CN110646818B - High-sensitivity satellite navigation fine-capturing method - Google Patents
High-sensitivity satellite navigation fine-capturing method Download PDFInfo
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- CN110646818B CN110646818B CN201810671102.4A CN201810671102A CN110646818B CN 110646818 B CN110646818 B CN 110646818B CN 201810671102 A CN201810671102 A CN 201810671102A CN 110646818 B CN110646818 B CN 110646818B
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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
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Abstract
The invention discloses a high-sensitivity satellite navigation fine-capturing method. The common acquisition method of parallel correlation + FFT (fast algorithm of discrete fourier transform) has been widely used in satellite navigation. The invention adopts a parallel correlation and FFT method for delaying the output of correlation results, which can greatly save the register which needs to latch the correlation values after the completion of multipath correlation, thereby reducing the occupation of logic resources of FPGA; meanwhile, a special method is used for eliminating the influence of data bits (such as NH codes of BD 2) of partial satellite signals on the correlation length, so that the correlation length of data and pseudo codes is increased, and the aim of improving the accuracy is fulfilled.
Description
Technical Field
The invention belongs to a signal processing method of a satellite navigation receiver, and particularly relates to a high-sensitivity satellite navigation fine-capturing method.
Background
Satellite navigation systems (Beidou, GPS, GLONASS, etc.) are high-precision navigation positioning systems. The satellite receiver receives satellite signals through the receiving antenna to perform down-conversion processing on the satellite signals, then performs baseband digital signal processing on the down-conversion signals, and can give accurate information such as longitude, latitude, altitude, speed, time and the like after navigation resolving processing. At present, satellite navigation is widely applied to military and civil fields.
The baseband digital signal processing mainly comprises the functions of capturing and tracking satellite signals and the like. Due to algorithm limitations, the acquisition sensitivity is generally much lower than the tracking sensitivity, so that it becomes crucial to improve the acquisition capability of satellite navigation signals. When acquiring satellite signals, especially when acquiring long codes, it is more essential to have a fine acquisition function. A good fine-capture method occupies a small amount of FPGA resources, but can greatly reduce the false alarm probability and improve the traction success rate.
The existing widely used fine capture method is to improve the fine capture sensitivity by adopting 1ms (correlation operation of minimum unit) coherent integration and multiple times of non-coherent integration, and the problems brought by the method are as follows:
(1) Long-time non-coherent integration is needed to achieve higher sensitivity;
(2) Long-time incoherent integration cannot meet the requirement of satellite signal acquisition of a high-dynamic scene;
(3) Long-time incoherent integration acquisition time is long.
Disclosure of Invention
The invention aims to provide a high-sensitivity satellite navigation fine capturing method, which improves the fine capturing sensitivity without increasing the capturing time and meets the high dynamic requirement by improving the coherent integration time.
The invention is realized in such a way that a high-sensitivity satellite navigation fine-capturing method comprises the following steps:
step 1: generating a channel local code and setting a carrier frequency;
step 2: generating I, Q two-way mixing results;
and step 3: I. performing multi-path short-time correlation operation on the Q two paths of signals and a local code;
and 4, step 4: storing the result of the multi-path correlation operation;
and 5: carrying out correlation operation on the short-time correlation result and the data jump coefficient;
and 6: performing FFT on the correlation operation result;
and 7: and performing modulus operation on the FFT result and outputting a capturing result.
The step 1 comprises the following operations:
the code phase obtained by rough capture is placed into a tracking channel, the channel code phase is delayed by stopping a channel code generator (the long code is the code generated by a chip waiting for the time to be placed in a relevant chip), and the local code is adjusted to be advanced by the rough capture result by L chips;
and obtaining Doppler frequency f0 according to coarse capture, placing the f0 into a tracking channel, adjusting the carrier frequency of the corresponding tracking channel to be f (initial frequency of the local carrier) + f0, and simultaneously generating I, Q two paths of orthogonal carrier signals of corresponding frequency.
The step 2 comprises the following operations:
and performing correlation operation on the I, Q two paths of orthogonal carrier signals and the intermediate frequency signal to generate I, Q two paths of mixing signals.
The step 3 comprises the following operations:
and performing N-path chip delay on the local code output by the tracking channel to generate N-path parallel code output, performing correlation operation on the N-path parallel code and the input I, Q two paths of signals, performing N-path short-time accumulation on N-path parallel correlation results respectively, and finally delaying and outputting the N-path short-time accumulation results.
The step 4 comprises the following operations:
and outputting N groups of short-time correlation results to the RAM after each acc _ complete (the signal is a first short-time correlation completion mark) is in high level, completing the writing operation after N clocks, and performing M times of writing operation by capturing once, wherein the depth of the RAM is M x N.
The step 5 comprises the following operations:
and correspondingly multiplying the short-time correlation result cached in the RAM by a data jump coefficient prestored in the ROM to generate a new short-time correlation result.
The step 6 comprises the following operations:
and (5) performing FFT operation on the data subjected to correlation operation in the step (5), and performing Q-point FFT operation (wherein Q is more than or equal to M) for P times N times in each capturing.
The step 7 comprises the following operations:
and performing modulus operation on the FFT result, comparing the maximum value, and keeping the capture code phase value and the Doppler frequency value corresponding to the maximum value.
And 3, performing N-path chip delay on the local code output by the tracking channel to generate N-path parallel code output, performing correlation operation on the N-path parallel code and the input I, Q two paths of signals, performing N-path short-time accumulation on N-path parallel correlation results respectively, and finally completing marking control on the N-path short-time accumulation result delay output through N-path short-time correlation.
In the step 5, the short-time correlation result cached in the RAM is correspondingly multiplied by a data jump coefficient prestored in the ROM in advance to generate a new short-time correlation result.
The invention has the advantages that (1) a parallel correlation and FFT method for delaying the output of correlation results (see step 3) is adopted, so that registers for latching correlation values after the completion of multipath correlation are greatly saved, thereby reducing the occupation of logic resources of FPGA and reducing the system power consumption; (2) A method for multiplying a data jump coefficient read from a ROM and a correlation result is used (see step 5), and the limiting influence of satellite signal data jump or NH code jump and the like on the correlation length is eliminated, so that the data phase and the pseudo code phase are improved.
Detailed Description
The invention will now be described in detail with reference to specific examples:
the principle of the invention is as follows: the method comprises the steps of conducting N-path chip delay on a local code output by a tracking channel to generate N-path parallel code output, conducting correlation operation on the N-path parallel code and an input baseband signal, conducting N-path short-time accumulation on N-path parallel correlation results respectively, finally conducting delay output on the N-path short-time accumulation result, multiplying the N-path short-time accumulation result by a data jump coefficient read out from a read-only memory (ROM), conducting Fast Fourier Transform (FFT) and modulus comparison on a conversion result to obtain a maximum value, and finally latching a code phase and a Doppler frequency corresponding to the maximum value and the maximum value. The method specifically comprises the following steps:
step 1: generating channel local code, setting carrier frequency
And adjusting a tracking channel according to the code phase obtained by rough acquisition, wherein the adjustment of the tracking channel delays the channel code phase (the long code is the time-setting to a relevant chip to wait for the chip to generate the code) by suspending the operation of a channel code generator, and finally the local code is adjusted to be L chips ahead of the rough acquisition result.
The carrier Doppler frequency f0 is obtained through rough capture, the f0 is converted into a cost to increase the voltage controlled oscillator and is arranged in a voltage controlled oscillator of the tracking channel to adjust the carrier frequency of the tracking channel, the carrier frequency after channel adjustment is adjusted to be f (the initial frequency of the local carrier) + f0, and meanwhile two paths of orthogonal local carrier signals of I, Q of corresponding frequency are generated.
Step 2: produces I, Q two-way mixing results:
and (3) mixing the I, Q two paths of orthogonal local carrier signals output in the step (1) with intermediate frequency signals of which the radio frequency front end is subjected to digital signal processing respectively to generate I, Q two paths of mixing results.
And step 3: I. and performing multi-path short-time correlation operation on the Q two paths of signals and the local code:
and (2) performing N-path chip delay (generally N =2 × L × TCODE/TCLK, wherein TCODE is the duration of one chip, and TCLK is the period of a working clock) on the local code output by the tracking channel in the step (1), generating N-path parallel code output, performing correlation operation on the N-path parallel code and the input I, Q two-path signals, respectively performing N-path short-time accumulation on N-path parallel correlation results, and finally finishing marking and controlling the N-path short-time accumulation result delay output through the N-path short-time correlation.
The method comprises the following specific steps:
(1) When the correlation result of the immediate path (the 1 st path is not delayed) is accumulated to the last 1 working clock period of the time length of T0 (ms) each time, 1 accumulation completion signal acc _ complete with high level of only 1 working clock period is generated, when acc _ complete is 1, the accumulation result of the immediate path is output, and meanwhile, the accumulation value is set as the current immediate correlation value, and the next round of accumulation operation is started;
(2) Outputting the accumulation result of the delay 1 path in the last 1 working clock period when the acc _ complete is in the high level, setting the accumulation value as the correlation value of the current delay 1 path, and starting to perform the next round of accumulation operation;
(3) Outputting the accumulation result of 2 paths of delay in the last 2 beats of high level of acc _ complete, setting the accumulation value as the correlation value of the current 2 paths of delay, and starting to perform the next round of accumulation;
(4) Outputting the accumulation result of delaying N-1 paths until the subsequent N-1 beats when the acc _ complete is in a high level, setting the accumulation value as the related value of the current delaying N-1 paths, and starting to perform the next round of accumulation; namely, 1 time of N short-circuit correlation operation is completed;
(5) The same operation as above is performed when the next 1 acc _ complete arrives until the correlation operation of T1 (ms) is completed (the operation is performed M times, M × T 0 ＝T 1 T0 must be divisible by 1);
(6) Through the methods (1) to (4), the correlation results of the N paths are not calculated at the same time, but short-time correlation results of one path are calculated sequentially by each clock for N working clocks after acc _ complete is at high level, and the short-time correlation values are cached in the RAM (the short-time correlation results only save 1 clock and then start to participate in the next correlation accumulation operation, so the values are input into the RAM once being output); the acc _ complete completes the output of N paths of correlation results once after N working clocks with high level;
(7) The same operation as above is performed when the next 1 acc _ complete arrives until the correlation operation of T1 (ms) is completed (the operation is performed M times, M × T 0 ＝T 1 And T0 must be divisible by 1).
And 4, step 4: storing results of multiple correlation operations
Inputting the N groups of short-time correlation results output in the step 3 into the RAM in N working clocks with high level acc _ complete each time, and finishing the write operation after N clocks; and performing M write operations for one capture, wherein the RAM depth is M N.
And 5: performing correlation operation on the short-time correlation result and the data jump coefficient
The short-time correlation result cached in the RAM is correspondingly multiplied by a data jump coefficient prestored in the ROM, and the specific steps are as follows:
(1) And reading the short-time correlation result from the RAM, circularly reading a pre-stored first group of data jump coefficients from the ROM at the same time, wherein the read enable signals of the RAM and the ROM are consistent, and the reading of Q-M working clocks is stopped after every M working clocks are read. The initial value of the read address of the RAM is 0, 1 is added all the time when the read enable is high, accumulation is stopped when M × N-1 is added every time, and the address is set to be 0; the initial value of the read address of the ROM is 0, 1 is added every 1/T0 working clock address when the read enable is high, the address is set to be 0 when the address is added to T1-1, and the addition is restarted, and the operation is circulated for N times. After that, the N short-time correlation results in the RAM are subjected to positive and negative judgment according to the data jump coefficient corresponding to the 1 st group circularly read from the ROM, and the correlation results are output in a negative mode when the data jump coefficient is 1 and output in a positive mode when the data jump coefficient is 0;
(2) And (3) sequentially performing the operations (1) until the P time, reading the short-time correlation result from the RAM, circularly reading the pre-stored P-th group data jump coefficient from the ROM at the same time, enabling the read enable signals of the RAM and the ROM to be consistent, and stopping reading Q-M working clocks after reading M working clocks. The initial value of the read address of the RAM is 0, when the read enable is high, 1 is added all the time, and the accumulation is stopped when the read enable is added to M × N-1 every time, and the address is set to be 0; the initial value of the read address of the ROM is (P-1) T1, when the read enable is high, 1 is added every 1/T0 working clock addresses, when the read enable is added to P T1-1, the address is set to be 0, and the addition is restarted, and the operation is circulated for N times. After that, the N short-time correlation results in the RAM are subjected to positive and negative judgment according to the data jump coefficient corresponding to the No. P group which is read from the ROM in a circulating way, when the data jump coefficient is 1, the correlation results are output in a negative way, and when the data jump coefficient is 0, the correlation results are output in a positive way;
(3) The ROM cache depth is T1 × P, P × N groups of correlation results are generated in total, each group of M correlation results, wherein a GPS signal with the length of 20ms is taken as an example, the ROM data jump coefficient setting method is as follows (other satellite signals are sequentially expanded): considering the possibility of GPS data hopping, because the GPS data bit is 20ms long, there are 20 possibilities, so T1 is equal to 20 (1 ms number) and P is equal to 20 (data hopping possibility), as shown in table 1.
TABLE 1 GPS signal of length 20ms
Step 6: FFT of correlation operation result
And (4) performing FFT operation on the correlation result after the operation in the step (5), and performing Q-point FFT operation (wherein Q is more than or equal to M) for P times N times in each capturing.
And 7: performing modulo operation on FFT result and outputting capture result
And performing modulo operation on the FFT result, comparing the maximum values of the P, N and Q FFT output results, and keeping the code phase value and the Doppler frequency value corresponding to the maximum values and the maximum values. And finally, comparing the maximum value with the threshold, if the maximum value is larger than the threshold, carrying out traction, and if the maximum value is smaller than the threshold, judging that the capture fails.
The algorithm is implemented on an FPGA, where M =40, n =20, T1=10, T0=0.25, q =64. The phase difference between the input signal and the chip is set to be 1 clock cycle, and the frequency difference between the input signal and the local carrier wave is 2000Hz. Through the simulation of modsim10.1a, the final capture peak value is 13894, and the corresponding capture address is represented by 11' b00001100000 in a 2-system manner, wherein the lower 6 bits represent that the Doppler frequency corresponds to 2000Hz, and the upper 5 bits correspond to the chip deviation of 1. The simulation result is consistent with the input signal of the preset testbench.
Claims (2)
1. A high-sensitivity satellite navigation fine-capturing method is characterized by comprising the following steps: the method comprises the following steps:
step 1: generating a channel local code and setting a carrier frequency;
step 2: generating I, Q two-way mixing results;
and step 3: I. performing multi-path short-time correlation operation on the Q two paths of signals and a local code;
and 4, step 4: storing the result of the multi-path correlation operation;
and 5: carrying out correlation operation on the short-time correlation result and the data jump coefficient;
step 6: performing FFT on the correlation operation result;
and 7: performing modulo operation on the FFT result and outputting a capture result;
the step 1 comprises the following operations:
placing the code phase obtained by rough capture into a tracking channel, delaying the channel code phase by stopping a channel code generator, wherein the long code is a code which is placed for a relevant chip to wait for the chip to generate, and adjusting the local code to be advanced by the rough capture result by L chips;
obtaining Doppler frequency f0 according to coarse capture, placing the f0 into a tracking channel, adjusting the carrier frequency of the corresponding tracking channel to be f + f0, wherein f is the initial frequency of a local carrier, and simultaneously generating I, Q two paths of orthogonal carrier signals of corresponding frequency;
the step 2 comprises the following operations:
performing correlation operation on I, Q two paths of orthogonal carrier signals and an intermediate frequency signal to generate I, Q two paths of frequency mixing signals;
the step 3 comprises the following operations:
carrying out N-path chip delay on a local code output by a tracking channel to generate N-path parallel code output, carrying out correlation operation on the N-path parallel code and input I, Q two-path signals, respectively carrying out N-path short-time accumulation on N-path parallel correlation results, and finally carrying out N-path short-time accumulation result delay output;
the step 4 comprises the following operations:
outputting N groups of short-time correlation results to the RAM after each time of the acc _ complete is high level, wherein an acc _ complete signal is a first short-time correlation completion mark, the writing operation is completed after N clocks, the writing operation is performed for M times by capturing once, and the depth of the RAM is M x N;
the step 5 comprises the following operations:
correspondingly multiplying the short-time correlation result cached in the RAM by a data jump coefficient prestored in the ROM to generate a new short-time correlation result;
the step 6 comprises the following operations:
performing FFT operation on the data subjected to the correlation operation in the step 5, and performing Q-point FFT operation for P x N times in each capturing process, wherein Q is more than or equal to M;
the step 7 comprises the following operations:
and performing modulus operation on the FFT result, comparing the maximum value, and keeping the capture code phase value and the Doppler frequency value corresponding to the maximum value.
2. A high-sensitivity satellite navigation fine-capturing method as claimed in claim 1, wherein: and 3, performing N-path code chip delay on the local code output by the tracking channel to generate N-path parallel code output, performing correlation operation on the N-path parallel code and the input I, Q two-path signals, performing N-path short-time accumulation on N-path parallel correlation results respectively, and finally completing marking control on N-path short-time accumulation result delay output through N-path short-time correlation.
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