CN110456393A - Beidou weak signal quick capturing method - Google Patents
Beidou weak signal quick capturing method Download PDFInfo
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- CN110456393A CN110456393A CN201910773772.1A CN201910773772A CN110456393A CN 110456393 A CN110456393 A CN 110456393A CN 201910773772 A CN201910773772 A CN 201910773772A CN 110456393 A CN110456393 A CN 110456393A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001427 coherent effect Effects 0.000 claims abstract description 18
- 230000010354 integration Effects 0.000 claims abstract description 16
- 230000009466 transformation Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000001186 cumulative effect Effects 0.000 claims abstract description 4
- 230000006872 improvement Effects 0.000 claims description 4
- 230000021615 conjugation Effects 0.000 claims 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
- G01S19/246—Acquisition or tracking or demodulation of signals transmitted by the system involving long acquisition integration times, extended snapshots of signals or methods specifically directed towards weak signal acquisition
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radio Relay Systems (AREA)
Abstract
The invention discloses a kind of Beidou weak signal quick capturing methods, comprising: satellite-signal I/Q two-way is related to local carrier progress respectively, will successively add up after adjacent coherent integration results conjugate multiplication；Fourier transformation is done to the result of cumulative sum, the result of product is done inverse Fourier transform by the complex conjugate multiplication with the Fourier transformation of locally generated pseudo-code；Maximum differential coherence result is sent into decision device judgement capture as a result, if capture result is greater than detection threshold value, acquisition success is transferred to tracking channel, and corrects carrier Doppler shift estimated value；The advantages of present invention utilizes the irrelevance of two neighboring relevant result, has both remained the high integral gain of coherent integration, also weakens the weakness of non-coherent integration Square loss, while further increasing to the tolerance of Doppler and data jump.
Description
Technical field
The present invention relates to Beidou navigation technical field, especially a kind of Beidou weak signal quick capturing method.
Background technique
Beidou navigation satellite sends navigation signal in high orbit height to the ground, in face of complexity in low signal-to-noise ratio environment
Noise conditions when, Beidou receiver can not capture less power satellite-signal (- 142dBm~150dBm) and complete to position
It resolves.The capture for completing weak signal is the primary link for realizing weak signal navigator fix, and the key of weak signal capture is to extend
The time of integration improves the signal-to-noise ratio for receiving signal.
Due to including that the jump of frequent data bit and NH code phase change in Beidou signal, extension coherence time is faced with
Data jump problem, Square loss can be brought by extending non-coherent integration, so that traditional algorithm is no longer practical.
Summary of the invention
To solve problems of the prior art, the object of the present invention is to provide a kind of Beidou weak signal fast Acquisition sides
The advantages of method, the present invention utilizes the irrelevance of two neighboring relevant result, both remained the high integral gain of coherent integration,
The weakness of non-coherent integration Square loss is weakened, while the tolerance of Doppler and data jump is further increased.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of Beidou weak signal quick capturing method, including
Following steps:
Step 1, satellite-signal I/Q two-way are related to local carrier progress respectively, and adjacent coherent integration results are conjugated
It successively adds up after multiplication:
Wherein, k indicates differential coherent accumulative number, yk(τ,fd) be kth section correlation,For yk(τ,fd)
Complex conjugate；
Step 2 does Fourier transformation to the result of cumulative sum, the complex conjugate with the Fourier transformation of locally generated pseudo-code
It is multiplied, the result of product is done into inverse Fourier transform；
Maximum differential coherence result is sent into decision device judgement capture as a result, if capture result is greater than detection threshold by step 3
Value, then acquisition success is transferred to tracking channel, and corrects carrier Doppler shift estimated value according to the following formula:
Wherein,Indicate carrier swing phase,It indicatesWithConjugate multiplication result；
Wherein, f indicates carrier swing value, f0Indicate peak value for search frequency point, TcohFor coherent integration time.
As a preferred embodiment, the step 1 Satellite signal I/Q two-way carries out phase with local carrier respectively
Pass specifically includes:
The satellite-signal inputted will be needed to carry out piecemeal by full bit groupings to handle to obtain the number being made of M data block
According to local receiver generates the same phase and orthorhombic phase local carrier that frequency is equal to a certain search frequency band, all data blocks and this
Ground carrier wave is multiplied, and then carries out accumulating operation respectively to these data blocks.
It, will after the result of product is done inverse Fourier transform in the step 2 as another preferred embodiment
As a result it carries out obtaining the data of N group 20ms based on the improvement differential coherence algorithm operation that full bit is accumulated, the maximum phase that will be obtained
Pass value is compared with the threshold value of setting, completes the capture of signal.
As another preferred embodiment, in the step 3, if capture result is less than detection threshold value,
Next searching carrier frequency point re-searches for until acquisition success.
The beneficial effects of the present invention are: improving differential coherence integral in the present invention using the not phase of two neighboring relevant result
Guan Xing, also weakens the weakness of non-coherent integration Square loss, simultaneously at the advantages of both having remained the high integral gain of coherent integration
The tolerance of Doppler and data jump is further increased.Therefore, under the premise of integration time is identical, differential coherence integral
With noise inhibiting ability more better than traditional coherent integral.
Detailed description of the invention
Fig. 1 is the capture functional block diagram of Beidou weak signal in the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
Embodiment:
Under normal conditions, as long as the amplitude of signal accumulation result is greater than preset detection threshold, i.e., it is believed that receiving
Machine is successfully acquired Beidou signal；After success captures weak signal, the correct phase and frequency displacement removed pseudo-code and obtain satellite-signal, i.e.,
Complete the overall process of signal capture.
As shown in Figure 1, a kind of Beidou weak signal quick capturing method provided in this embodiment, comprising the following steps:
(1) satellite-signal I/Q two-way is related to local carrier progress respectively, by adjacent coherent integration results conjugate multiplication
It successively adds up afterwards:
Wherein, k indicates differential coherent accumulative number, yk(τ,fd) be kth section correlation,For yk(τ,fd)
Complex conjugate；
(2) Fourier transformation is done to the result of cumulative sum, the complex conjugate phase with the Fourier transformation of locally generated pseudo-code
Multiply, the result of product is done into inverse Fourier transform；
(3) maximum differential coherence result is sent into decision device judgement capture result.If result is greater than detection threshold value, then capture
Successfully it is transferred to tracking channel；If result is less than detection threshold value, then re-searched in next searching carrier frequency point until being captured as
Function；
(4) acquisition success is then transferred to tracking channel, and corrects carrier Doppler shift estimated value according to the following formula:
Wherein,Indicate carrier swing phase,It indicatesWithConjugate multiplication result；
Wherein, f indicates carrier swing value, f0Indicate peak value for search frequency point, TcohFor coherent integration time.
Specifically, in the present embodiment, it is necessary first to carry out at piecemeal input signal according to the mode of full bit groupings
Reason obtains the data being made of M data block, and local receiver generates the same phase and orthorhombic phase that frequency is equal to a certain search frequency band
Local carrier is multiplied all data blocks with local carrier, then carries out accumulating operation respectively to these data blocks, to tired
The result of adduction does Fourier transformation, the complex conjugate multiplication with the Fourier transformation of locally generated ranging code.By the knot of product
Fruit is cooked inverse Fourier transform, then obtain based on the improvement differential coherence algorithm operation that full bit is accumulated by the result after operation
To the data of N group 20ms, obtained maximum related value is compared with the threshold value of setting, completes the capture of signal.It takes in the presence of most
The one group of data output organized greatly, so that it may obtain values of Doppler frequency shift and code phase.
A specific embodiment of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.
Claims (4)
1. a kind of Beidou weak signal quick capturing method, which comprises the following steps:
Step 1, satellite-signal I/Q two-way are related to local carrier progress respectively, by adjacent coherent integration results conjugate multiplication
It successively adds up afterwards:
Wherein, k indicates differential coherent accumulative number, yk(τ,fd) be kth section correlation,For yk(τ,fd) answer
Conjugation；
Step 2 does Fourier transformation to the result of cumulative sum, the complex conjugate phase with the Fourier transformation of locally generated pseudo-code
Multiply, the result of product is done into inverse Fourier transform；
Step 3, by maximum differential coherence result be sent into decision device judgement capture as a result, if capture result be greater than detection threshold value,
Then acquisition success is transferred to tracking channel, and corrects carrier Doppler shift estimated value according to the following formula:
Wherein,Indicate carrier swing phase,It indicatesWithConjugate multiplication result；
Wherein, f indicates carrier swing value, f0Indicate peak value for search frequency point, TcohFor coherent integration time.
2. Beidou weak signal quick capturing method according to claim 1, which is characterized in that the step 1 Satellite letter
Number I/Q two-way is related to local carrier progress respectively specifically includes:
The satellite-signal inputted will be needed to carry out piecemeal by full bit groupings to handle to obtain the data being made of M data block, this
Ground receiver generates the same phase and orthorhombic phase local carrier that frequency is equal to a certain search frequency band, all data blocks and local carrier
It is multiplied, accumulating operation is then carried out respectively to these data blocks.
3. Beidou weak signal quick capturing method according to claim 2, which is characterized in that in the step 2, will multiply
Long-pending result carries out result to obtain N group based on the improvement differential coherence algorithm operation that full bit is accumulated after doing inverse Fourier transform
Obtained maximum related value is compared with the threshold value of setting, completes the capture of signal by the data of 20ms.
4. Beidou weak signal quick capturing method according to claim 1, which is characterized in that in the step 3, if
It captures result and is less than detection threshold value, then re-search in next searching carrier frequency point until acquisition success.
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| CN201910773772.1A CN110456393A (en) | 2019-08-21 | 2019-08-21 | Beidou weak signal quick capturing method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112087266A (en) * | 2020-08-21 | 2020-12-15 | 哈尔滨工程大学 | Time-varying broadband Doppler compensation method based on EMD-WFFT |
| CN113296129A (en) * | 2021-06-11 | 2021-08-24 | 合众思壮(河南)科技研究院有限公司 | Satellite signal capturing method and coherent integration post-processing device of satellite signal |
| CN113671541A (en) * | 2020-05-13 | 2021-11-19 | 北京六分科技有限公司 | Method and device for capturing public service B1I signal |
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| CN113671541A (en) * | 2020-05-13 | 2021-11-19 | 北京六分科技有限公司 | Method and device for capturing public service B1I signal |
| CN112087266A (en) * | 2020-08-21 | 2020-12-15 | 哈尔滨工程大学 | Time-varying broadband Doppler compensation method based on EMD-WFFT |
| CN113296129A (en) * | 2021-06-11 | 2021-08-24 | 合众思壮(河南)科技研究院有限公司 | Satellite signal capturing method and coherent integration post-processing device of satellite signal |
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