CN110501728B - Frequency discrimination method and device for time hopping signal of positioning base station - Google Patents
Frequency discrimination method and device for time hopping signal of positioning base station Download PDFInfo
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Abstract
The application provides a frequency discrimination method for positioning a time hopping signal of a base station. The frequency discrimination method comprises the following steps: and calculating the frequency error of the local recurrent time hopping signal according to the interval of adjacent time hopping pulses in the time hopping signal. The application also provides a frequency discrimination device for positioning the time hopping signal of the base station. By the frequency discrimination method and the frequency discrimination device for positioning the time hopping signal of the base station, the time hopping characteristic of the time hopping signal is fully combined, and the frequency error of the locally reproduced time hopping signal can be obtained according to the characteristics of the time hopping signal. Therefore, the convergence rate of the frequency locking loop can be increased, the initial traction force of the frequency locking loop is effectively enhanced in the time hopping signal carrier tracking process, and the tolerance range of the frequency locking loop to the initial Doppler estimation error can be improved.
Description
Technical Field
The application relates to a frequency discrimination method and a frequency discrimination device for positioning a time hopping signal of a base station.
Background
Navigation satellites in conventional satellite navigation systems (GNSS) use Direct Sequence Spread Spectrum (DSSS) signals, which transmit signals simultaneously on the same frequency carrier in a Code Division Multiple Access (CDMA) fashion by using different spreading codes. In the process of tracking the carrier wave of the received signal, the frequency difference between the carrier wave of the received signal and the carrier wave of the local recurrent signal is identified through a frequency locking loop, the carrier frequency of the local recurrent signal is dynamically adjusted according to the frequency difference, and finally the carrier wave of the received signal is dynamically consistent with the carrier frequency of the local recurrent signal through multiple times of cyclic feedback.
The pseudolite system basically uses direct sequence spread spectrum signals of the traditional GNSS system, but because the distance difference between a user and each pseudolite in the pseudolite system is relatively large, a serious near-far effect problem can be generated, so that weak signals cannot be identified only by means of code division multiple access, and therefore a time hopping pulse transmitting mechanism is introduced to the pseudolite system on the basis of the traditional GNSS signals, namely a signal system called direct sequence spread spectrum-time hopping signals (TH-DSSS) is adopted.
The TH-DSSS time hopping signal system adopted by the pseudo satellite system solves the near-far effect problem of the pseudo satellite system, however, due to the time hopping pulse characteristic of the TH-DSSS time hopping signal system, if a traditional frequency discrimination scheme is directly adopted in a frequency locking loop in the process of tracking a received signal carrier, the problems that the initial traction of the loop is weak, the tolerance range of initial Doppler estimation error is small and the like can occur in the signal carrier tracking process, and even signals can not be tracked under certain conditions. Therefore, the conventional frequency discrimination scheme cannot be effectively applied to the application scenario of the time hopping signal, and therefore a frequency discrimination scheme which can be applied to the application scenario of the time hopping signal needs to be designed.
Disclosure of Invention
According to an aspect of the present application, a frequency discrimination method for locating a time hopping signal of a base station is provided, and the frequency discrimination method may include: and calculating the frequency error of the local recurrent time hopping signal according to the interval of adjacent time hopping pulses in the time hopping signal.
According to another aspect of the present application, a frequency discriminator for locating a time hopped signal of a base station is provided, which can calculate a frequency error of a locally recurring time hopped signal based on an interval between adjacent time hopped pulses in the time hopped signal.
According to the frequency discrimination method and the frequency discrimination device, the frequency difference between the carrier wave of the received time hopping signal and the carrier wave of the local recurrence time hopping signal is calculated on the basis of the interval of adjacent time hopping pulses in the time hopping signal, the time hopping characteristics of the time hopping signal are fully combined, and the frequency error of the local recurrence time hopping signal can be obtained according to the characteristics of the time hopping signal.
Drawings
Fig. 1 shows a direct sequence spread spectrum pulse signal transmitted by a certain pseudolite under a pseudolite time hopping signal system.
Fig. 2 is a flowchart illustrating a frequency discrimination method for locating a time hopping signal of a base station according to an embodiment of the present application.
Fig. 3 shows a flowchart of a frequency discrimination method for locating a time hopping signal of a base station according to an embodiment of the present application.
Fig. 4 shows a block diagram of a frequency discriminator for locating a time hopping signal of a base station according to an embodiment of the present application.
Figure 5 shows a graph comparing the performance of a frequency locked loop using a conventional frequency discrimination scheme and a frequency discrimination scheme according to an embodiment of the present application, respectively.
Figure 6 shows a graph of the performance of a frequency locked loop using a conventional frequency discrimination scheme.
Figure 7 shows a graph of the performance of a frequency locked loop using a frequency discrimination scheme according to an embodiment of the present application.
Detailed Description
The frequency discrimination method and apparatus for time hopping signals disclosed in the present application will be described in detail with reference to the accompanying drawings. For the sake of simplicity, the same or similar reference numerals are used for the same or similar devices in the description of the embodiments of the present application.
The frequency discrimination scheme of the time hopping signal of the present application is described below by analyzing the time hopping characteristics of the time hopping signal based on a positioning base station time hopping signal model. The positioning base stations in this application may be, for example, pseudolites, terrestrial-based positioning base stations, and/or wireless beacons.
Fig. 1 shows an example of a direct sequence spread spectrum pulse signal transmitted by a certain positioning base station in a positioning base station system adopting a time hopping signal system of TH-DSSS. As shown in FIG. 1, the time-hopped signal is divided into successive time durations TpA signal frame is divided into N pulse time slots Ts. Under a TH-DSSS time hopping signal system, each positioning base station in a positioning base station system only transmits a direct sequence spread spectrum pulse signal in a certain pulse time slot in a complete signal frame, so that different positioning base stations occupy different pulse time slots in one transmission period.
According to the embodiment of the present application, as shown in fig. 2, a frequency discrimination method for locating a time hopping signal of a base station is provided. According to the method, in step S100, the time-hopping signal is generated according to the interval of adjacent time-hopping pulses in the time-hopping signal; in step S200, a frequency error of the locally recurring time hopping signal is calculated. Thus, the difference between the frequency of the carrier of the local recurring time hopping signal and the frequency of the carrier of the received time hopping signal can be calculated, so that the frequency of the carrier of the local recurring time hopping signal can be dynamically adjusted, the carrier of the received time hopping signal is dynamically consistent with the carrier frequency of the local recurring time hopping signal, and the frequency locking is realized.
Correspondingly, according to the embodiment of the application, a frequency discrimination device for positioning the time hopping signal of the base station is also provided. The frequency discriminator may calculate the frequency error of the locally recurring time hopped signal based on the spacing of adjacent time hopped pulses in the time hopped signal.
The frequency discrimination scheme calculates the frequency difference between the carrier wave of the received time hopping signal and the carrier wave of the local recurring time hopping signal on the basis of the interval of adjacent time hopping pulses in the time hopping signal, fully combines the time hopping characteristics of the time hopping signal, and can obtain the frequency error of the local recurring time hopping signal according to the characteristics of the time hopping signal.
According to an embodiment of the present application, as shown in fig. 3, the frequency discrimination method for locating a time hopping signal of a base station further includes: estimating positions of adjacent time hopping pulses to determine intervals of the adjacent time hopping pulses at step S110; in step S210, determining a frequency error base value of the local recurring time hopping signal; in step S220, the frequency error base value is corrected according to the determined interval of the adjacent time hopping pulses to obtain the frequency error of the locally recurring time hopping signal.
As described above, according to the time hopping signal system, the time slot in which the time hopping pulse occurs in the time hopping signal is at a certain position among the plurality of time slots in the signal transmission cycle, and this certain position is the position of the time hopping pulse. After estimating the respective positions of two adjacent time-hopping pulses, the interval between adjacent time-hopping pulses can be determined based on the estimated positions of the adjacent time-hopping pulses.
Accordingly, according to an embodiment of the present application, as shown in fig. 4, the frequency discriminator 10 for locating the time hopping signal of the base station may include: an estimation module 100 estimating positions of adjacent time-hopping pulses to determine intervals of the adjacent time-hopping pulses; and a calculating module 200, which calculates a frequency error basic value of the local recurring time hopping signal, and corrects the frequency error basic value according to the determined interval of the adjacent time hopping pulses to obtain the frequency error of the local recurring time hopping signal.
Further, according to another embodiment of the present application, the calculating module may further obtain a frequency error base value of the local recurring time hopping signal according to coherent integration and frequency discrimination average update time of the in-phase branch and the quadrature branch of the received time hopping signal and the local recurring time hopping signal. Therefore, coherent integration of the in-phase branch and the quadrature branch of the received time hopping signal and the local recurring time hopping signal can be calculated firstly, and then the result of the coherent integration is combined with the frequency discrimination average updating time to obtain the frequency error basic value of the local recurring time hopping signal, so that the frequency error basic value can be corrected to finally obtain the frequency error of the local recurring time hopping signal. In the frequency discrimination method and the frequency discrimination device, the frequency error base value of the local recurring time hopping signal is a rough difference between the frequency of the carrier of the local recurring time hopping signal and the frequency of the carrier of the received time hopping signal, and the frequency error base value can be corrected by the interval of adjacent time hopping pulses to finally obtain the difference between the frequency of the carrier of the local recurring time hopping signal and the frequency of the carrier of the received time hopping signal. In the embodiment of the present application, the frequency discrimination average update time may be equal to the duration of the signal frame, i.e., the transmission period of the time hopping signal.
After the positions of the two adjacent time-hopping pulses are obtained, the intervals of the two adjacent time-hopping pulses can be obtained. The following describes the positions of adjacent time-hopping pulses and the intervals between the adjacent time-hopping pulses, using the time-hopping signal shown in fig. 1 as an example. As shown in fig. 1, the time-hopping pulse in the previous signal frame occurs in the 3 rd time slot of the N time slots, and the time-hopping pulse in the next signal frame adjacent thereto occurs in the N-2 th time slot. In the context of the present application, the signal frame in which the latter of the two adjacent time-hopping pulses is located is the kth signal frame, or the time-hopping pulse is in the kth transmission period, and the position m of the time-hopping pulsekN-2, position m of the preceding time-hopping pulse adjacent theretok-1＝3。
In general, the positions of two adjacent time-hopping pulses in the k-1 th and k-th transmission periods of the signal are correspondingly mk-1And mkAccording to the mechanism of the time-hopping signal, the position m of the time-hopping pulsek-1And mkFollowing a pre-set pseudo-random time-hopping sequence, the interval m of the two time-hopping pulses thus beingk-mk-1Varying in an approximately random manner.
The inventor of the present application recognizes that the time-hopping characteristic of the time-hopping signal will affect the frequency discrimination result of the conventional frequency discrimination scheme, and further proposes that the interval of adjacent time-hopping pulses in the time-hopping signal will affect the frequency discrimination result of the conventional frequency discrimination scheme, thereby resulting in poor performance of the frequency-locked loop using the conventional frequency discrimination scheme in the time-hopping signal application scenario. Based on this, the inventor proposes the frequency discrimination scheme of the present application. The frequency discrimination scheme of the present application is further detailed below based on a model of the time hopping signal.
Assuming that the influence of the telegraph text is ignored within a certain short time, the time-hopping signal received by the receiver in the positioning base station system can be schematically represented as:
wherein P represents the power of the received signal, τ represents the signal propagation delay, P (t- τ) represents the time hopping sequence, c (t- τ) represents the pseudorandom spreading sequence, ω represents the carrier angular frequency,
indicating the initial carrier phase.
The local recurring time hopping signal can be expressed as:
wherein the content of the first and second substances,
a local estimate of the propagation delay of the signal is represented,
a local estimate of the carrier angular frequency is represented,
representing a local estimate of the initial carrier phase.
According to one embodiment of the present application, coherent integrals of the received signal and the in-phase branch and the quadrature branch of the locally recurring time hopping signal can be calculated separately in the following manner.
For the time-hopping signal r (t- τ) represented by equation (1), consider the kth emission period and assume that a pulse occurs at the mthkIn each time slot, the signal frequency remains unchanged in the observation time, and the influence of noise is ignored, so that the coherent integration of the time-hopping signal normalization in-phase branch is calculated as follows:
wherein, TpRepresents the mean update time of the frequency discrimination, which may be the duration of a signal frame, i.e., a time-hopping signalThe transmission period of the signal; or a loop update period of the frequency locked loop.
The following derivation is made for equation (3):
wherein the content of the first and second substances,
is a frequency multiplication term which can be ignored, and
wherein m iskIndicating the position of the time slot in which the time-hopping pulse occurs in the k epoch.
Therefore, the coherent integration result of the normalized in-phase branch of the time-hopping signal is finally obtained as follows:
wherein the content of the first and second substances,
in the same way, the method for preparing the composite material,
similarly, the coherent integration result of the normalized quadrature branch of the time-hopping signal r (t- τ) can be obtained:
in the same way, the method for preparing the composite material,
in the application of time-hopping signals, as can be seen from the coherent integration result expressed by the above formula,
including not only representing the difference between the angular frequency of the carrier of the received time-hopped signal and the angular frequency of the carrier of the locally recurring time-hopped signal (essentially representing the frequency difference ultimately sought)
Further contains mk、mk-1I.e. the position of the time-hopping pulses of the time-hopping signal of the kth and k-1 epoch, further illustrates that the position of the time-hopping signal, more particularly the spacing of adjacent time-hopping pulses, will have an influence on the frequency discrimination result. The inventors therefore propose that in the frequency discrimination scheme of the present application, the effect of the time hopped signal, more specifically the spacing of adjacent time hopped pulses, is identified and "stripped" from the calculation of the frequency discrimination result to eliminate the effect of the time hopped signal characteristics.
Specifically, according to the embodiments of the present application, in the frequency discrimination method for locating a base station time hopping signal, the frequency error σ of the locally recurring time hopping signal may be determined by:
wherein the content of the first and second substances,
determined by the spacing of adjacent time-hopping pulses in the time-hopping signal, mk-1And mkRespectively representing the positions of time slots of time hopping pulses occurring in the k-1 th epoch and the k-th epoch, and N represents the number of time slots in one signal transmission period;
In the frequency discrimination method for the time hopping signal of the positioning base station, a frequency error basic value is obtained by coherent integration and frequency discrimination average updating time of an in-phase branch and an orthogonal branch of the time hopping signal and the local recurrence time hopping signal, and then the frequency error basic value is corrected by time hopping pulse interval obtained according to the positions of adjacent time hopping pulses and the number of time slots in a signal transmission period so as to obtain the frequency error sigma of the local recurrence time hopping signal.
For frequency error base values determined in other ways, it is also possible to determine the frequency error of the locally recurring time hopping signal by correction.
According to another embodiment of the present application, in the frequency discrimination method for locating a base station time hopping signal, the frequency error σ of the locally recurring time hopping signal can be determined by:
wherein the content of the first and second substances,
determined by the spacing of adjacent time-hopping pulses in the time-hopping signal,
the frequency error base value of the time hopping signal is locally reproduced.
According to another embodiment of the present application, in the frequency discrimination method for locating a base station time hopping signal, the frequency error σ of the locally recurring time hopping signal may be determined by:
wherein the content of the first and second substances,
determined by the spacing of adjacent time-hopping pulses in the time-hopping signal,
the frequency error base value of the time hopping signal is locally reproduced.
According to the frequency discrimination method and device for the pseudo-satellite time hopping signal, the time hopping characteristic of the time hopping signal is fully combined, the frequency error of the local recurrence time hopping signal can be obtained according to the characteristics of the time hopping signal, so that the convergence speed of the frequency locking loop can be increased, the initial traction of the frequency locking loop is effectively enhanced in the time hopping signal carrier tracking process, and the tolerance range of the frequency locking loop to the initial Doppler estimation error can be improved. The contents shown in fig. 5-7 can illustrate the significant technical effects brought by the frequency discrimination method and the frequency discrimination apparatus proposed in the present application.
Fig. 5 shows a graph comparing the performance of a frequency locked loop using a conventional frequency discrimination scheme and a frequency discrimination method/apparatus according to an embodiment of the present application, respectively, in a time hopping signal application scenario. Specifically, a situation that the difference between the initial carrier doppler obtained after the acquisition and the true value is small, and the difference here is 50Hz, is considered, and a situation that the signal cannot be tracked generally does not occur in this situation. As is clear from fig. 5, the frequency locked loop using the frequency discrimination scheme according to the present application can be stabilized faster than the frequency locked loop using the conventional frequency discrimination scheme, thereby achieving frequency locking with faster convergence speed.
Fig. 6 and 7 are graphs showing performance of a frequency locking loop in a time hopping signal application scenario, respectively, using a conventional frequency discrimination scheme and a frequency discrimination method/apparatus according to an embodiment of the present application. Specifically, consider the case where the initial carrier doppler obtained after acquisition is much different from the true value, here by 120 Hz. As can be seen from fig. 6(a) and 6(b), the frequency locked loop using the conventional frequency discrimination scheme cannot track the signal; in contrast, as shown in fig. 7(a) and 7(b), the frequency locked loop using the frequency discrimination scheme according to the present application not only achieves signal tracking with a large tolerance range for the initial doppler estimation error, but also converges faster.
Exemplary embodiments of the present application are described above with reference to the accompanying drawings. It will be appreciated by those skilled in the art that the above-described embodiments are merely exemplary for purposes of illustration and are not intended to be limiting, and that any modifications, equivalents, etc. that fall within the teachings of this application and the scope of the claims should be construed to be covered thereby.
Claims (8)
1. The frequency discrimination method for the time hopping signal of the positioning base station comprises the following steps:
the positions of adjacent time-hopping pulses are estimated to determine the spacing of adjacent time-hopping pulses,
determining a frequency error base value of the local recurring time hopping signal by coherent integration of the in-phase branch and the quadrature branch of the received time hopping signal and the local recurring time hopping signal and the frequency discrimination average update time,
and correcting the frequency error basic value according to the determined interval of the adjacent time hopping pulses so as to obtain the frequency error of the local recurrence time hopping signal.
2. A method of frequency discrimination as claimed in claim 1, wherein the frequency error σ of the locally recurring time hopped signal is determined by:
wherein m isk-1And mkRespectively, the positions of the time slots in which the time-hopping pulse occurs in the k-1 th and k-th epochs, N represents the number of time slots in one signal transmission period,
Tpthe average update time of the frequency discrimination is shown,
Ik-1and IkRespectively representing the coherent integration results of the time-hopping signals received by the k-1 th epoch and the k-th epoch and the in-phase branch of the local reproduction time-hopping signal, Qk-1And QkRespectively representing the coherent integration results of the time hopping signals received by the k-1 th epoch and the k-th epoch and the orthogonal branch of the local reproduction time hopping signal.
3. A method of frequency discrimination as claimed in claim 1, wherein the frequency error σ of the locally recurring time hopped signal is determined by:
wherein m isk-1And mkRespectively, the positions of the time slots in which the time-hopping pulse occurs in the k-1 th and k-th epochs, N represents the number of time slots in one signal transmission period,
Tpthe average update time of the frequency discrimination is shown,
Ik-1and IkRespectively representing the coherent integration results of the time-hopping signals received by the k-1 th epoch and the k-th epoch and the in-phase branch of the local reproduction time-hopping signal, Qk-1And QkRespectively representing the coherent integration results of the time hopping signals received by the k-1 th epoch and the k-th epoch and the orthogonal branch of the local reproduction time hopping signal.
4. A method of frequency discrimination as claimed in claim 1, wherein the frequency error σ of the locally recurring time hopped signal is determined by:
wherein m isk-1And mkRespectively, the positions of the time slots in which the time-hopping pulse occurs in the k-1 th and k-th epochs, N represents the number of time slots in one signal transmission period,
Tpthe average update time of the frequency discrimination is shown,
Ik-1and IkRespectively representing the coherent integration results of the time-hopping signals received by the k-1 th epoch and the k-th epoch and the in-phase branch of the local reproduction time-hopping signal, Qk-1And QkRespectively representing the coherent integration results of the time hopping signals received by the k-1 th epoch and the k-th epoch and the orthogonal branch of the local reproduction time hopping signal.
5. A frequency discriminator for locating a time hopped signal of a base station, wherein said frequency discriminator comprises:
an estimation module that estimates positions of adjacent time-hopping pulses to determine intervals of the adjacent time-hopping pulses; and
and the calculation module is used for calculating a frequency error basic value of the local recurrence time hopping signal by receiving coherent integration and frequency discrimination average updating time of the time hopping signal and the in-phase branch and the orthogonal branch of the local recurrence time hopping signal, and correcting the frequency error basic value according to the determined interval of adjacent time hopping pulses so as to obtain the frequency error of the local recurrence time hopping signal.
6. The frequency discriminator according to claim 5, wherein said calculation module determines the frequency error σ of the locally recurring time hopped signal by:
wherein m isk-1And mkRespectively representing the positions of the time slots of the time-hopping pulses occurring in the k-1 th and k-th epoch obtained by the estimation module, N representing the number of time slots in one signal transmission period,
for local reproduction of the frequency error basis value of the time hopping signal,
Tpthe average update time of the frequency discrimination is shown,
Ik-1and IkRespectively representing the coherent integration results of the time-hopping signals received by the k-1 th epoch and the k-th epoch and the in-phase branch of the local reproduction time-hopping signal, Qk-1And QkRespectively representing the coherent integration results of the time hopping signals received by the k-1 th epoch and the k-th epoch and the orthogonal branch of the local reproduction time hopping signal.
7. The frequency discriminator according to claim 5, wherein said calculation module determines the frequency error σ of the locally recurring time hopped signal by:
wherein m isk-1And mkRespectively representing the positions of the time slots of the time-hopping pulses occurring in the k-1 th and k-th epoch obtained by the estimation module, N representing the number of time slots in one signal transmission period,
for local reproduction of the frequency error basis value of the time hopping signal,
Tpthe average update time of the frequency discrimination is shown,
Ik-1and IkRespectively representing the coherent integration results of the time-hopping signals received by the k-1 th epoch and the k-th epoch and the in-phase branch of the local reproduction time-hopping signal, Qk-1And QkRespectively representing the coherent integration results of the time hopping signals received by the k-1 th epoch and the k-th epoch and the orthogonal branch of the local reproduction time hopping signal.
8. The frequency discriminator according to claim 5, wherein said calculation module determines the frequency error σ of the locally recurring time hopped signal by:
wherein m isk-1And mkRespectively representing the positions of the time slots of the time-hopping pulses occurring in the k-1 th and k-th epoch obtained by the estimation module, N representing the number of time slots in one signal transmission period,
for local reproduction of the frequency error basis value of the time hopping signal,
Tpthe average update time of the frequency discrimination is shown,
Ik-1and IkRespectively representing the coherent integration results of the time-hopping signals received by the k-1 th epoch and the k-th epoch and the in-phase branch of the local reproduction time-hopping signal, Qk-1And QkRepresenting orthogonal branches of time-hopping signals received in the k-1 and k epochs, respectively, and of locally recurring time-hopping signalsAnd (5) coherent integration results.
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