CN110068842A - A kind of satellite-signal high-precision catching method - Google Patents
A kind of satellite-signal high-precision catching method Download PDFInfo
- Publication number
- CN110068842A CN110068842A CN201910370920.5A CN201910370920A CN110068842A CN 110068842 A CN110068842 A CN 110068842A CN 201910370920 A CN201910370920 A CN 201910370920A CN 110068842 A CN110068842 A CN 110068842A
- Authority
- CN
- China
- Prior art keywords
- modulus value
- cumulative
- value
- cumulative modulus
- satellite
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- 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)
- Radio Relay Systems (AREA)
Abstract
The invention discloses a kind of satellite-signal high-precision catching methods, comprising: step 1: selected satellite simultaneously generates corresponding primary key FFT sequence, initializes Doppler frequency；Step 2: sampling FFT sequence is generated according to satellite data；Step 3: sampling FFT sequence being taken and is multiplied after being conjugated with primary key FFT sequence, by modulus after multiplied result progress IFFT, obtains initial modulus value；Step 4: repeating step 3, each initial modulus value interval for repeating to obtain is added up, obtain cumulative modulus value；Step 5: the mobile Doppler frequency of stepping；Every stepping is once just repeated once step 3 and 4；Step 6: the maximum value chosen in all cumulative modulus value retains；Step 7: being maximized and the index successor value of maximum value, be combined operation, obtain more accurate phase estimator and estimate and export with Doppler shift.This method, which greatly improves, is captured as power and tracking success rate, accelerates the speed of tracking bit synchronous.
Description
Technical field
The invention belongs to field of signal processing, are related to a kind of satellite-signal high-precision catching method.
Background technique
During being positioned by satellite, it is necessary first to be captured to satellite-signal, root is carried out after capture
It is tracked according to capture result, and according to tracking result output to position.The capture of satellite-signal, becoming influences the one of positioning
Big factor.
Existing Acquisition Scheme is to be differentiated in low carrier-to-noise ratio using the mode of being maximized, i.e., according to all
Inside the long integral result of Doppler, maximum value is chosen, maximum value position is tracked, makes corresponding Doppler frequency and code
Then phase carries out long integral on this basis, find the starting sample point of tracking and the initial value of bit, basic herein
On with Doppler frequency carry out long integral traction, then track.
But above-mentioned existing scheme will cause bigger leakage probability and the unsuccessful phenomenon of traction, this is because low
When carrier-to-noise ratio data enter tracking, Doppler frequency deviates remoter, and it is bigger to will lead to draw unsuccessful probability, in turn
Tracking is caused to fail.
Summary of the invention
It is an object of the invention to overcome the above-mentioned prior art, a kind of satellite-signal high-precision capture side is provided
Method.
In order to achieve the above objectives, the present invention is achieved by the following scheme:
A kind of satellite-signal high-precision catching method, comprising the following steps:
Step 1: selected satellite simultaneously generates corresponding primary key FFT sequence, initializes Doppler frequency；
Step 2: reading the satellite data of 10 times of satellite-signal primary key length, and generated and sampled according to the satellite data
FFT sequence；
Step 3: the sampling FFT sequence being taken and is multiplied after being conjugated with the primary key FFT sequence, multiplied result is carried out
Modulus after IFFT obtains modulus value sequence；
Step 4: repeating the step 3 of preset times, number of repetition is added up for the modulus value sequence obtained when odd number, obtains surprise
The cumulative modulus value of number；Number of repetition is added up for the modulus value sequence obtained when even number, obtains the cumulative modulus value of even number；
Step 5: the mobile Doppler frequency of stepping, from the minimum value of Doppler frequency to maximum value；Every stepping is once just heavy
A multiple step 3 and 4；
Step 6: the maximum value chosen in the cumulative modulus value of all odd numbers and the cumulative modulus value of even number retains, and is denoted as the first cumulative mould
Value, cumulative modulus value corresponding with the Doppler frequency after stepping before the corresponding Doppler frequency stepping of the cumulative modulus value of reservation first,
It is denoted as the second cumulative modulus value and the cumulative modulus value of third；
Step 7: when the described second cumulative modulus value and the cumulative modulus value of the third are all larger than preset threshold, F=F1+Q/2*
(P3-P2)/(P3+P2)；
When the described second cumulative modulus value is greater than preset threshold, and the third adds up modulus value less than preset threshold, F=F1-
Q/2+Q/2*(P1-P2)/(P1+P2)；
When the third adds up modulus value greater than preset threshold, when the second cumulative modulus value is less than preset threshold, F=F1+
Q/2-Q/2*(P1-P3)/(P1+P3)；
When the described second cumulative modulus value and the cumulative modulus value of the third are respectively less than preset threshold, F=F1；
Wherein: F is the Doppler frequency of capture, and F1 is the corresponding Doppler frequency of the first cumulative modulus value, and P1 is first tired
Add modulus value, P2 is the second cumulative modulus value, and P3 is the cumulative modulus value of third, and Q is Doppler frequency step value；
Step 8: the Doppler frequency and the corresponding code phase of the first cumulative modulus value, capture for exporting capture terminate.
A further improvement of the present invention lies in that:
The step 6 further includes that the code phase of the first half chip of the corresponding code phase of the cumulative modulus value of reservation first is corresponding
Cumulative modulus value, is denoted as the 4th cumulative modulus value；The code phase for retaining the later half chip of the corresponding code phase of the first cumulative modulus value is corresponding
Cumulative modulus value, be denoted as the 5th cumulative modulus value；
The step 7 further includes, when the 4th cumulative modulus value and the 5th cumulative modulus value are all larger than preset threshold,
M=M1+1/2* ((L1+E1)/(L1-E1))；
When the 4th cumulative modulus value is greater than preset threshold, and the 5th cumulative modulus value is less than preset threshold, M=M1-
1/2+1/2*((P1-E1)/(P1+E1))；
When the 4th cumulative modulus value is less than preset threshold, and the 5th cumulative modulus value is greater than preset threshold, M=M1+
1/2-1/2*((P1-L1)/(P1+L1))；
When the 4th cumulative modulus value and the 5th cumulative modulus value are respectively less than preset threshold, M=M1；
Wherein: M is the code phase of capture, and M1 is the corresponding code phase of the first cumulative modulus value, and E1 is the 4th cumulative modulus value, L1
For the 5th cumulative modulus value；
The step 8 is substituted using step 9；
Step 9: exporting the Doppler frequency of capture and the code phase of capture, capture terminates.
The step 2 method particularly includes:
The satellite data for reading satellite-signal primary key length carries out code phase benefit to satellite data by Doppler frequency
It repays, carrier phase compensation, remove intermediate frequency and down-sampled, satellite data is then subjected to FFT processing, generate sampling FFT sequence.
It is when described down-sampled, the frequency of satellite data is down-sampled to the 1/2 of primary key frequency.
The satellite-signal is GPS signal.
The mobile step value of stepping is 60Hz in the step 5.
Compared with prior art, the invention has the following advantages:
It is corresponding by the Doppler frequency to add up before the corresponding Doppler frequency stepping of modulus value and after stepping to reservation first
Cumulative modulus value, and then Doppler shift is carried out to the first cumulative modulus value, greatly improve be captured as power and tracking at
Power accelerates the speed of tracking bit synchronous.Cumulative modulus value interval is added up, the cumulative modulus value of odd number is respectively obtained and even number is cumulative
Modulus value, and then ensure that the coherent accumulation integral of sampling satellite data necessarily has one is completely, not to be reversed counteracting.
Further, the code phase by the first half chip of the corresponding code phase of the cumulative modulus value of reservation first is corresponding cumulative
Modulus value, and then code phase offset is carried out to the first cumulative modulus value, so that tracking of the beginning sampled point used integrated is more acurrate, it is closer
True value further improves and is captured as power and tracking success rate.
Detailed description of the invention
Fig. 1 is method flow block diagram of the invention；
Fig. 2 is the flow diagram of Doppler shift of the invention；
Fig. 3 is the flow diagram of code phase offset of the invention；
Fig. 4 is the IQ time of existing method to export figure；
Fig. 5 is that the IQ plane of existing method exports figure；
Fig. 6 is the IQ time of the invention to export figure；
Fig. 7 is that IQ plane of the invention exports figure.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
The invention will be described in further detail with reference to the accompanying drawing:
Referring to Fig. 1-3, a kind of satellite-signal high-precision catching method of the present invention, comprising the following steps:
Step 1: selected satellite simultaneously generates corresponding primary key FFT sequence, initializes Doppler frequency；
Step 2: reading the satellite data of satellite-signal primary key length, code phase is carried out to satellite data by Doppler frequency
Position compensation, removes intermediate frequency and down-sampled at carrier phase compensation, when down-sampled that the frequency of satellite data is down-sampled to primary key frequency
1/2, satellite data is then subjected to FFT, generates sampling FFT sequence；
Step 3: the sampling FFT sequence being taken and is multiplied after being conjugated with the primary key FFT sequence, multiplied result is carried out
Modulus after IFFT obtains initial modulus value；
Step 4: repeating the step 3 of preset times, number of repetition is added up for the modulus value sequence obtained when odd number, obtains surprise
The cumulative modulus value of number；Number of repetition is added up for the modulus value sequence obtained when even number, obtains the cumulative modulus value of even number；
Step 5: the mobile Doppler frequency of stepping, step value 60Hz, from the minimum value -4980Hz of Doppler frequency to most
Big value 4980Hz；Every stepping is once just repeated once step 3 and 4；
Step 6: the maximum value chosen in all cumulative modulus value retains, and is denoted as the first cumulative modulus value, retains the first cumulative mould
The corresponding cumulative modulus value of Doppler frequency being worth before and after corresponding Doppler frequency stepping, is denoted as the second cumulative modulus value and third is tired
Add modulus value；Meanwhile retaining the cumulative modulus value of half chip of morning and evening of the first cumulative modulus value, it is denoted as the 4th cumulative modulus value and the 5th and adds up
Modulus value；The corresponding cumulative modulus value of code phase for retaining the first half chip of the corresponding code phase of the first cumulative modulus value, it is tired to be denoted as the 4th
Add modulus value；The corresponding cumulative modulus value of code phase for retaining the later half chip of the corresponding code phase of the first cumulative modulus value, is denoted as the 5th
Cumulative modulus value；
Step 7: when the described second cumulative modulus value and the cumulative modulus value of the third are all larger than preset threshold, F=F1+Q/2*
(P3-P2)/(P3+P2)；
When the described second cumulative modulus value is greater than preset threshold, and the third adds up modulus value less than preset threshold, F=F1-
Q/2+Q/2*(P1-P2)/(P1+P2)；
When the third adds up modulus value greater than preset threshold, when the second cumulative modulus value is less than preset threshold, F=F1+
Q/2-Q/2*(P1-P3)/(P1+P3)；
When the described second cumulative modulus value and the cumulative modulus value of the third are respectively less than preset threshold, F=F1；
Wherein: F is the Doppler frequency of capture, and F1 is the corresponding Doppler frequency of the first cumulative modulus value, and P1 is first tired
Add modulus value, P2 is the second cumulative modulus value, and P3 is the cumulative modulus value of third, and Q is Doppler frequency step value；
When the 4th cumulative modulus value and the 5th cumulative modulus value are all larger than preset threshold, M=M1+1/2* ((L1+
E1)/(L1-E1))；
When the 4th cumulative modulus value is greater than preset threshold, and the 5th cumulative modulus value is less than preset threshold, M=M1-
1/2+1/2*((P1-E1)/(P1+E1))；
When the 4th cumulative modulus value is less than preset threshold, and the 5th cumulative modulus value is greater than preset threshold, M=M1+
1/2-1/2*((P1-L1)/(P1+L1))；
When the 4th cumulative modulus value and the 5th cumulative modulus value are respectively less than preset threshold, M=M1；
Wherein: M is the code phase of capture, and M1 is the corresponding code phase of the first cumulative modulus value, and E1 is the 4th cumulative modulus value, L1
For the 5th cumulative modulus value；
Step 8: exporting the Doppler frequency of capture and the code phase of capture, capture terminates.
Some principles in the present invention are described in detail below:
One, go the operation of intermediate frequency as follows GPS signal:
Formula (3) and (4) are obtained by formula (1) and (2):
I (t)=d (t) * cos (2 π fIF+dopplert) (1)
Q (t)=d (t) * sin (2 π fIF+dopplert) (2)
Wherein: t is the time；I is I branch data；Q is Q branch data, Q branch and I path quadrature；fIF+dopplerFor intermediate frequency
Frequency affix Doppler frequency.
Fixed-point calculation process is carried out by formula (3) and (4):
I (k)=d (k) * cos_table (index_k) (3)
Q (k)=d (k) * sin_table (index_k) (4)
Wherein: index_k is the corresponding cos table index of discrete time；By carrier wave step mode, the root in sine and cosine table
Just remaining coefficient is calculated according to index, realizes that GPS signal removes intermediate frequency.
Two, capture result output explanation:
The matrix r esultX that result forms a 3X6 is captured, as shown in table 1:
Table 1 captures result table
| index1 | E2 | P2 | L2 | F2 | valid1 |
| index2 | E1 | P1 | L1 | F1 | valid2 |
| index3 | E3 | P3 | L3 | freq3 | valid3 |
Wherein: the analog value index of the previous frequency of frequency where index1 indicates maximum value；E2 indicates frequency where maximum value
The corresponding previous value of the maximum value of the previous frequency of rate；It is current corresponding to the maximum value of the previous frequency of frequency where P2 indicates maximum value
Value；The maximum value of the previous frequency of frequency corresponds to latter value where L2 indicates maximum value；Before frequency where F2 indicates maximum value
The value of one frequency；Valid1 indicates whether frequency where maximum value shifts to an earlier date the value that a frequency obtains effective.Index2 is indicated
Frequency analog value index (determining current code phase) where maximum value；Maximum frequency where E1 indicates maximum value is accordingly previous
Value；P1 indicates maximum frequency where maximum value；The corresponding latter value of maximum frequency where L1 indicates maximum value；F1 is indicated most
The value of frequency where big value；Whether the value that valid2 indicates that frequency where maximum value raises is effective, and default is effective.
The analog value index of frequency latter frequency where index3 indicates maximum value；Frequency latter frequency where E3 indicates maximum value is most
It is big to be worth corresponding previous value；Current value corresponding to the maximum value of frequency latter frequency where P3 indicates maximum value；L3 indicates maximum
The maximum value of frequency latter frequency corresponds to latter value where value；The value of the latter frequency of frequency where freq2 indicates maximum value；
Whether the value that valid3 indicates that frequency where maximum value raises is effective, and default is invalid.
The result that odd even non-coherent integration sequence obtains all can be to the matrix of a 3X6, and wherein which P2 value is big, just selects
Corresponding matrix is taken, another, which is given up, does not have to.
It is the specific steps for constructing resultX below:
S1: 2X4 row data are first generated, the result of the first row generates in this way, as the first row preparation.
First initial frequencies are obtained according to this frequency as a result, obtaining if it is greater than threshold value as a result, referring to table 2:
2 initial frequencies result table of table
| index01 | E02 | P02 | L02 |
| index02 | E01 | P01 | L01 |
And resultX the first row wherein a line will be passed to according to the size of P01 and P02, wherein index02 cannot be with
Index01 is adjacent.When P01 is greater than P02, P02 is second largest value, and corresponding numerical value is passed to resultX the first row, obtains result such as table
Shown in 3:
3 resultX the first row assignment table of table
| index1 | E2=E02 | P2=P02 | L2=L02 |
S2: when Doppler frequency step change, if obtained P value is greater than P2, index2 is obtained at this time
After, to index01 and index02 again assignment, by newest value the second row of write-in, obtain that the results are shown in Table 4:
4 resultX the second row assignment table of table
| index2 | E1 | P1 | L1 | valid2 |
And valid2 is set 1.
S3: if valid2==1, when calculating each time, index2 is assigned again when obtained maximum value is greater than P1
Value, this line number value of index1 are assigned a value of the index2 numerical value of last time reservation, and index3 numerical value is given up.
If valid2==1, when calculating each time, when obtained maximum value is less than P1 and index3 is without numerical value
When, by this line assignment of index3, this line number of index1 value is constant；When index3 has numerical value, gives up this and be calculated
Value.
S4: step S2 and S3 is repeated until value all operations of all preparation search of Doppler frequency terminate.Each secondary frequencies
It jumps and is decided whether to be updated resultX according to threshold value, the final result is carried out partially according to the data in resultX
It moves.
According to matrix obtain as a result, obtain more accurate code phase values and frequency values, be output to tracking channel.
1, centered on the data line where P1.This is the result that original algorithm provides.This is as a result, possible deviation meeting
Bigger, that designs therewith is excessively high, also results in capture failure, compares supplement, the output knot that can make with adjacent value
Fruit is more stable.
2, the specific method is as follows:
Threshold value pThresh=0.95*thresh is set, in which: thresh is the threshold value of corresponding capture length, in this threshold value
Under, error capture probability is lower than 5%.When P2 or P3 is greater than pThresh, judge that it is effectively, by the corresponding result of P2 to freq1
Or the direction offset of freq3.If P1 is greater than pThresh, valid1 sets 1；If P3 is greater than pThresh, valid3 is set
1；
The drift condition that code phase is judged according to P2, P3, on the basis of P1 corresponds to top quality, according to the size of P2, P3
With validity, the final result that Doppler inputs track loop is deviated into a certain range.The offset of code phase is judged according to E1, L1
Situation, on the basis of P1 corresponds to maximum value, according to the size and validity of E1, L1, most by code phase input track loop
Termination fruit deviates a certain range, makes the sampling number initial value offset of tracking.
Embodiment
In the present embodiment, using GPS satellite data, data power: -146dBm, sample rate: 16.367667MHz, intermediate frequency:
4.123968MHz.Capturing data length used is 800ms, the difference of original method Yu accuracy method difference is compared, due to catching
Whether the difference for obtaining rear primary condition (code phase, Doppler) is (stable, or to stablize the time used long into tracking rear stability
It is short) difference, thus judge high-precision superiority and inferiority.Under -146dBm power, the tracking of 1ms can not be kept up with certainly, it is necessary to be adopted
With the long integral tracing mode of 20ms.Under the long integral tracing mode of 20ms, initial tracking sampling point is (depending on capturing
To code phase) and starting Doppler frequency all can tracking can be stablized and be had an impact.
It is captured using this method, the array for obtaining two 3X3 is as shown in Table 5 and 6:
5 odd number of table adds up modulus value result table
| E2=1.14863927355656 | P2=1.12480841613200 | L2=1.10565722947970 |
| E1=2.36978665077273 | P1=2.77821838045199 | L1=1.13267266758376 |
| E3=1.82495324351604 | P3=1.94412798545407 | L3=1.27638522165765 |
6 even number of table adds up modulus value result table
| E2=1.05321657127890 | P2=1.04144706747548 | L2=0.991468736457175 |
| E1=1.14282125887393 | P1=1.53964169437592 | L1=0.953468154761476 |
| E3=1.03139513209542 | P3=1.18497262057003 | L3=1.14845513605902 |
According to the size of P1, to choose odd number and add up modulus value, the corresponding Doppler frequency of the first cumulative modulus value is 2580Hz, half
Chip count is 1045.
Preset threshold is 2.02, multiplied by being equal to 1.9190 after 0.95, can be found out from result, only there are three virtual values: E1,
P1,P3.Results modification is captured after calculating using this method are as follows: Doppler frequency 2604.7Hz, half chip count are
1044.54。
Calculate step are as follows:
Compare the tracking result of 20ms integral, referring to fig. 4 with 5, the derived tracking of existing method result is not stablized always,
Without correctly drawing successfully；Referring to Fig. 6 and 7, it can be seen that high-precision capture result comes into tracking mode, and starts
It restrains.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (6)
1. a kind of satellite-signal high-precision catching method, which comprises the following steps:
Step 1: selected satellite simultaneously generates corresponding primary key FFT sequence, initializes Doppler frequency；
Step 2: reading the satellite data of 10 times of satellite-signal primary key length, and sampling FFT sequence is generated according to the satellite data
Column；
Step 3: the sampling FFT sequence being taken and is multiplied after being conjugated with the primary key FFT sequence, after multiplied result is carried out IFFT
Modulus obtains modulus value sequence；
Step 4: repeating the step 3 of preset times, number of repetition is added up for the modulus value sequence obtained when odd number, it is tired to obtain odd number
Add modulus value；Number of repetition is added up for the modulus value sequence obtained when even number, obtains the cumulative modulus value of even number；
Step 5: the mobile Doppler frequency of stepping, from the minimum value of Doppler frequency to maximum value；Every stepping once just repeats one
Secondary step 3 and 4；
Step 6: the maximum value chosen in the cumulative modulus value of all odd numbers and the cumulative modulus value of even number retains, and is denoted as the first cumulative modulus value,
Retain cumulative modulus value corresponding with the Doppler frequency after stepping before the corresponding Doppler frequency stepping of the first cumulative modulus value, is denoted as
Second cumulative modulus value and the cumulative modulus value of third；
Step 7: when the described second cumulative modulus value and the cumulative modulus value of the third are all larger than preset threshold, F=F1+Q/2* (P3-
P2)/(P3+P；2)
When the described second cumulative modulus value is greater than preset threshold, and the third adds up modulus value less than preset threshold, F=F1-Q/2+
Q/2*(P1-P2)/(P1+P2)；
When the third adds up modulus value greater than preset threshold, when the second cumulative modulus value is less than preset threshold, F=F1+Q/2-
Q/2*(P1-P3)/(P1+P3)；
When the described second cumulative modulus value and the cumulative modulus value of the third are respectively less than preset threshold, F=F1；
Wherein: F is the Doppler frequency of capture, and F1 is the corresponding Doppler frequency of the first cumulative modulus value, and P1 is the first cumulative mould
Value, P2 are the second cumulative modulus value, and P3 is the cumulative modulus value of third, and Q is Doppler frequency step value；
Step 8: the Doppler frequency and the corresponding code phase of the first cumulative modulus value, capture for exporting capture terminate.
2. satellite-signal high-precision catching method according to claim 1, which is characterized in that the step 6 further includes protecting
The corresponding cumulative modulus value of code phase for staying the first half chip of the corresponding code phase of the first cumulative modulus value, is denoted as the 4th cumulative modulus value；
The corresponding cumulative modulus value of code phase for retaining the later half chip of the corresponding code phase of the first cumulative modulus value, is denoted as the 5th cumulative mould
Value；
The step 7 further includes, when the 4th cumulative modulus value and the 5th cumulative modulus value are all larger than preset threshold, M=
M1+1/2*((L1+E1)/(L1-E1))；
When the 4th cumulative modulus value is greater than preset threshold, and the 5th cumulative modulus value is less than preset threshold, M=M1-1/2+
1/2*((P1-E1)/(P1+E1))；
When the 4th cumulative modulus value is less than preset threshold, and the 5th cumulative modulus value is greater than preset threshold, M=M1+1/2-
1/2*((P1-L1)/(P1+L1))；
When the 4th cumulative modulus value and the 5th cumulative modulus value are respectively less than preset threshold, M=M1；
Wherein: M is the code phase of capture, and M1 is the corresponding code phase of the first cumulative modulus value, and E1 is the 4th cumulative modulus value, L1 the
Five cumulative modulus value；
The step 8 is substituted using step 9；
Step 9: exporting the Doppler frequency of capture and the code phase of capture, capture terminates.
3. satellite-signal high-precision catching method according to claim 1, which is characterized in that the specific side of the step 2
Method are as follows:
The satellite data for reading satellite-signal primary key length carries out code phase compensation to satellite data by Doppler frequency, carries
Intermediate frequency and down-sampled is removed in wave phase compensation, and satellite data is then carried out FFT processing, generates sampling FFT sequence.
4. satellite-signal high-precision catching method according to claim 3, which is characterized in that when described down-sampled, will defend
The frequency of sing data is down-sampled to the 1/2 of primary key frequency.
5. satellite-signal high-precision catching method according to claim 1, which is characterized in that the satellite-signal is GPS
Signal.
6. satellite-signal high-precision catching method according to claim 1, which is characterized in that stepping moves in the step 5
Dynamic step value is 60Hz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910370920.5A CN110068842B (en) | 2019-05-06 | 2019-05-06 | High-precision satellite signal capturing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910370920.5A CN110068842B (en) | 2019-05-06 | 2019-05-06 | High-precision satellite signal capturing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110068842A true CN110068842A (en) | 2019-07-30 |
| CN110068842B CN110068842B (en) | 2021-01-29 |
Family
ID=67369970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910370920.5A Active CN110068842B (en) | 2019-05-06 | 2019-05-06 | High-precision satellite signal capturing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110068842B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030187576A1 (en) * | 2002-02-28 | 2003-10-02 | Jason Sanmiya | GPS receiver and receiving method |
| EP1566933A2 (en) * | 2002-05-22 | 2005-08-24 | STMicroelectronics, Inc. | Cell search with frequency offset estimation |
| US20070247356A1 (en) * | 2006-04-19 | 2007-10-25 | Mediatek Inc. | Adjustable time-division multiplexing receiver for receiving satellite signal and method for the same |
| CN101738624A (en) * | 2009-12-15 | 2010-06-16 | 和芯星通科技(北京)有限公司 | Signal acquisition system and method for satellite navigation receiver |
| CN102375147A (en) * | 2010-08-16 | 2012-03-14 | 精工爱普生株式会社 | Satellite signal tracking method and receiver |
| CN102662183A (en) * | 2012-04-27 | 2012-09-12 | 桂林电子科技大学 | Method and system for global position system (GPS) signal capture |
| CN104090282A (en) * | 2014-06-18 | 2014-10-08 | 北京邮电大学 | Method and device for capturing Doppler frequency shift and pseudo code phase of satellite signal |
| CN104880720A (en) * | 2015-05-05 | 2015-09-02 | 惠州市峰华经纬科技有限公司 | Bit synchronization method of weak signal satellite navigation system |
| CN105223592A (en) * | 2015-09-30 | 2016-01-06 | 湖南北云科技有限公司 | Satellite navigation receiver carrier wave ring tracking means under a kind of high dynamic environment |
| CN105467409A (en) * | 2014-07-28 | 2016-04-06 | 航天恒星科技有限公司 | Universal navigational satellite capturing method and universal navigational satellite capturing system |
| CN106896382A (en) * | 2015-12-18 | 2017-06-27 | 大唐半导体设计有限公司 | A kind of navigation signal catching method and device |
| US20170261618A1 (en) * | 2015-10-06 | 2017-09-14 | Topcon Positioning Systems, Inc. | Navigation receiver with an adaptive system for tracking carrier phases received from a constellation of navigation satellites |
| CN108061909A (en) * | 2017-11-23 | 2018-05-22 | 深圳开阳电子股份有限公司 | A kind of catching method, device and the satellite navigation receiver of GNSS satellite signal |
| CN109358349A (en) * | 2018-09-17 | 2019-02-19 | 西安开阳微电子有限公司 | A kind of satellite signal tracking method and device |
-
2019
- 2019-05-06 CN CN201910370920.5A patent/CN110068842B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030187576A1 (en) * | 2002-02-28 | 2003-10-02 | Jason Sanmiya | GPS receiver and receiving method |
| EP1566933A2 (en) * | 2002-05-22 | 2005-08-24 | STMicroelectronics, Inc. | Cell search with frequency offset estimation |
| US20070247356A1 (en) * | 2006-04-19 | 2007-10-25 | Mediatek Inc. | Adjustable time-division multiplexing receiver for receiving satellite signal and method for the same |
| CN101738624A (en) * | 2009-12-15 | 2010-06-16 | 和芯星通科技(北京)有限公司 | Signal acquisition system and method for satellite navigation receiver |
| CN102375147A (en) * | 2010-08-16 | 2012-03-14 | 精工爱普生株式会社 | Satellite signal tracking method and receiver |
| CN102662183A (en) * | 2012-04-27 | 2012-09-12 | 桂林电子科技大学 | Method and system for global position system (GPS) signal capture |
| CN104090282A (en) * | 2014-06-18 | 2014-10-08 | 北京邮电大学 | Method and device for capturing Doppler frequency shift and pseudo code phase of satellite signal |
| CN105467409A (en) * | 2014-07-28 | 2016-04-06 | 航天恒星科技有限公司 | Universal navigational satellite capturing method and universal navigational satellite capturing system |
| CN104880720A (en) * | 2015-05-05 | 2015-09-02 | 惠州市峰华经纬科技有限公司 | Bit synchronization method of weak signal satellite navigation system |
| CN105223592A (en) * | 2015-09-30 | 2016-01-06 | 湖南北云科技有限公司 | Satellite navigation receiver carrier wave ring tracking means under a kind of high dynamic environment |
| US20170261618A1 (en) * | 2015-10-06 | 2017-09-14 | Topcon Positioning Systems, Inc. | Navigation receiver with an adaptive system for tracking carrier phases received from a constellation of navigation satellites |
| CN106896382A (en) * | 2015-12-18 | 2017-06-27 | 大唐半导体设计有限公司 | A kind of navigation signal catching method and device |
| CN108061909A (en) * | 2017-11-23 | 2018-05-22 | 深圳开阳电子股份有限公司 | A kind of catching method, device and the satellite navigation receiver of GNSS satellite signal |
| CN109358349A (en) * | 2018-09-17 | 2019-02-19 | 西安开阳微电子有限公司 | A kind of satellite signal tracking method and device |
Non-Patent Citations (4)
| Title |
|---|
| FADOUA BRAHIM 等: "Precise acquisition of global navigation satellite system signals in the presence of multipath and influence on tracking capability", 《IET RADAR, SONAR & NAVIGATION》 * |
| 张希 等: ""一种新型的GPS弱信号精捕获方法"", 《中国惯性技术学报》 * |
| 晁宁 等: ""弱小目标跟踪中利用样条曲线逼近的数据处理算法"", 《红外与激光工程》 * |
| 曾庆喜 等: ""一种GPS信号多普勒频移的精确捕获算法"", 《数据采集与处理》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110068842B (en) | 2021-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110045397B (en) | FPGA-based L5 signal capturing method and device | |
| CN107835035B (en) | Low signal-to-noise ratio short frame burst communication open-loop demodulation method and device | |
| DE60206748T2 (en) | FREQUENCY SEARCHER AND FREQUENCY-CONTROLLED DEMODULATOR WITH PROGRAMMABLE ROTATOR | |
| CN109743074A (en) | The PN synchronization method and PN synchronization device of non-homogeneous spread spectrum | |
| EP3079264B1 (en) | Spread spectrum signal generating method, generating apparatus, receiving method and receiving apparatus | |
| CN106998586A (en) | The synchronization acquiring method of wireless communication system in a kind of high dynamic environment | |
| CN106936513A (en) | A kind of carrier phase recovery method and device based on Kalman filtering algorithm | |
| CN109407121A (en) | A kind of compatible acquisition and tracking device of configurable navigation signal | |
| CN109375242A (en) | BOC signal capture algorithm under high dynamic based on PMF-FRFT | |
| CN102183771A (en) | Realizing method of multi-mode GNSS (Global Navigation Satellite System) software receiver based on multi-core processor | |
| CN110501729A (en) | A kind of catching method of the GNSS signal based on the refinement of FPGA substep code phase | |
| CN101969321A (en) | FFT (Fast Fourier Transform) based large frequency offset secondary catching method of direct sequence spread spectrum system | |
| CN106680842B (en) | A kind of weak signal catching method for satellite navigation system secondary coding | |
| CN104181556A (en) | BOC modulating signal capturing method based on overlapped difference circulation coherent integration | |
| DE60019041T2 (en) | Apparatus and method for specifying a base station by determining the current location of a communication device | |
| CN107370705A (en) | FFT optimization method in the capture of high dynamic weakly continuous phase modulated signal | |
| CN106526631B (en) | Beidou B1 frequency point satellite signal carrier frequency high-precision estimation method | |
| CN112910498A (en) | PMF-FFT measurement and control signal capturing device and method | |
| CN102565825A (en) | Method of determining reliability of received signal, method of calculating code phase error, and apparatus for determining reliability of received signal | |
| CN110068842A (en) | A kind of satellite-signal high-precision catching method | |
| CN109581433B (en) | L5 signal capturing method and device and computer storage medium | |
| CN106547005A (en) | A kind of method and device for capturing for sinusoidal binary offset carrier (boc) modulated signals | |
| CN106230762A (en) | Doppler frequency offset estimation method and system | |
| CN109633715A (en) | A method of based on parallel phase acquisition GPS and Beidou three generations's signal | |
| CN107688188A (en) | A kind of GPS L1C/A and L1C combined signals catching method and satellite navigation receiver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |