CN111007550A - Satellite navigation ideal signal correlation power estimation method - Google Patents

Satellite navigation ideal signal correlation power estimation method Download PDF

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CN111007550A
CN111007550A CN201911305868.1A CN201911305868A CN111007550A CN 111007550 A CN111007550 A CN 111007550A CN 201911305868 A CN201911305868 A CN 201911305868A CN 111007550 A CN111007550 A CN 111007550A
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CN111007550B (en
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沙海
蒋东方
姚李昊
楚恒林
何东汉
栗靖
赵伟
王莉
关刚强
董忠言
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No32021 Troops Of Pla
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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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment

Abstract

The invention discloses a method for estimating the correlation power of an ideal signal in a satellite navigation signal, which mainly comprises two steps of an ideal signal generation method and correlation power calculation. For ideal signal generation, aiming at debugging modes adopted by different signal components, the main code of the ranging code, the subcode of the ranging code, the subcarrier and the navigation text information of all related signal components are generated, sampling signals of different signal components are obtained under the condition of the same sampling rate, digital baseband complex signals are generated, and band-limited digital baseband complex signals are obtained after filtering. For the related power calculation, the number of reading periods is set, the ideal baseband complex signal in the current period is read, the ideal baseband complex signal is filtered, then the ideal baseband complex signal and the local baseband complex signal are subjected to related processing, the related power under the main lobe bandwidth condition and the related power under the emission bandwidth are calculated, and the calculation result of each period is averaged, namely the estimation value of the related power. The method can effectively reduce the influence of the initial error on the estimation result, and has the advantage of strong adaptability.

Description

Satellite navigation ideal signal correlation power estimation method
Technical Field
The invention relates to the field of satellite navigation, in particular to an ideal signal correlation power estimation method for satellite navigation signal correlation loss evaluation.
Background
The satellite navigation space signal is a unique interface provided by the satellite navigation system for user application, and the quality evaluation of the satellite navigation space signal is a detailed evaluation of the service performance of the navigation system from a signal level, so the satellite navigation signal quality evaluation is an important means for improving the accuracy and integrity performance of the satellite navigation system and is more and more emphasized by satellite navigation systems of various countries. The content of the signal quality evaluation mainly comprises five aspects of frequency domain, time domain, correlation domain, modulation domain and phase consistency, wherein the indexes closely related to the ranging precision are correlation functions, correlation loss and S curve deviation, and particularly, the requirements of the correlation loss indexes are explicitly written into interface specification files of each satellite navigation system.
At present, for the estimation method of the correlated loss, the related inventions are less, and the specific process is not disclosed, especially for the estimation method of the correlated power of the ideal signal, if the method is not clear, the estimation result error will be caused, and the estimation result of the correlated loss of the signal is influenced.
The definition of correlation loss refers to the difference between the actual received signal power over the designed bandwidth of the signal band and the signal power obtained by an ideal correlation receiver using an exact replica of the signal waveform within the same bandwidth of the frequency band. The bandwidth filter adopts an ideal sharp cutoff filter and has linear phase in the bandwidth. The factors causing the associated losses are mainly two-fold: one is the loss caused by distortion of the payload on the satellite, such as attenuation of signal transmission lines, non-ideal characteristics of analog devices such as frequency converters and filters, and the like. And the loss caused by the signal modulation mode and the band-limited filtering defect, for example, the constant envelope modulation mode introduces an intermodulation component to influence normal signal reception.
Disclosure of Invention
The invention provides an estimation method of ideal signal correlation power, aiming at the problem of satellite navigation ideal signal correlation power estimation in correlation loss estimation.
The technical content of the invention is as follows:
a method for estimating the correlation power of an ideal signal in satellite navigation is characterized in that: includes two steps of generating an ideal signal and calculating the correlation power of the ideal signal.
The method for generating the ideal signal comprises the following specific steps,
(1) aiming at different signal components, a debugging mode is adopted to generate main codes of ranging codes, subcodes of ranging codes, subcarriers and navigation message information of all related signal components;
(2) obtaining sampling signals of different signal components under the condition of the same sampling rate;
(3) and generating digital baseband complex signals under the infinite bandwidth condition according to different modulation modes, and filtering the digital baseband complex signals by corresponding bandwidth filters to obtain band-limited digital baseband complex signals.
The calculation of the ideal signal correlation power comprises the following specific steps,
(1) setting the number n of reading cycles to be 0, and reading an ideal baseband complex signal dat _ iq of the current cycle, wherein the cycle length is a signal component ranging code cycle;
(2) the read ideal baseband complex signal dat _ iq passes through a main lobe bandwidth filter to obtain a filtered signal dat _ filter _ iq, and then is correlated with a local baseband signal sig _ local to obtain rP(dat _ filter _ iq, sig _ local) is calculated as
Figure BDA0002320543440000021
Where K is the total number of data in the period, which is the product of the sampling rate and the ranging code period, fzIs a subcarrier function of the modulation mode, if the current signal component has no subcarrier modulation, the function is constantly equal to 1, and t (i) is the time corresponding to the current data; from rP(dat _ filter _ iq, sig _ local) and dat _ filter _ iq calculate the associated power under main lobe bandwidth conditions
Figure BDA0002320543440000022
Is calculated by the formula
Figure BDA0002320543440000023
Will r isP(dat _ filter _ iq, sig _ local) and
Figure BDA0002320543440000024
replacing data dat _ filter _ iq in the calculation formula with dat _ iq, and calculating the related power under the condition of transmission bandwidth
Figure BDA0002320543440000025
(3) And increasing the number n of the cycles by 1 and judging whether the number is greater than the total number of the cycles or not, if not, continuously reading the ideal baseband complex signal of the next cycle, and repeating the calculation process, otherwise, after the calculation process is finished, respectively averaging the main lobe bandwidth related power and the transmission bandwidth related power obtained by calculation of each cycle, namely the estimated value of the ideal signal related power.
The ideal signal is generated, and the ranging code subcodes and navigation message information of the relevant signal components are replaced by the symbol 1.
The ideal signal correlation power calculation has a signal component ranging code period of typically 1ms or 10 ms.
The invention has the advantages that:
(1) the influence of error factors on the calculation result can be effectively reduced. In order to recover the original baseband signal from the received satellite radio frequency signal, the navigation receiver usually adopts a closed-loop tracking technique in which a carrier phase-locked loop and a code phase-locked loop are jointly processed. Aiming at the characteristics of ideal satellite signals, the invention only adopts the open-loop tracking method of the non-phase-locked loop aiming at baseband signals, thereby effectively avoiding the influence of factors such as carrier phase-locked loop error, code phase-locked loop error, carrier generation error and the like on the calculation result and ensuring the accuracy of the calculation result to the maximum extent.
(2) The applicability is strong. The method can respectively simulate and calculate corresponding index results aiming at actual scenes of different utilization rates, different effective digits, different ranging code types and the like of the acquisition equipment in a signal quality evaluation test, and has stronger guiding significance for analyzing optimal parameter selection. Besides satellite navigation signals, the method and the device can also be applied to signal quality evaluation of spread spectrum signal systems such as radar and communication.
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FIG. 1 is a schematic diagram of a method for generating ideal satellite signals according to the present invention;
fig. 2 is a schematic diagram of the estimation of the satellite ideal signal correlation power in the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present specification will be described in detail below, and in order to make objects, technical solutions and advantages of the specification more apparent, the specification will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
An ideal signal correlation power estimation method mainly comprises an ideal signal generation method and a correlation power calculation step.
The estimation method of the correlation loss is realized by calculating a signal correlation function, and the calculation formula of the signal correlation function is as follows:
Figure BDA0002320543440000041
wherein: sBBPre(t) is the pre-processed baseband signal, which usually needs to pass through a band-pass filter and completely remove the doppler shift; sRef(t) is the locally replicated ideal band-limited reference signal; t ispFor integration time, it is usually the code period of the current reference signal ranging code primary code.
As can be seen from equation (1), the mathematical expression of the correlation function is essentially SBBPre(t) and SRefCorrelation coefficient of (t), i.e.
Figure BDA0002320543440000042
The value range of rho is [0, 1 ]]If S isBBPre(t) and SRef(t) uncorrelated, then ρ is 0; if S isBBPre(t)＝kSRef(t), ρ is 1.
The correlation function can be understood mathematically as SBBPre(t) at SRef(t) magnitude projection in the direction, further defining the dB expression for the correlated power as:
PCCF[dB]＝max(10log10(CCF(τ))2)＝max(20log10(|CCF(τ)|)) (3)
PCCF[dB]the reason for the reduction (values less than 0) is that the input signal does not match the local reference signal due to on-board payload distortion, band-limited filtering, etc., and the resulting power loss can be obtained by subtracting the correlated power of the ideal input signal. The calculation method for obtaining the correlation loss comprises the following steps:
Figure BDA0002320543440000043
wherein the content of the first and second substances,
Figure BDA0002320543440000044
is the relative power of the ideal input signal,
Figure BDA0002320543440000045
for the phase of the actual input signalThe power is turned off.
According to the correlation loss calculation method, the premise of calculating the correlation loss is that the correlation power of the ideal signal is known, so that the estimation and solution of the correlation power of the ideal signal play an important role in the evaluation of the correlation loss index. In order to accurately estimate the correlation power of the ideal signal, the present invention divides the steps of generating the ideal signal and calculating the correlation power, which are described below.
When the satellite payload generates a navigation signal, the satellite payload generally needs to generate a digital baseband signal and then broadcast the signal to the outside through an antenna after passing through analog devices such as a frequency converter, a filter, a radio frequency amplification link, a combiner and the like. For an ideal satellite signal, processing links behind the digital baseband signal should not be considered, because these processing links easily cause signal distortion, which is an additional loss of the satellite payload. Therefore, when generating an ideal signal, only the generation of a digital baseband signal is needed to be realized, and the digital baseband signal is filtered by a corresponding bandwidth filter. In addition, the correlation power is obtained by integrating in the main code period of the ranging code, so the sub-code symbols of the ranging code and the navigation message information have no influence on the estimation result of the correlation power, and can be regarded as a value of 1. A specific ideal signal generation method is shown in fig. 1.
The ideal signal generation comprises the following specific steps:
firstly, aiming at the debugging mode adopted by different signal components, the main code of the ranging code, the subcode of the ranging code, the subcarrier and the navigation message information of all related signal components are generated. Where the ranging code subcodes and navigation message information are replaced with symbol 1. Then, sampling signals of different signal components are obtained under the condition of the same sampling rate. And finally, generating digital baseband complex signals under the infinite bandwidth condition according to different modulation modes, and filtering the digital baseband complex signals through corresponding bandwidth filters to obtain band-limited digital baseband complex signals.
Because the generated ideal signal is a baseband signal without Doppler frequency shift and the code phase is known, when the ideal correlation type receiver is adopted to calculate the correlation power, the processes of carrier stripping, code tracking loop parameter updating and the like can be omitted, and the error introduced in the processing process of the receiver is reduced as much as possible. The calculation steps of the ideal signal dependent power are shown in fig. 2. The specific steps of the calculation of the related power are as follows:
step 1: setting the number n of reading cycles to be 0;
step 2: reading an ideal baseband complex signal dat _ iq of a current period, wherein the period length is a signal component ranging code period, and is usually 1ms or 10 ms;
step 3: the signal dat _ iq passes through a main lobe bandwidth filter to obtain a filtered signal dat _ filter _ iq, and then is correlated with a local baseband signal sig _ local to obtain rP(dat _ filter _ iq, sig _ local) is calculated as
Figure BDA0002320543440000061
K is the total number of data in the period, and the value of K is the product of the sampling rate and the ranging code period; f. ofzIs a subcarrier function of the modulation mode, if the current signal component has no subcarrier modulation, the function is constantly equal to 1; t (i) is the time corresponding to the current data;
step 4: from rP(dat _ filter _ iq, sig _ local) and dat _ filter _ iq calculate the associated power under main lobe bandwidth conditions
Figure BDA0002320543440000062
Is calculated by the formula
Figure BDA0002320543440000063
Figure BDA0002320543440000064
Step 5: calculating the relative power under the condition of transmitting bandwidth
Figure BDA0002320543440000065
The calculation process is the same as that of Step3 and Step4, and only r needs to be calculatedPAnd
Figure BDA0002320543440000066
replacing data dat _ filter _ iq in the calculation formula with dat _ iq;
step 6: and increasing the number n of the cycles by 1 and judging whether the number is greater than the total number of the cycles or not, if not, continuously reading the ideal baseband complex signal of the next cycle, and repeating the calculation process, otherwise, after the calculation process is finished, respectively averaging the main lobe bandwidth related power and the transmission bandwidth related power obtained by calculation of each cycle, namely the estimated value of the ideal signal related power.
Example 1:
referring to fig. 1, an embodiment of the present invention provides a method for estimating correlated power of an ideal signal, which includes the following steps:
s1, generating ideal signals, which comprises that firstly, generating main codes of ranging codes, sub-carriers and navigation message information of all related signal components according to debugging modes adopted by different signal components; secondly, obtaining sampling signals of different signal components under the condition of the same sampling rate; and finally, generating digital baseband complex signals under the infinite bandwidth condition according to different modulation modes, and filtering the digital baseband complex signals through corresponding bandwidth filters to obtain band-limited digital baseband complex signals.
S11, the ideal signal generation, wherein the ranging code subcode and navigation message information of the relevant signal component are replaced with the symbol 1.
S2, calculating the correlation power of the ideal signal, wherein the specific steps include, firstly, setting the number of reading cycles n to 0, and reading the ideal baseband complex signal dat _ iq of the current cycle, wherein the cycle length is the signal component ranging code cycle; secondly, the read ideal baseband complex signal dat _ iq passes through a main lobe bandwidth filter to obtain a filtered signal dat _ filter _ iq, and then is correlated with a local baseband signal sig _ local to obtain rP(dat _ filter _ iq, sig _ local) is calculated as
Figure BDA0002320543440000071
Where K is the total number of data in the period, and its value is the sampling rateProduct of the period of the ranging code, fzIs a subcarrier function of the modulation mode, if the current signal component has no subcarrier modulation, the function is constantly equal to 1, and t (i) is the time corresponding to the current data; thirdly, from rP(dat _ filter _ iq, sig _ local) and dat _ filter _ iq calculate the associated power under main lobe bandwidth conditions
Figure BDA0002320543440000072
Is calculated by the formula
Figure BDA0002320543440000073
Figure BDA0002320543440000074
R is toP(dat _ filter _ iq, sig _ local) and
Figure BDA0002320543440000075
replacing data dat _ filter _ iq in the calculation formula with dat _ iq, and calculating the related power under the condition of transmission bandwidth
Figure BDA0002320543440000076
And finally, increasing 1 for the number n of cycles and judging whether the number is greater than the total number of cycles, if not, continuing to read the ideal baseband complex signal of the next cycle, and repeating the calculation process, otherwise, after the calculation process is finished, respectively averaging the main lobe bandwidth related power and the transmission bandwidth related power obtained by calculation of each cycle, namely, obtaining the estimated value of the ideal signal related power. .
S21, calculating the ideal signal correlation power, wherein the signal component ranging code period is usually 1ms or 10 ms.
When the ideal signal correlation power is estimated, the information such as sampling rate, data storage effective digit, ranging code number and the like needs to be determined, different input conditions are selected to influence the estimation result, and the influence degree is difficult to derive a conclusion through a mathematical theory. The variation of the ideal signal correlation power estimation result under the above three input conditions will be analyzed by the embodiment.
Example 2: and (5) estimating the correlation power of the ideal signal under different sampling rates.
In engineering, satellite signal acquisition equipment usually adopts a radio frequency sampling working mode to avoid errors introduced by a down converter during intermediate frequency sampling, and the sampling frequency range of a radio frequency signal collector is approximately 500 MHz-2 GHz. In order to analyze the influence of different sampling rates on the relevant power of an ideal signal, four sampling rates of 650MHz, 750MHz, 1GHz and 1.8375GHz are respectively selected for simulation.
The simulation signals are B1C and B2a signals of the Beidou global system, wherein the B1C _ p signal adopts a QMBOC modulation mode, and the B2a adopts an ACEBOC modulation mode. The data type of the ideal signal of the satellite is double type, the effective digit is 64bit, the number of the ranging code is selected to be 16(MEO satellite), and the related power of 100 periods is calculated. Because the military ranging code needs to be simulated by using random sequences when ideal signals of the B1 frequency point and the B3 frequency point are generated, the related power results in different periods have differences, and the variation range of the estimation result can be measured by using the standard deviation sigma. The B2 frequency point ranging code and the modulation mode are fixed, so the related power results of different periods are consistent, and the standard deviation does not need to be counted. The results of the ideal signal correlation power estimation under different sampling rate conditions are shown in tables 1 and 2.
TABLE 1 ideal signal correlation power estimation results (transmission bandwidth, unit: dB) at different sampling rates
Figure BDA0002320543440000081
TABLE 2 estimation of the power of the ideal signal correlation (main lobe bandwidth, unit: dB) at different sampling rates
Figure BDA0002320543440000091
As can be seen from tables 1 and 2, the transformation ranges of the average values of the correlated powers of the signal components at the B1 and B2 frequency points are small. The maximum value of the variation range under the condition of the emission bandwidth is 0.008dB, the maximum value of the variation range under the condition of the main lobe bandwidth is 0.009dB, and compared with the requirement of 0.6dB of the related loss index, the variation is different by 2 orders of magnitude, and the variation difference can be ignored. Therefore, for each signal component of B1 and B2 frequency points, the above 4 sampling rates have little influence on the estimation result of the ideal signal correlation power, and the estimation result under a certain optional sampling rate condition in the engineering can be taken as an ideal index.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (5)

1. A method for estimating the correlation power of an ideal signal in satellite navigation is characterized in that: includes two steps of generating an ideal signal and calculating the correlation power of the ideal signal.
2. The method of claim 1, wherein the method further comprises: the method for generating the ideal signal comprises the following specific steps,
(1) aiming at different signal components, a debugging mode is adopted to generate main codes of ranging codes, subcodes of ranging codes, subcarriers and navigation message information of all related signal components;
(2) obtaining sampling signals of different signal components under the condition of the same sampling rate;
(3) and generating digital baseband complex signals under the infinite bandwidth condition according to different modulation modes, and filtering the digital baseband complex signals by corresponding bandwidth filters to obtain band-limited digital baseband complex signals.
3. The method of claim 2, wherein the method further comprises: the ideal signal is generated, and the ranging code subcodes and navigation message information of the relevant signal components are replaced by the symbol 1.
4. The method of claim 1, wherein the method further comprises: the calculation of the ideal signal correlation power comprises the following specific steps,
(1) setting the number n of reading cycles to be 0, and reading an ideal baseband complex signal dat _ iq of the current cycle, wherein the cycle length is a signal component ranging code cycle;
(2) the read ideal baseband complex signal dat _ iq passes through a main lobe bandwidth filter to obtain a filtered signal dat _ filter _ iq, and then is correlated with a local baseband signal sig _ local to obtain rP(dat _ filter _ iq, sig _ local) is calculated as
Figure FDA0002320543430000011
Where K is the total number of data in the period, which is the product of the sampling rate and the ranging code period, fzIs a subcarrier function of the modulation mode, if the current signal component has no subcarrier modulation, the function is constantly equal to 1, and t (i) is the time corresponding to the current data; from rP(dat _ filter _ iq, sig _ local) and dat _ filter _ iq calculate the associated power under main lobe bandwidth conditions
Figure FDA0002320543430000012
Is calculated by the formula
Figure FDA0002320543430000021
Will r isP(dat _ filter _ iq, sig _ local) and
Figure FDA0002320543430000022
replacing data dat _ filter _ iq in the calculation formula with dat _ iq, and calculating the related power under the condition of transmission bandwidth
Figure FDA0002320543430000023
(3) And increasing the number n of the cycles by 1 and judging whether the number is greater than the total number of the cycles or not, if not, continuously reading the ideal baseband complex signal of the next cycle, and repeating the calculation process, otherwise, after the calculation process is finished, respectively averaging the main lobe bandwidth related power and the transmission bandwidth related power obtained by calculation of each cycle, namely the estimated value of the ideal signal related power.
5. The method of claim 4, wherein the method further comprises: the ideal signal correlation power calculation has a signal component ranging code period of typically 1ms or 10 ms.
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