CN110907957A - Signal demodulation method, signal demodulation device, computer equipment and storage medium - Google Patents
Signal demodulation method, signal demodulation device, computer equipment and storage medium Download PDFInfo
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- CN110907957A CN110907957A CN201911011037.3A CN201911011037A CN110907957A CN 110907957 A CN110907957 A CN 110907957A CN 201911011037 A CN201911011037 A CN 201911011037A CN 110907957 A CN110907957 A CN 110907957A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/243—Demodulation of navigation message
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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- 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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
The present application relates to a signal demodulation method, apparatus, computer device and storage medium. Acquiring current epoch information and code phase information of a reference signal; when the epoch information meets the parameter configuration condition, configuring the capture parameters of a capture engine, and configuring the start delay parameters of the capture engine according to the code phase information; starting the capture engine according to the start delay parameter; the starting time of the capture engine is consistent with the epoch starting time of the target signal; capturing, by the capture engine, a code phase value of the target signal according to the capture parameter to demodulate the target signal. By the method, the continuity of signal demodulation can be realized.
Description
Technical Field
The present application relates to the field of satellite navigation technologies, and in particular, to a signal demodulation method, an apparatus, a computer device, and a storage medium.
Background
Navigation signal demodulation refers to a process of recovering navigation message data from a modulated signal carrying the navigation message data. Currently, a common navigation signal demodulation method is based on a tracking method to demodulate signals. Taking the QZSS LEX signal as an example of a target signal to be demodulated, the QZSS LEX signal has discontinuity in the initial code phase value of each epoch, and thus the QZSS LEX signal cannot be demodulated by using the conventional signal tracking method. However, QZSS LEX signal demodulation based on the captured software method does not take into account the limiting factors in the actual hardware receiver: 1) how to ensure that the capture engine can start at the epoch boundary of the QZSS LEX signal; 2) how to guarantee the continuity of signal demodulation in the case of maximum demodulation sensitivity.
Disclosure of Invention
In view of the above, it is necessary to provide a signal demodulation method, apparatus, computer device and storage medium for solving the above technical problems.
A method of signal demodulation, the method comprising:
acquiring current epoch information and code phase information of a reference signal;
when the epoch information meets the parameter configuration condition, configuring the capture parameters of a capture engine, and configuring the start delay parameters of the capture engine according to the code phase information;
starting the capture engine according to the start delay parameter; the starting time of the capture engine is consistent with the epoch starting time of the target signal;
capturing, by the capture engine, a code phase value of the target signal according to the capture parameter to demodulate the target signal.
In one embodiment, the acquiring current epoch information and code phase information of the reference signal includes:
acquiring tracking information of a reference signal;
and reading the current epoch information and the code phase information of the reference signal from the tracking information.
In one embodiment, the acquiring current epoch information and code phase information of the reference signal includes:
acquiring positioning information determined based on the reference signal;
determining a positioning time stamp and a positioning distance according to the positioning information;
and determining the current epoch information and the current code phase information of the reference signal according to the positioning time stamp and the positioning distance.
In one embodiment, the starting the capture engine according to the start-up delay parameter includes:
determining the starting time of the capture engine according to the starting time delay parameter;
when detecting that the current time is consistent with the starting time, acquiring configuration parameters of a capture channel;
and starting the capture channel corresponding to the capture channel configuration parameters under the capture engine.
In one embodiment, before obtaining the current epoch information and code phase information of the reference signal, the method further includes:
acquiring Doppler frequency and carrier central frequency of a reference signal;
acquiring the carrier central frequency of a target signal;
and obtaining the Doppler frequency of the target signal according to the Doppler frequency and the carrier central frequency of the reference signal and the carrier central frequency of the target signal.
In one embodiment, before obtaining the current epoch information and code phase information of the reference signal, the method further includes:
determining satellite velocity from the reference signal;
acquiring the current movement speed of the user;
and determining the Doppler frequency of the target signal according to the satellite speed and the movement speed.
In one embodiment, said capturing, by said capture engine, a code phase value of said target signal according to said capture parameter to demodulate said target signal comprises:
determining, by the acquisition engine, an integration duration and a plurality of candidate code phase values according to the acquisition parameters;
respectively calculating correlation results between the target signal and each candidate code phase value according to the integration duration through the capture engine, and
and acquiring a code phase value of the target signal according to the correlation result so as to demodulate the target signal.
A signal demodulation apparatus, the apparatus comprising:
the acquisition module is used for acquiring the current epoch information and the current code phase information of the reference signal;
the configuration module is used for configuring the capture parameters of the capture engine when the epoch information meets parameter configuration conditions, and configuring the start delay parameters of the capture engine according to the code phase information;
the starting module is used for starting the capture engine according to the starting time delay parameter; the starting time of the capture engine is consistent with the epoch starting time of the target signal;
a demodulation module, configured to capture, by the capture engine, a code phase value of the target signal according to the capture parameter, so as to demodulate the target signal.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the signal demodulation method described in the various embodiments above when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the signal demodulation method described in the above-mentioned respective embodiments.
According to the signal demodulation method, the signal demodulation device, the computer equipment and the storage medium, when the epoch information of the reference signal meets the parameter configuration condition, the capture parameters of the capture engine are configured, the start delay parameters of the capture engine are configured based on the code phase information of the reference signal, the capture engine is started when the epoch starting time of the target signal to be demodulated arrives based on the start delay parameters, and then the code phase value of the target signal is captured by the started capture engine according to the configured capture parameters, so that navigation message data in the target signal can be obtained based on the captured code phase value, and the target signal is demodulated. In this way, the capture parameters and the corresponding start-up delay parameters of the capture engine are configured before the epoch start time, and the start-up time of the capture engine and the epoch start time of the target signal can be ensured to be consistent based on the preconfigured start-up delay parameters, so as to ensure that the capture engine can be started at each epoch start time of the target signal, thereby ensuring the maximization of demodulation sensitivity and the continuity of signal demodulation.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a signal demodulation method;
FIG. 2 is a flow diagram illustrating a method for demodulating a signal according to one embodiment;
FIG. 3 is a flow chart illustrating a method for implementing signal demodulation based on dual acquisition channels according to an embodiment;
FIG. 4 is a diagram illustrating the relationship between a target signal and a reference signal and an interrupt in one embodiment;
FIG. 5 is a flowchart illustrating a signal demodulation method according to another embodiment;
fig. 6 is a block diagram showing the structure of a signal demodulating apparatus according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The signal demodulation method provided by the application can be applied to the application environment as shown in fig. 1. The satellite receiver 110 captures a satellite signal transmitted by the satellite 120, demodulates the captured satellite signal to obtain navigation message data transmitted through the satellite signal, and performs satellite navigation or positioning based on the navigation message data. Satellites 120 include satellites in current view, such as satellite 122, satellite 124, …, and satellite 12n, and the number of satellites in current view is not specifically limited herein. The external shapes of the satellite receiver 110 and the satellite 120 shown in fig. 1 are merely examples, and are not intended to be particularly limiting.
In one embodiment, as shown in fig. 2, a signal demodulation method is provided, which is described by taking the method as an example applied to the satellite receiver 110 in fig. 1, and includes the following steps:
s202, acquiring current epoch information and code phase information of the reference signal.
The reference signal is a kind of satellite signal, and is referred to a target signal to be demodulated. The reference signal may specifically be an L1 frequency band signal of a QZSS system (quasi-zenith satellite system), such as an L1CA signal. The epoch is a unit or period for acquiring the satellite signal, and may specifically be corresponding to a code, and one code or one code period corresponds to one epoch. The epoch information is information for describing an epoch, and may specifically be an epoch serial number, for example, the epoch information is 3, which indicates that the third unit or period of the satellite signal is acquired, that is, indicates that the 3 rd signal code or code period is acquired. Code phase information refers to phase information of a chip, which is used to characterize the code phase at a particular time or point in time. The code phase information may particularly refer to the chip position, i.e. the position of the chip in the code determines the corresponding code phase information.
Specifically, the satellite receiver acquires current epoch information and code phase information of the reference signal. In one embodiment, the satellite receiver detects an interruption time, determines the detected interruption time as a current interruption time when the interruption time is detected, and acquires epoch information and code phase information of the reference signal at the current interruption time.
S204, when the epoch information meets the parameter configuration condition, configuring the capture parameter of the capture engine, and configuring the start delay parameter of the capture engine according to the code phase information.
The parameter configuration condition is a condition for triggering a parameter configuration operation, and may specifically specify epoch information for triggering the parameter configuration operation. For example, the parameter configuration condition specifies that the epoch information triggering the parameter configuration operation is 3, 7, 11, 15, 19, and the like, respectively. The acquisition parameter is a parameter according to which the acquisition engine acquires the target signal, and may specifically include at least one of an integration duration, a coherence time, a non-coherence time, a candidate code phase value, and the like, which are not enumerated herein. The start-up delay parameter is a configuration parameter for delaying the start-up of the capture engine, and is particularly useful for determining the start-up time of the capture engine. The start-up delay parameter may specify a start-up time of the capture engine, or may specify a delay start-up duration of the capture engine from a current interrupt time.
Specifically, after acquiring the current epoch information and code phase information of the reference signal, the satellite receiver compares the acquired epoch information with the preconfigured parameter configuration condition. And when the epoch information meets the parameter configuration condition, the satellite receiver acquires a configuration file and configures the acquisition parameters of the acquisition engine according to the acquired configuration file. And the satellite receiver determines a start delay parameter of the acquisition engine according to the acquired code phase information so as to realize the configuration of the start delay parameter.
In one embodiment, when the acquired epoch information is consistent with any epoch information specified by the parameter configuration condition, indicating that the epoch information satisfies the parameter configuration condition, the satellite receiver triggers the configuration process of the acquisition parameter and the start delay parameter. For example, when the epoch information of the reference information at the current interrupt time is 3, 7, 11, 15, or 19, the satellite receiver triggers the configuration procedure of the acquisition parameter and the start delay parameter.
In one embodiment, the satellite receiver determines the delay start duration according to a preset mapping relationship according to the code phase of the reference signal at the current interrupt time. The preset mapping relationship is as follows: the delay starting time length is equal to the code length of the reference signal-the code phase of the reference signal at the current interrupt time. The code length refers to the length of one code or code period and is determined by the number of chips included in one code. Taking the reference signal as L1CA for example, the code length is 1023. In this way, accurate capture engine start time delay parameters are configured based on the code phase information of the reference signal, and the capture engine can be started at the epoch start time of the target signal.
In one embodiment, after determining the delay start time of the capture engine according to the code phase of the reference signal at the current interrupt time, the satellite receiver calculates the start time of the capture engine according to the current interrupt time and the determined delay start time, and configures the start delay parameter of the capture engine according to the start time.
S206, starting the capture engine according to the starting time delay parameter; the start time of the capture engine coincides with the epoch start time of the target signal.
The target signal is a signal to be captured, and may specifically be a LEX signal of a QZSS system. The epoch start time refers to a start time of an epoch, and may specifically be a start time of a code or a code period.
Specifically, the satellite receiver starts the acquisition engine according to a pre-configured start-up time delay parameter, so that the start-up time of the acquisition engine is consistent with the epoch start time of the target signal to be acquired.
In one embodiment, the satellite receiver determines a start time for the acquisition engine based on a preconfigured start time delay parameter and starts the acquisition engine when the current time coincides with the determined start time.
In one embodiment, the satellite receiver determines the delay start time according to the start delay parameter, and counts the delay time in real time from the current interrupt time. And when the counted delay time duration is consistent with the determined delay starting time duration, the satellite receiver starts a capturing engine.
In one embodiment, the LEX signal includes a short code signal and a long code signal. In this embodiment, the target signal may specifically refer to a short code signal in the LEX signal, which may be referred to as the LEX short code signal for short.
And S208, capturing the code phase value of the target signal according to the capturing parameters through the capturing engine so as to demodulate the target signal.
Specifically, the satellite receiver captures a target signal according to a pre-configured capture parameter through a started capture engine, and demodulates the captured target signal in a capture mode to obtain a code phase value of the target signal, so as to realize demodulation of the target signal.
In one embodiment, the code phase value of the target signal at the start of each epoch, i.e., the initial code phase value of the target signal at each epoch, is indicative of the navigation message data transmitted by the target signal. The epoch start position corresponds to the epoch start time. And the satellite receiver is an initial code phase value of the target signal in the current epoch according to the code phase value acquired by the acquisition parameter. Therefore, the code phase value of the target signal is obtained by capturing the target signal, and the navigation message data transmitted by the target signal can be demodulated.
In one embodiment, to reduce the power consumption of the chip, the code phase search range of the acquisition engine is typically set to 0-255 chips.
In one embodiment, the target signal is a QZSS LEX signal, and since the QZSS LEX signal is a time division multiplexed signal, i.e., the QZSS LEX signal includes a short code signal and a long code signal, the satellite receiver treats the long code signal as noise when processing the short code signal.
According to the signal demodulation method, when the epoch information of the reference signal meets the parameter configuration condition, the capture parameters of the capture engine are configured, the start time delay parameters of the capture engine are configured based on the code phase information of the reference signal, the capture engine is started when the epoch starting time of the target signal to be demodulated arrives based on the start time delay parameters, and then the code phase value of the target signal is captured by the started capture engine according to the configured capture parameters, so that navigation message data in the target signal can be obtained based on the captured code phase value, and the demodulation of the target signal is realized. In this way, the capture parameters of the capture engine and the corresponding start-up delay parameters are configured before the epoch start time, and the start-up time of the capture engine and the epoch start time of the target signal can be ensured to be consistent based on the pre-configured start-up delay parameters, so as to ensure the continuity of signal demodulation.
In one embodiment, step S202 includes: acquiring tracking information of a reference signal; and reading the current epoch information and the code phase information of the reference signal from the tracking information.
The tracking information is information when the satellite receiver performs loop tracking based on the acquired reference signal. The tracking information includes epoch information and code phase information of the reference signal at the current interrupt time.
Specifically, the satellite receiver locks tracking information corresponding to the reference signal at the current interrupt time, acquires the locked tracking information, and reads epoch information and code phase information at the current interrupt time from the acquired tracking information.
In one embodiment, the satellite receiver obtains a carrier frequency and a code phase corresponding to the reference signal through an acquisition process, and performs loop tracking based on the carrier frequency and the code phase obtained through acquisition. The tracking information acquired by the satellite receiver comprises the carrier frequency and the code phase of the current terminal time, and the current epoch information and the code phase information of the reference information are determined according to the tracking information.
In the above embodiment, the current epoch information and the current code phase information can be quickly and accurately acquired based on the tracking information of the reference signal, and the start-up delay parameter of the capture engine is determined based on the epoch information and the code phase information, so that the determination efficiency and accuracy of the start-up delay parameter can be improved.
In one embodiment, step S202 includes: acquiring positioning information determined based on the reference signal; determining a positioning time stamp and a positioning distance according to the positioning information; and determining the current epoch information and the code phase information of the reference signal according to the positioning time stamp and the positioning distance.
The positioning information is information determined by the satellite receiver when positioning is performed, and may specifically include a positioning timestamp and a positioning distance. The positioning timestamp is used for characterizing the time of positioning, and specifically may be the positioning time of the positioning system. The Positioning System may specifically be a Global Positioning System (GPS), and correspondingly, the Positioning timestamp is GPS time. The positioning distance refers to the distance between the satellite receiver and the satellite transmitting the reference signal.
Specifically, the satellite receiver performs positioning based on the acquired reference signal, and obtains positioning information corresponding to the reference signal. When the interruption time is detected, the detected interruption time is determined as the current interruption time, and the positioning information corresponding to the reference signal at the current interruption time is obtained. And the satellite receiver analyzes the acquired positioning information to obtain a positioning time stamp and a positioning distance corresponding to the current interruption time. And the satellite receiver determines the satellite time corresponding to the reference signal corresponding to the positioning information at the current interrupt time according to the obtained positioning timestamp and the positioning distance, namely determines the satellite time corresponding to the reference signal corresponding to the positioning information at the current interrupt time transmitted by the satellite. The satellite receiver determines current epoch information and code phase information of the reference signal based on the determined satellite time.
In one embodiment, the satellite receiver calculates a transmission time length of the reference signal according to the positioning distance and the speed of light, and calculates a satellite time corresponding to the reference signal according to the transmission time length and the positioning timestamp. For example, the transmission duration is the product of the positioning distance and the speed of light, and the satellite time is the difference between the positioning timestamp and the transmission duration.
In one embodiment, the satellite receiver performs a modulo operation on the satellite time with respect to a preconfigured first reference value to obtain current epoch information of the reference signal, and performs a modulo operation on the satellite time with respect to a second reference value to obtain current code phase information of the reference signal. The first reference value and the second reference value may be customized according to actual conditions, and the first reference value may specifically be a total time length of a code period or an epoch included in a 1-bit telegraph text of the QZSS L1CA signal, such as 20 ms; the second reference value may specifically be the code period time length of the QZSS L1CA signal, such as 1 ms.
In one embodiment, the satellite receiver dynamically updates the obtained positioning information corresponding to the reference signal to the local to obtain the positioning information corresponding to the reference signal at the interruption time from the local at the interruption time.
In the above embodiment, the current epoch information and the current code phase information are determined based on the positioning information of the reference signal, so that the start-up delay parameter of the capture engine is determined based on the acquired epoch information and code phase information, and the accuracy of the start-up delay parameter can be improved.
In one embodiment, step S206 includes: determining the starting time of the capture engine according to the starting time delay parameter; when detecting that the current time is consistent with the starting time, acquiring configuration parameters of a capture channel; and starting the capture channel corresponding to the capture channel configuration parameters under the capture engine.
The capture channel configuration parameters are configuration parameters related to the starting of the capture channel, and specifically may include variables and corresponding variable values, and the capture channel to be started is specified by the variable values. For example, the capture channel configuration parameter specifies a variable ch _ gate, if the variable value is 1, the capture channel 1 is activated, and if the variable value is 0, the capture channel 0 is activated, thereby implementing dual-channel capture of the target signal based on the capture channel configuration parameter, that is, alternately capturing the target signal through two capture channels.
Specifically, the satellite receiver determines a start time of the acquisition engine according to a preconfigured start time delay parameter. The satellite receiver detects the current time in real time and compares the detected current time with the start time of the acquisition engine. And when the current time is consistent with the starting time of the capture engine, the satellite receiver acquires the configuration parameters of the capture channel, determines the capture channel to be started under the capture engine according to the acquired configuration parameters of the capture channel, and starts the determined capture channel.
In one embodiment, after the satellite receiver reaches the delay start time specified by the preconfigured start delay parameter from the current interrupt time, the preconfigured acquisition channel configuration parameter is obtained locally, and the acquisition channel corresponding to the acquisition channel configuration parameter under the acquisition channel is started.
In one embodiment, the satellite receiver updates the local acquisition channel configuration parameters after starting the corresponding acquisition channel under the acquisition engine according to the acquired acquisition channel configuration parameters. In particular, the satellite receiver locally updates the variable values in the acquisition channel configuration parameters. For example, if the currently acquired capture channel configuration parameter is 0, the capture channel 0 under the capture engine is started, and after the capture channel 0 is started, the local capture channel configuration parameter is updated to 1.
Fig. 3 is a schematic flowchart of a method for implementing signal demodulation based on dual acquisition channels in an embodiment. And when the acquisition is started, the satellite receiver acquires the reference signal and judges whether the acquisition of the reference signal is successful or not. When the reference signal is successfully acquired, the satellite receiver correctly tracks the acquired reference signal, determines the epoch information and the code phase information of the reference signal at the interruption time according to the tracking information, and determines the Doppler frequency of the target signal according to the Doppler frequency of the reference signal. And when the epoch information of the reference signal at the current interrupt time meets the parameter configuration condition, the satellite receiver configures the start delay parameter of the capture engine according to the code phase information of the reference signal at the current interrupt time. And the satellite receiver starts a capturing channel under the capturing engine according to the configuration parameters of the capturing channel and the start delay parameters. When the configuration parameter of the capture channel is 0, the satellite receiver starts the capture channel 0 under the capture engine, and updates the configuration parameter of the local capture channel to 1; when the acquisition channel configuration parameter is 1, the satellite receiver starts an acquisition channel 1 under an acquisition engine, and updates the local acquisition channel configuration parameter to 0. The satellite receiver captures a target signal through the started capture channel, and obtains a code phase value of the target signal through capture to realize demodulation of the target signal, wherein the code phase value of the target signal obtained through capture is navigation message data obtained through demodulation.
It will be appreciated that the reference signal may specifically be the QZSS L1CA signal and the target signal may specifically be the QZSS LEX signal.
By configuring the start-up delay parameter of the capture engine, the start-up time of the capture engine can be the same as the epoch start time of the target signal, and the integration time of the capture engine is 4 ms. If a single acquisition channel is used to perform continuous demodulation of the target signal, the satellite receiver needs to start the acquisition engine for the next acquisition at the same time as the acquisition engine completes the current acquisition. However, the parameter configuration of the capture engine needs to be completed in the interrupt, and the start time of the capture engine and the interrupt time are not always consistent, so the time when one capture of the capture engine is completed is not the time when the interrupt occurs. Therefore, if the acquisition engine for the next acquisition is started while the acquisition engine completes the current acquisition, the satellite receiver cannot complete the parameter configuration of the acquisition engine for the next acquisition, which may result in discontinuity of target signal demodulation, i.e., discontinuity of text demodulation.
In the above embodiment, the target signal is captured and demodulated based on the dual capture channels, and when one capture channel is started to capture and demodulate the target signal, the capture parameters and the start delay parameters may be configured for the other capture channel, so that when one capture channel completes capturing, the other capture channel is started to capture the target signal, thereby achieving continuity of target signal demodulation and maximizing sensitivity of text demodulation. Therefore, by the method of switching the double capture channels, the capture engine is started at the starting time of each epoch of the target signal, and the maximization of demodulation sensitivity and the continuity of signal demodulation are ensured.
In an embodiment, before step S202, the signal demodulation method further includes: acquiring Doppler frequency and carrier central frequency of a reference signal; acquiring the carrier central frequency of a target signal; and obtaining the Doppler frequency of the target signal according to the Doppler frequency and the carrier central frequency of the reference signal and the carrier central frequency of the target signal.
In one embodiment, the satellite receiver obtains the current doppler frequency of the reference signal according to the tracking information of the reference signal.
In one embodiment, the satellite receiver determines the current doppler frequency of the target signal according to a specified mapping relationship based on the current doppler frequency and carrier center frequency of the reference signal and the carrier center frequency of the target signal. Specifying mapping relationships such as: dopp _ a/Dopp _ B is F _ a/F _ B, where Dopp _ a is the current doppler frequency of the reference signal, Dopp _ B is the current doppler frequency of the target signal, F _ a is the carrier center frequency of the reference signal, and F _ B is the carrier center frequency of the target signal.
In the above embodiment, based on the doppler frequency and the carrier center frequency of the reference signal and the carrier center frequency of the target signal to be captured, the doppler frequency of the target signal can be determined quickly and accurately.
In an embodiment, before step S202, the signal demodulation method further includes: determining satellite velocity from the reference signal; acquiring the current movement speed of the user; and determining the Doppler frequency of the target signal according to the satellite speed and the motion speed.
The satellite speed refers to the running speed of the satellite. The motion speed of the satellite receiver is the motion speed of the satellite receiver.
Specifically, the satellite receiver determines the satellite velocity from the acquired reference signal and acquires its own current motion velocity. The satellite receiver determines the current radial velocity of the satellite according to the self motion velocity and the satellite velocity, and calculates the current Doppler frequency of the target signal according to the radial velocity, the light velocity and the carrier center frequency of the target signal.
In the above embodiment, based on the current satellite velocity and the motion velocity of the satellite receiver itself, the doppler frequency of the target signal can be accurately determined.
In one embodiment, step S208 includes: determining, by a capture engine, an integration duration and a plurality of candidate code phase values according to a capture parameter; and respectively calculating a correlation result between the target signal and each candidate code phase value according to the integration duration through a capture engine, and capturing the code phase value of the target signal according to the correlation result so as to demodulate the target signal.
The integration time length is an integration time length when the target signal is captured and demodulated by the started capture engine.
Specifically, the satellite receiver analyzes a pre-configured acquisition parameter through a started acquisition engine to obtain an integration duration and a plurality of candidate code phase values, correlates each of the candidate code phase values obtained through analysis with a target signal respectively, and obtains a correlation result corresponding to each of the candidate code phase values according to the integration duration obtained through analysis. And the satellite receiver compares the correlation results corresponding to the phase values of the candidate codes through a capture engine to screen out target correlation results, and determines the phase values of the candidate codes corresponding to the screened target correlation results as the code phase values captured based on the target signals so as to realize the demodulation of the target signals.
In one embodiment, the satellite receiver compares the correlation results corresponding to the phase values of the candidate codes through the acquisition engine to screen out the target correlation result with the largest correlation value.
In one embodiment, the integration duration is preconfigured to 4ms to improve the capture sensitivity of the target signal. When the target signal is a short code signal of the LEX signal, the code period of the short code signal is 4ms, that is, each epoch of the short code signal includes 4ms chips, and due to the discontinuity of the short code signal in each epoch, the longest integration time for demodulation of the target signal should be configured to be 4ms, so as to achieve continuous demodulation of the target signal.
In the above embodiment, the acquisition engine captures and demodulates the target signal according to the integration duration and the candidate code phase value specified by the acquisition parameter, so as to improve the sensitivity of capture and the continuity of demodulation,
in one embodiment, when the target signal is a short code signal of the QZSS LEX signal, the satellite receiver demodulates the short code signal of one LEX satellite because the short code signal of each LEX satellite broadcasts the orbit, i.e., the clock correction data, of all satellites. In order to improve the accuracy of signal demodulation, the strength of the LEX signal cannot be too weak, i.e., the carrier-to-noise ratio of the LEX signal is relatively high.
FIG. 4 is a diagram illustrating the relationship between a target signal and a reference signal and an interrupt according to an embodiment. The reference signal is a QZSS L1CA signal, and the target signal is a QZSS LEX signal. As can be seen from fig. 4, a 1-bit telegram of the QZSS L1CA signal contains 20 CA codes or code periods of 1ms, which is equivalent to the code period of the short code signal of the 5 LEX signals. The short code signal of the LEX signal is simply referred to as LEX short code. A 1bit telegraph text of a QZSS L1CA signal corresponds to 5 LEX short codes, such as LEX short code 0 to LEX short code 4 in the figure, and a code period of a LEX short code includes 4 code periods of L1CA signals. Wherein, the range of the initial code phase value of the LEX short code in the epoch thereof is 0-255. Therefore, if the navigation message data in the LEX short code is to be demodulated, the code phase value of the LEX short code at its epoch needs to be captured.
It is understood that a code period of the L1CA signal is understood to mean that an epoch of the L1CA signal, i.e., a 1bit message of the QZSS L1CA signal, contains 20 epochs. The numbers 0 to 19 shown in fig. 4 are respectively the epoch information corresponding to the 20 epochs. Accordingly, a code period of a LEX short code can also be understood as an epoch of the short code signal. The interrupt period is 1ms, and the upward arrow in fig. 4 indicates the interrupt occurrence time.
In one embodiment, in a hardware implementation of the satellite receiver, the configuration parameters of the acquisition engine are completed in an interrupt, and the interrupt time is not consistent with the epoch start time of the target signal.
As shown in fig. 5, in one embodiment, a signal demodulation method is provided, which specifically includes the following steps:
and S502, acquiring the Doppler frequency and the carrier center frequency of the reference signal.
S504, obtaining the carrier center frequency of the target signal.
S506, obtaining the Doppler frequency of the target signal according to the Doppler frequency and the carrier center frequency of the reference signal and the carrier center frequency of the target signal.
And S508, determining the satellite speed according to the reference signal.
And S510, acquiring the current movement speed of the user.
S512, determining the Doppler frequency of the target signal according to the satellite velocity and the movement velocity.
And S514, acquiring the tracking information of the reference signal.
And S516, reading the current epoch information and the code phase information of the reference signal from the tracking information.
S518, positioning information determined based on the reference signal is acquired.
And S520, determining a positioning time stamp and a positioning distance according to the positioning information.
And S522, determining the current epoch information and the current code phase information of the reference signal according to the positioning time stamp and the positioning distance.
And S524, when the epoch information meets the parameter configuration condition, configuring a capture parameter of a capture engine, and configuring a start delay parameter of the capture engine according to the code phase information.
S526, determining the starting time of the capture engine according to the starting time delay parameter; the start time of the capture engine is consistent with the epoch start time of the target signal.
S528, when the current time is detected to be consistent with the starting time, acquiring the configuration parameters of the capture channel.
S530, starting the capture channel corresponding to the capture channel configuration parameter under the capture engine.
S532, determining an integration duration and a plurality of candidate code phase values according to the capture parameters through the capture engine.
S534, respectively calculating, by the capture engine, a correlation result between the target signal and each candidate code phase value according to the integration duration, and capturing a code phase value of the target signal according to the correlation result to demodulate the target signal.
It should be understood that although the steps in the flowcharts of fig. 2 and 5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 and 5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, there is provided a signal demodulation apparatus 600 comprising: an obtaining module 602, a configuring module 604, an initiating module 606, and a demodulating module 608, wherein:
an obtaining module 602, configured to obtain current epoch information and code phase information of a reference signal;
a configuration module 604, configured to configure a capture parameter of a capture engine when the epoch information satisfies a parameter configuration condition, and configure a start delay parameter of the capture engine according to the code phase information;
a start module 606, configured to start the capture engine according to the start delay parameter; the starting time of the capture engine is consistent with the epoch starting time of the target signal;
a demodulation module 608, configured to capture, by the capture engine, a code phase value of the target signal according to the capture parameter, so as to demodulate the target signal.
In one embodiment, the obtaining module 602 is further configured to obtain tracking information of the reference signal; and reading the current epoch information and the code phase information of the reference signal from the tracking information.
In one embodiment, the obtaining module 602 is further configured to obtain positioning information determined based on the reference signal; determining a positioning time stamp and a positioning distance according to the positioning information; and determining the current epoch information and the current code phase information of the reference signal according to the positioning time stamp and the positioning distance.
In one embodiment, the starting module 606 is further configured to determine a starting time of the capture engine according to the starting delay parameter; when detecting that the current time is consistent with the starting time, acquiring configuration parameters of a capture channel; and starting the capture channel corresponding to the capture channel configuration parameters under the capture engine.
In one embodiment, the demodulation module 608 is further configured to obtain a doppler frequency and a carrier center frequency of the reference signal; acquiring the carrier central frequency of a target signal; and obtaining the Doppler frequency of the target signal according to the Doppler frequency and the carrier central frequency of the reference signal and the carrier central frequency of the target signal.
In one embodiment, the demodulation module 608 is further configured to determine a satellite velocity from the reference signal; acquiring the current movement speed of the user; and determining the Doppler frequency of the target signal according to the satellite speed and the movement speed.
In one embodiment, the demodulation module 608 is further configured to determine, by the acquisition engine, an integration duration and a plurality of candidate code phase values according to the acquisition parameters; and respectively calculating a correlation result between the target signal and each candidate code phase value according to the integration duration through the acquisition engine, and acquiring the code phase value of the target signal according to the correlation result so as to demodulate the target signal.
For the specific limitations of the signal demodulation apparatus, reference may be made to the limitations of the signal demodulation method above, and details are not repeated here. The respective modules in the signal demodulating apparatus may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which includes a memory storing a computer program and a processor implementing the steps of the signal demodulation method in the above embodiments when the processor executes the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the steps of the signal demodulation method in the various embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of signal demodulation, the method comprising:
acquiring current epoch information and code phase information of a reference signal;
when the epoch information meets the parameter configuration condition, configuring the capture parameters of a capture engine, and configuring the start delay parameters of the capture engine according to the code phase information;
starting the capture engine according to the start delay parameter; the starting time of the capture engine is consistent with the epoch starting time of the target signal;
capturing, by the capture engine, a code phase value of the target signal according to the capture parameter to demodulate the target signal.
2. The method of claim 1, wherein obtaining current epoch information and code phase information of the reference signal comprises:
acquiring tracking information of a reference signal;
and reading the current epoch information and the code phase information of the reference signal from the tracking information.
3. The method of claim 1, wherein obtaining current epoch information and code phase information of the reference signal comprises:
acquiring positioning information determined based on the reference signal;
determining a positioning time stamp and a positioning distance according to the positioning information;
and determining the current epoch information and the current code phase information of the reference signal according to the positioning time stamp and the positioning distance.
4. The method of claim 1, wherein said starting said capture engine according to said start-up delay parameter comprises:
determining the starting time of the capture engine according to the starting time delay parameter;
when detecting that the current time is consistent with the starting time, acquiring configuration parameters of a capture channel;
and starting the capture channel corresponding to the capture channel configuration parameters under the capture engine.
5. The method of claim 1, wherein prior to obtaining the current epoch information and code phase information of the reference signal, the method further comprises:
acquiring Doppler frequency and carrier central frequency of a reference signal;
acquiring the carrier central frequency of a target signal;
and obtaining the Doppler frequency of the target signal according to the Doppler frequency and the carrier central frequency of the reference signal and the carrier central frequency of the target signal.
6. The method of claim 1, wherein prior to obtaining the current epoch information and code phase information of the reference signal, the method further comprises:
determining satellite velocity from the reference signal;
acquiring the current movement speed of the user;
and determining the Doppler frequency of the target signal according to the satellite speed and the movement speed.
7. The method of any one of claims 1 to 6, wherein said capturing, by said capture engine, a code phase value of said target signal according to said capture parameter to demodulate said target signal comprises:
determining, by the acquisition engine, an integration duration and a plurality of candidate code phase values according to the acquisition parameters;
respectively calculating correlation results between the target signal and each candidate code phase value according to the integration duration through the capture engine, and
and acquiring a code phase value of the target signal according to the correlation result so as to demodulate the target signal.
8. A signal demodulation apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the current epoch information and the current code phase information of the reference signal;
the configuration module is used for configuring the capture parameters of the capture engine when the epoch information meets parameter configuration conditions, and configuring the start delay parameters of the capture engine according to the code phase information;
the starting module is used for starting the capture engine according to the starting time delay parameter; the starting time of the capture engine is consistent with the epoch starting time of the target signal;
a demodulation module, configured to capture, by the capture engine, a code phase value of the target signal according to the capture parameter, so as to demodulate the target signal.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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