CN111505673A - Ephemeris collection method - Google Patents
Ephemeris collection method Download PDFInfo
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- CN111505673A CN111505673A CN202010287417.6A CN202010287417A CN111505673A CN 111505673 A CN111505673 A CN 111505673A CN 202010287417 A CN202010287417 A CN 202010287417A CN 111505673 A CN111505673 A CN 111505673A
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- frequency band
- satellite
- ephemeris data
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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
- G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
-
- 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
- G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
Abstract
The invention discloses a method for collecting ephemeris of a receiver, which comprises the following steps: the GNSS receiver simultaneously receives a first satellite signal and a second satellite signal which are respectively transmitted by the same Beidou satellite through a frequency band 1 and a frequency band 2, and the first satellite signal and the second satellite signal both comprise the same Beidou satellite ephemeris data; and the GNSS receiver verifies and splices the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1 and the frequency band 2 to obtain correct and complete Beidou satellite ephemeris data. The invention utilizes the characteristic of double-frequency data receiving of the Beidou double-frequency receiver to remedy the situation of error codes generated in a single frequency, thereby quickly collecting correct and complete ephemeris data, enabling the receiver to be positioned quickly and improving the user experience.
Description
Technical Field
The invention relates to the technical field of satellite positioning, and discloses a method and a device for collecting ephemeris of a Beidou dual-frequency receiver.
Background
In the process of satellite baseband signal processing, after a receiver receives a satellite signal, the carrier and the pseudo code of the signal are stripped through a tracking loop. After the bit synchronization and the frame synchronization processing are carried out on the IP branch output data of the tracking loop, the bit starting edge and the frame starting position are found from a plurality of signal levels, and finally, complete ephemeris information is extracted from a plurality of continuous subframes through a decoding module.
Under the current scene that the high-precision positioning demand is gradually vigorous, more and more receivers support double-frequency signal processing. The dual-frequency receiver simultaneously receives signals of two (or more) frequency bands sent by one satellite, and improves the positioning accuracy through a differential positioning algorithm. The ephemeris information modulated on the signals of different frequency bands of one satellite is completely consistent, and a general receiver only decodes the data of one frequency band, and the data of other frequency bands are directly discarded after the frame synchronization is completed.
In the actual long-term operation process of the receiver, various reasons can occur, so that the satellite channel subframe check is not passed. Under the condition of weak signals, the error rate of data can be obviously improved. For the Beidou GEO satellite, because the sub-frame level of the Beidou GEO satellite only lasts for 2ms, energy accumulation can not be carried out through long-time coherent accumulation, error codes easily occur, and therefore sub-frame verification can not be passed frequently. After a certain subframe fails to pass the verification, the subframe data is discarded, and if the subframe contains ephemeris data, the ephemeris is incomplete. The system may not be able to obtain new ephemeris in a timely manner, and the calculation of the satellite position may be erroneous.
Therefore, a method for solving the above problems is urgently required.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a method for collecting ephemeris of a Beidou double-frequency receiver, and accordingly, the invention provides a method for a receiver ephemeris mobile phone, which comprises the following steps: the GNSS receiver simultaneously receives a first satellite signal and a second satellite signal which are respectively transmitted by the same Beidou satellite through a frequency band 1 and a frequency band 2, and the first satellite signal and the second satellite signal both comprise the same Beidou satellite ephemeris data; and the GNSS receiver verifies and splices the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1 and the frequency band 2 to obtain correct and complete Beidou satellite ephemeris data.
Further, the verification of the Beidou satellite ephemeris data specifically adopts a BCH (broadcast channel) verification method and takes words as units.
Further, verifying and splicing the ephemeris data of the Beidou satellite specifically comprise: when a certain subframe W of the frequency band 1 does not pass the verification, verifying all words of the subframe, and determining the position of a word W1 of the subframe W which does not pass the verification; checking the word Z1 at the same position of the same subframe Z of the frequency band 2, and splicing the word Z1 of the frequency band 2 to the subframe W of the frequency band 1 if the checking is passed, so as to obtain a complete and correct subframe.
Further, checking a word Z1 at the same position of the same subframe Z of the frequency band 2, if the word Z1 fails to pass the check, dividing the word W1 into two BCH units, respectively marking the BCH units as a unit W11 and a unit W12, respectively checking the unit W11 and the unit W12, finding a unit which fails the check, checking the unit at the same position of the same subframe of the frequency band 2, and if the check is passed, splicing the unit of the frequency band 2 to the position of the unit which fails the check of the frequency band 1 to obtain a correct and complete subframe.
Further, before splicing, whether the word or unit of the frequency band 2 is turned over is determined through a synchronous code of a subframe, if the word or unit of the frequency band 2 is not turned over, the unit or the word of the frequency band 2 passing verification is directly spliced to the frequency band 1, otherwise, the word or unit data of the frequency band 2 needs to be replaced after being turned over.
Further, the GNSS receiver also receives a third satellite signal transmitted by the same Beidou satellite through a frequency band 3, and the third satellite signal, the first satellite signal and the second satellite signal all comprise the same Beidou satellite ephemeris data; and the GNSS receiver verifies and splices the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1, the frequency band 2 and the frequency band 3 to obtain correct and complete Beidou satellite ephemeris data.
Further, the duration of one set of complete big dipper satellite ephemeris data is 30 seconds, and the constantly repeated interval of big dipper satellite 30 seconds sends big dipper satellite ephemeris data through frequency channel 1 and frequency channel 2 respectively.
Furthermore, the Beidou satellite ephemeris data consists of pages, frames, subframes, words and bits, and one set of Beidou ephemeris data is kept unchanged for a period of time and is broadcast in a circulating mode.
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 of the preceding claims.
Further, a receiver ephemeris collection apparatus comprising: the receiving unit is used for simultaneously receiving a first satellite signal and a second satellite signal which are respectively transmitted by the same Beidou satellite through a frequency band 1 and a frequency band 2 through a GNSS receiver, wherein the first satellite signal and the second satellite signal both comprise the same Beidou satellite ephemeris data; and the verification and splicing unit is used for verifying and splicing the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1 and the frequency band 2 through the GNSS receiver to obtain correct and complete Beidou satellite ephemeris data.
Compared with the prior art, the invention provides a receiver ephemeris collecting method, wherein a GNSS receiver simultaneously receives a first satellite signal and a second satellite signal which are respectively transmitted by the same Beidou satellite through a frequency band 1 and a frequency band 2, and the first satellite signal and the second satellite signal both comprise the same Beidou satellite ephemeris data; and the GNSS receiver verifies and splices the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1 and the frequency band 2 to obtain correct and complete Beidou satellite ephemeris data. The invention utilizes the characteristic of double-frequency data receiving of the Beidou double-frequency receiver to remedy the situation of error codes generated in a single frequency, thereby quickly collecting correct and complete ephemeris data, enabling the receiver to be positioned quickly and improving the user experience.
Drawings
FIG. 1 is a flow chart illustrating a receiver ephemeris collection method of the present invention;
FIG. 2 is a schematic diagram of a receiver ephemeris collection apparatus according to the invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, some of which are illustrated in the accompanying drawings and described below, wherein like reference numerals refer to like elements throughout. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, based on the embodiments and the graphics of the invention, are within the scope of protection of the invention.
Satellite data streams received by the GNSS receiver are subjected to capturing tracking, carrier and pseudo code stripping, and then bit synchronization, frame synchronization and decoding operations are sequentially carried out, so that satellite telegraph text data are obtained. The satellite position and time model are calculated by using the satellite text data, and further, the position information of the receiver or the position information of the user is calculated. In modern information society, there is an increasing demand for fast and accurate positioning, for example in the case of autopilots or drones, which require fast and precise positioning. Before subframe decoding is carried out, in order to ensure the correctness of subframe data, the subframe is firstly checked, only the subframe passing the check can be subjected to text decoding, and a set of complete navigation text can be spliced by decoding a plurality of subframe texts. In a GEO satellite, the GNSS receiver can repeatedly receive such multiple subframes every 30 seconds. In other embodiments, for GEO satellites, the repetition time is 3 seconds.
The Beidou satellite navigation data consists of superframes, main frames and subframes, each subframe consists of words, and each word consists of a plurality of bits. Satellite signals are broadcast by the Beidou satellite in a circulating mode, and the GNSS receiver can receive a set of complete ephemeris data every 30 seconds. However, under the condition of a weak signal, the error rate of the ephemeris data can be obviously improved, and the satellite position and time model cannot be solved by using the set of ephemeris data with the error, so that the position information of the user cannot be solved. The conventional processing method continuously collects the correct subframe of the next set of ephemeris data every 30 seconds by taking the subframe as a unit until the set of correct ephemeris data is collected, and the method requires that all words in the whole subframe are correct and the correct subframe can not be collected. However, the error rate is high under weak signals, the receiver may collect a complete and correct set of ephemeris data for a long time, and the receiver may take a long time to locate. The requirement of the positioning speed in time is not met.
The data bit of the Beidou GEO satellite is only maintained for 2ms, compared with the 20ms bit period of GPS L1 and BDS non-GEO satellite signals, the GEO signals cannot be subjected to long-time coherent accumulation for 20ms, so that the frame synchronization check of the Beidou GEO satellite is easier to fail, the GPS L1 signals adopt parity check, and the BDS B1/B3 signals adopt BCH check.
One subframe comprises 10 words, the 1 st word is a telemetry word, the first 15 bits of the subframe comprise 11-bit synchronization codes, the last 15 bits adopt BCH (15,11,1) verification, the last 9 words adopt 2 BCH (15,11,1) verifications, and interleaving is carried out. When a subframe fails to check, the subframe may have only a certain word whose BCH check is failed or a certain word whose one BCH unit fails to check, while other words pass the check.
Under the current scene that the high-precision positioning demand is gradually vigorous, more and more receivers support double-frequency signal processing. The dual-frequency receiver simultaneously receives signals of two (or more) frequency bands sent by one satellite, and improves the positioning accuracy through a differential positioning algorithm. Ephemeris information modulated on different frequency band signals of the same satellite is completely consistent.
For example, as shown in fig. 1, a method for receiver ephemeris collection provided by the present invention includes: s1, the GNSS receiver simultaneously receives a first satellite signal and a second satellite signal which are respectively transmitted by the same Beidou satellite through a frequency band 1 and a frequency band 2, and the first satellite signal and the second satellite signal both comprise the same Beidou satellite ephemeris data; s2, the GNSS receiver verifies and splices the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1 and the frequency band 2 to obtain correct and complete Beidou satellite ephemeris data. The verification of the Beidou satellite ephemeris data is specifically verification by using a BCH (broadcast channel) verification method and taking words as units.
When the Beidou satellite ephemeris data is verified and spliced, when a certain subframe W of the frequency band 1 fails to pass the verification, all words of the subframe are verified, and the position of the word W1 of the subframe W which does not pass the verification is determined; then, checking a word Z1 at the same position of the same subframe Z of the frequency band 2, wherein the same subframe Z means that the ephemeris data on the subframe Z is completely consistent with the ephemeris data on the subframe W, and the same position means that the position of the word on the subframe Z is the same as the position of the word on the subframe W, if the word Z1 passes the check, splicing the word Z1 of the frequency band 2 to the subframe W of the frequency band 1, namely replacing the word W1 on the subframe W with the word Z1, so as to obtain a complete and correct subframe, further collect a complete and correct set of subframes, further collect a complete and correct set of ephemeris data, and further solve the position information of the receiver.
When checking the word Z1 at the same position of the same subframe Z of the frequency band 2, if the word Z1 also fails to check, dividing the word W1 into two BCH units, respectively marking the BCH units as a unit W11 and a unit W12, respectively checking the unit W11 and the unit W12, finding the unit W11 which fails to check, checking the unit Z11 at the same position of the same subframe of the frequency band 2, and if the Z11 passes the check, splicing the unit Z11 of the frequency band 2 to the position of the unit W11 of the frequency band 1 which fails to check, so as to obtain a correct and complete subframe. That is, the unit Z11 replaces the unit W11 to obtain a complete and correct word, so as to obtain a complete and correct subframe, and further collect a complete and correct set of subframes, and further collect a complete and correct set of ephemeris data, and further solve the position information of the receiver.
And before splicing the replacement words or units, determining whether the words or units of the frequency band 2 are turned over or not through the synchronous codes of the subframes, if not, directly splicing the verified units or words of the frequency band 2 to the frequency band 1, otherwise, replacing the words or units of the frequency band 2 after turning over the data level.
Other GNSS receivers may also receive a third satellite signal transmitted by the same Beidou satellite through the frequency band 3, and the third satellite signal, the first satellite signal and the second satellite signal all comprise the same Beidou satellite ephemeris data; and the GNSS receiver verifies and splices the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1, the frequency band 2 and the frequency band 3 to obtain correct and complete Beidou satellite ephemeris data. The splice replacement method is as above and will not be repeated.
In a non-GEO satellite, the duration of one set of complete Beidou satellite ephemeris data is 30 seconds, and the Beidou satellite continuously and repeatedly sends the Beidou satellite ephemeris data through a frequency band 1 and a frequency band 2 at an interval of 30 seconds respectively. The Beidou satellite ephemeris data consists of pages, frames, subframes, words and bits, and one set of Beidou ephemeris data is kept unchanged for a period of time and is broadcast in a circulating mode.
According to the method, by utilizing the structural characteristics of the Beidou navigation message, under the condition that the BCH check of a certain word in the frequency band 1 is not passed, the word at the position corresponding to the frequency band 2 is checked, and if the check of the frequency band 2 is passed, the word at the position corresponding to the frequency band 1 can be replaced by the word in the frequency band 2. Further, if the words in the same position in the dual-frequency band 1 and the dual-frequency band 2 do not pass the BCH check, the words are non-telemetry words, which are denoted as w1 and z1, respectively, and each word is divided into two BCH units, that is, w1 ═ w11+ w12z1 ═ z11+ z 12. If the error positions of two words occur in different BCH units, for example, w11 and z12 at the error positions in w1 and z1, respectively, the checked parts can be combined to form a new word a, z11+ w12, and the word a is used to replace w for decoding. In the replacement process, it should be noted that, since BCH check is insensitive to text inversion, the situation that the text levels of the frequency band 2 and the frequency band 2 are opposite may occur, so that the synchronization codes of the same subframe of the frequency band 1 and the frequency band 2 need to be compared before replacement, if the two are in phase, the two are directly replaced, otherwise, the 30-bit data level needs to be inverted and then replaced.
As shown in fig. 2, the present invention further provides a receiver ephemeris collecting apparatus, including: s10, the receiving unit receives a first satellite signal and a second satellite signal which are respectively transmitted by the same Beidou satellite through a frequency band 1 and a frequency band 2 through the GNSS receiver, and the first satellite signal and the second satellite signal both comprise the same Beidou satellite ephemeris data; and S20, verifying and splicing the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1 and the frequency band 2 through the GNSS receiver by the verification splicing unit to obtain correct and complete Beidou satellite ephemeris data.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of any of the methods 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.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A method of receiver ephemeris collection comprising:
the GNSS receiver simultaneously receives a first satellite signal and a second satellite signal which are respectively transmitted by the same Beidou satellite through a frequency band 1 and a frequency band 2, and the first satellite signal and the second satellite signal both comprise the same Beidou satellite ephemeris data;
and the GNSS receiver verifies and splices the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1 and the frequency band 2 to obtain correct and complete Beidou satellite ephemeris data.
2. The method of claim 1, wherein: the verification of the Beidou satellite ephemeris data is specifically verification by using a BCH (broadcast channel) verification method and taking words as units.
3. The method of claim 2, wherein: the verification and splicing of the ephemeris data of the Beidou satellite specifically comprises the following steps: when a certain subframe W of the frequency band 1 does not pass the verification, verifying all words of the subframe, and determining the position of a word W1 of the subframe W which does not pass the verification;
checking the word Z1 at the same position of the same subframe Z of the frequency band 2, and splicing the word Z1 of the frequency band 2 to the subframe W of the frequency band 1 if the checking is passed, so as to obtain a complete and correct subframe.
4. The method of claim 3, wherein: checking a word Z1 at the same position of the same subframe ZZ of the frequency band 2, if the word Z1 does not pass the checking, dividing the word W1 into two BCH units which are respectively marked as a unit W11 and a unit W12, respectively checking the unit W11 and the unit W12, finding out the unit which does not pass the checking, checking the unit at the same position of the same subframe of the frequency band 2, and if the unit passes the checking, splicing the unit of the frequency band 2 to the position of the unit which does not pass the checking of the frequency band 1 to obtain a correct and complete subframe.
5. The method according to claim 3 or 4, characterized in that: before splicing, whether the words or the units of the frequency band 2 are turned over is determined through the synchronous codes of the subframes, if not, the verified units or the words of the frequency band 2 are directly spliced to the frequency band 1, otherwise, the words or the units of the frequency band 2 need to be replaced after the data level is turned over.
6. The method of claim 1, wherein: the GNSS receiver also simultaneously receives a third satellite signal transmitted by the same Beidou satellite through a frequency band 3, and the third satellite signal, the first satellite signal and the second satellite signal all comprise the same Beidou satellite ephemeris data;
and the GNSS receiver verifies and splices the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1, the frequency band 2 and the frequency band 3 to obtain correct and complete Beidou satellite ephemeris data.
7. The method of claim 1, wherein: the duration of one set of complete big dipper satellite ephemeris data is 30 seconds, and big dipper satellite constantly repeated interval 30 seconds sends big dipper satellite ephemeris data through frequency channel 1 and frequency channel 2 respectively.
8. The method of claim 1, wherein: the Beidou satellite ephemeris data consists of pages, frames, subframes, words and bits, and one set of Beidou ephemeris data is kept unchanged for a period of time and is broadcast in a circulating mode.
9. 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 according to any one of claims 1 to 4.
10. A receiver ephemeris collection apparatus, comprising:
the receiving unit is used for simultaneously receiving a first satellite signal and a second satellite signal which are respectively transmitted by the same Beidou satellite through a frequency band 1 and a frequency band 2 through a GNSS receiver, wherein the first satellite signal and the second satellite signal both comprise the same Beidou satellite ephemeris data;
and the verification and splicing unit is used for verifying and splicing the received Beidou satellite ephemeris data from the same sub-frames of the frequency band 1 and the frequency band 2 through the GNSS receiver to obtain correct and complete Beidou satellite ephemeris data.
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| CN202010287417.6A CN111505673A (en) | 2020-04-13 | 2020-04-13 | Ephemeris collection method |
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| CN202010287417.6A CN111505673A (en) | 2020-04-13 | 2020-04-13 | Ephemeris collection method |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005207888A (en) * | 2004-01-22 | 2005-08-04 | Denso Corp | Signal receiving device for satellite positioning |
| CN103592661A (en) * | 2013-11-26 | 2014-02-19 | 中国科学院嘉兴微电子与系统工程中心 | Dipper ephemeris collecting method |
| CN110376617A (en) * | 2019-07-10 | 2019-10-25 | 广东星舆科技有限公司 | A kind of method, storage medium and device generating text |
-
2020
- 2020-04-13 CN CN202010287417.6A patent/CN111505673A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005207888A (en) * | 2004-01-22 | 2005-08-04 | Denso Corp | Signal receiving device for satellite positioning |
| CN103592661A (en) * | 2013-11-26 | 2014-02-19 | 中国科学院嘉兴微电子与系统工程中心 | Dipper ephemeris collecting method |
| CN110376617A (en) * | 2019-07-10 | 2019-10-25 | 广东星舆科技有限公司 | A kind of method, storage medium and device generating text |
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