code phase zero crossing offset dz is also related to the initial code phase 0 of the spread spectrum signal. In fact, the zero crossing point deviation dz varies with the initial code phase period, and the variation period is equal to the time domain resolution ts of the spread spectrum signal. Next, the four groups of correlation intervals are simulated, and only the initial code phase is traversed by using the same simulation conditions. The value interval of the initial phase is the resolution dr of the correlation curve, namely 10-4 chips; the initial phase is in a range of 0 to 0.3 chips, i.e., about three periods. As shown in fig. 4, when the correlator interval D takes D0, the zero crossing point deviation fluctuates within the range of the code phase resolution dr (═ 10-4 chips); and for other values of relevant intervals, the fluctuation range of zero-crossing point deviation is far larger than the code phase resolution.
Fig. 5 is a plot of standard deviation of code phase zero crossing deviation versus correlator interval. The zero-crossing point deviation variance is another index for measuring the zero-crossing point deviation performance, and refers to the variance of the zero-crossing point deviation corresponding to different spread spectrum code sequences, and after the variance of the zero-crossing point deviation is normalized, the standard deviation of the zero-crossing point deviation can be called. Because the spreading code sequence has high randomness, the standard deviation of the zero-crossing point deviation can eliminate the influence of the initial code phase and reflect the general influence of the zero-crossing point deviation on the code phase measurement. Especially for a long-period spread spectrum code sequence, the zero-crossing point deviation at different time is different, and the influence on the code phase precision can be approximate to Gaussian white noise. Simulation results show that when the correlation interval is set to be optimal, the standard deviation of zero crossing point deviation is minimum; the further the correlation interval is from the optimal correlation interval, the greater the standard deviation of the zero crossing point deviation. In practice, if the initial phase of the spread spectrum signal is fixed, the zero crossing point deviations of different spreading sequences are all the same.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A code phase zero crossing point deviation restraining method based on optimal correlation interval is characterized in that: effectively suppressing the code phase zero crossing point deviation of an early-late code phase discriminator by designing the optimal correlation interval of the early-late code phase discriminator at a known spreading code rate fcAnd a baseband signal sampling frequency fsUnder the condition (D), the designed optimal correlation interval D is:
2. an early-late code phase discriminator, comprising: the suppression method for zero-crossing deviation of code phase based on optimal correlation interval according to claim 1 is used to suppress zero-crossing deviation of code phase of early-late code phase discriminator.
3. A satellite navigation signal receiver comprising an early-late code phase discriminator, characterized by: effectively suppressing the code phase zero crossing point deviation of an early-late code phase discriminator by designing the optimal correlation interval of the early-late code phase discriminator at a known spreading code rate fcAnd a baseband signal sampling frequency fsUnder the condition (D), the designed optimal correlation interval D is:
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