CN111580134B - Regenerative satellite signal repeater - Google Patents
Regenerative satellite signal repeater Download PDFInfo
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- CN111580134B CN111580134B CN202010475285.XA CN202010475285A CN111580134B CN 111580134 B CN111580134 B CN 111580134B CN 202010475285 A CN202010475285 A CN 202010475285A CN 111580134 B CN111580134 B CN 111580134B
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
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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
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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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
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radio Relay Systems (AREA)
Abstract
The invention discloses a regenerative satellite signal repeater, which adopts an all-digital dynamic simulation technology to dynamically correct satellite navigation signals, so that the position of a user contained in the repeated satellite signals of the satellite signal repeater is variable, and a controllable dynamic simulation function is realized.
Description
Technical Field
The invention relates to the field of satellite navigation positioning, in particular to a regenerative satellite signal transponder.
Background
Beidou/GNSS satellite navigation applications are increasingly popular, the demand is continuously increased, and satellite navigation product manufacturers inevitably need to use test instruments in the aspects of design, production, maintenance and the like. Current instruments dedicated for pilot product testing fall into two general categories: navigation signal source, satellite signal transponder.
The navigation signal source establishes a complete model according to a space section, an environment section, a user section and the like, simulates the influence on links such as generation, transmission, reception and the like of satellite signals, has high precision and good consistency, but has the defects of high cost, difference from actual signals and the like.
The satellite signal repeater receives and repeats the analog signal, truly and completely restores the actual satellite signal, but leads the repeater antenna to be fixed, thereby limiting the application scene, being only suitable for static test and not capable of carrying out dynamic test.
Disclosure of Invention
The invention mainly solves the technical problem that the satellite signal transponder cannot be dynamically tested.
The invention provides a regenerative satellite signal repeater, comprising: the system comprises a radio frequency channel module and a baseband board, wherein the output end of the radio frequency channel module is connected with the input end of the baseband board, and the radio frequency channel module is used for converting a received target satellite signal into an analog intermediate frequency signal of a target satellite;
the baseband board card comprises an analog-to-digital conversion module, a clock module, a digital-to-analog conversion module, a baseband signal processing module, a navigation resolving module and a dynamic analog module;
the input end of the analog-to-digital conversion module is connected with the output end of the radio frequency channel module and is used for converting the analog intermediate frequency signal of the target satellite into a digital intermediate frequency signal of the target satellite;
the baseband signal processing module comprises a capturing module and a tracking module;
the input end of the capturing module is connected with the output end of the analog-to-digital conversion module and is used for judging whether the target satellite exists according to the digital intermediate frequency signal of the target satellite, and if so, the tracking module is used for tracking the carrier frequency of the target satellite, the carrier phase of the target satellite and the code phase of the target satellite so as to obtain the observed value of the target satellite; the baseband signal processing module is also used for receiving the carrier frequency and the code phase correction value output by the dynamic simulation module and delaying and compensating the target satellite code phase and the target satellite carrier phase; the code phase and the carrier phase after dynamic processing are subjected to intermediate frequency modulation and combining to obtain digital intermediate frequency signals of all satellites; transmitting the digital intermediate frequency signals of all satellites to a digital-to-analog conversion module, and outputting the analog intermediate frequency signals of all satellites to a radio frequency channel module;
the input end of the navigation resolving module is connected with the output end of the tracking module and is used for reading the navigation message and the original observed quantity such as carrier frequency, carrier phase and code phase sent by the target satellite and resolving the original observed quantity into the position, speed and time of the target satellite; the position and the speed of the antenna of the user receiver are calculated, and the position, the speed and the time information of the antenna are transmitted to a dynamic simulation module;
the input end of the dynamic simulation module is connected with the output end of the navigation resolving module and is used for obtaining the expected position and movement track of the receiver according to the observed value of the resolved target satellite, combining the position and speed of the current user receiver antenna, the position and speed of the current received target satellite and the dynamic control quantity preset by the user, further obtaining the carrier frequency and code phase correction value of the target satellite signal at each moment, and transmitting the corrected value to the baseband signal processing module for target satellite signal correction and intermediate frequency modulation.
Further, the acquisition module searches whether a signal of a target satellite exists in the received signals through a short-time matched filtering-FFT algorithm;
the capture module comprises: a digital down-conversion module, a pseudo-random code generator, a matched filter, an FFT and a Tong detector;
the digital down-conversion module is used for multiplying the digital intermediate frequency signal of the target satellite obtained by the analog-to-digital conversion module with a local carrier wave to obtain a complex baseband signal;
the pseudo-random code generator is used for generating pseudo-random codes corresponding to the target satellites to be captured according to satellite signs set by preset control software;
the matched filter is used for carrying out correlation operation through the complex baseband signal and the pseudo random code to obtain a short-time correlation value of the packet;
the FFT is used for carrying out spectrum analysis on the short-time correlation value to obtain a long integral value in the coherent time;
the Tong detector is used for traversing all long integral values output by the FFT, and judging that a target satellite exists if the integral value is larger than a preset threshold and reaches a specified number of times; otherwise, the target satellite is determined to be absent.
Further, according to the navigation message and the original observed quantity of the target satellite, resolving the navigation message into the position, the speed and the time of the target satellite, including:
parity check is carried out on the original message, and error-free message is analyzed to obtain ephemeris of each satellite;
from the satellite ephemeris, ephemeris reference time is resolved, and the detailed orbit parameters of each satellite and the satellite position, speed and time of the signal generation time point are calculated according to the specification of the user interface protocol of each satellite navigation system by taking the time as a reference.
Further, according to the calculated observation value of the target satellite, combining the position and the speed of the current receiver antenna, the position and the speed of the current satellite and the dynamic control quantity preset by a user to obtain a target position movement track, including:
the speed of a certain moment in the dynamic control quantity preset by a user is utilized, and the integral of the acceleration at the moment to time is added to obtain a dynamic compensation speed value in a period of time;
the position of the receiver antenna obtained by calculation is utilized, and the integral of the speed value of dynamic compensation to time is added to obtain a target position within a period of time, namely, the track of the moving target position;
the true pseudo-range of each satellite can be calculated according to the true satellite position and the position of the receiver antenna, the expected pseudo-range of each satellite can be calculated according to the true satellite position and the position of the moving target, and the difference between the expected pseudo-range and the true pseudo-range is the code phase correction value of dynamic compensation;
the Doppler frequency value of the Doppler effect generated can be calculated by combining the speed values of each dynamic compensation with the carrier frequency and the satellite elevation angle, namely the carrier frequency correction value of the dynamic compensation;
the code phase compensation adopts a delay method based on a DDS, and realizes the time delay of pseudo codes by controlling the phase of a control word of a pseudo-random code generator for driving the DDS;
the carrier frequency compensation directly adds the carrier frequency correction value on the frequency control word of the local carrier DDS to realize frequency correction.
Compared with the prior art, the invention has the following technical effects:
the satellite signal repeater carries out dynamic correction processing on the satellite navigation signal by adopting the full digital dynamic simulation technology, so that the position of a user contained in the repeated satellite signal is variable, and the controllable dynamic simulation function is realized.
Drawings
FIG. 1 is a schematic diagram of a regenerative satellite signal transponder;
fig. 2 is a schematic block diagram of a baseband board.
Detailed Description
The invention will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, some operations associated with the present application have not been shown or described in the specification to avoid obscuring the core portions of the present application, and may not be necessary for a person skilled in the art to describe in detail the relevant operations based on the description herein and the general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated.
Examples:
referring to fig. 1, fig. 1 is a block diagram of a regenerative satellite signal repeater according to an embodiment, including: the radio frequency channel module and the baseband board card.
The output end of the radio frequency channel module is connected with the input end of the baseband board card, and the radio frequency channel module is used for converting the received target satellite signals into analog intermediate frequency signals of the target satellite.
As shown in fig. 2, the baseband board comprises an analog-to-digital conversion module, a clock module, a digital-to-analog conversion module, a baseband signal processing module, a navigation resolving module and a dynamic analog module.
The input end of the analog-to-digital conversion module is connected with the output end of the radio frequency channel module and is used for converting the analog intermediate frequency signal of the target satellite into the digital intermediate frequency signal of the target satellite, namely, sampling the analog intermediate frequency signal of the target satellite.
The baseband signal processing module comprises a capturing module and a tracking module. The input end of the capturing module is connected with the output end of the analog-to-digital conversion module and is used for judging whether the target satellite exists according to the digital intermediate frequency signal of the target satellite, and if so, the tracking module is used for tracking the carrier frequency of the target satellite, the carrier phase of the target satellite and the code phase of the target satellite so as to obtain the observed value of the target satellite; the baseband signal processing module is also used for receiving the carrier frequency and the code phase correction value output by the dynamic simulation module and delaying and compensating the target satellite code phase and the target satellite carrier phase; the code phase and the carrier phase after dynamic processing are subjected to intermediate frequency modulation and combining to obtain digital intermediate frequency signals of all satellites; and transmitting the digital intermediate frequency signals of the satellites to a digital-to-analog conversion module, and outputting the analog intermediate frequency signals of the satellites to a radio frequency channel module.
The acquisition module searches whether a signal of a target satellite exists in the received signals through a short-time matched filter-FFT algorithm.
The acquisition module in this embodiment includes a digital down-conversion module, a pseudo-random code generator, a matched filter, an FFT, and a Tong detector. The digital down-conversion module is used for multiplying the digital intermediate frequency signal of the target satellite obtained by the analog-to-digital conversion module with a local carrier wave to obtain a complex baseband signal; the pseudo-random code generator is used for generating pseudo-random codes corresponding to satellites to be captured according to satellite signs set by preset control software; the matched filter is used for carrying out correlation operation through the complex baseband signal and the pseudo random code to obtain a short-time correlation value of the packet; the FFT is used for carrying out spectrum analysis on the short-time correlation value to obtain a long integral value in the coherent time; the Tong detector is used for traversing all long integral values output by the FFT, and judging that a target satellite exists if the integral value is larger than a preset threshold and reaches a specified number of times; otherwise, the target satellite is determined to be absent.
The baseband signal processing module is also used for receiving the carrier frequency and the code phase correction value output by the dynamic simulation module and delaying and compensating the target satellite code phase and the target satellite carrier phase; the code phase and the carrier phase after dynamic processing are subjected to intermediate frequency modulation and combining to obtain digital intermediate frequency signals of all satellites; and transmitting the digital intermediate frequency signals of the satellites to a digital-to-analog conversion module, and outputting the analog intermediate frequency signals of the satellites to a radio frequency channel module.
The input end of the navigation resolving module is connected with the output end of the tracking module and is used for reading the navigation message and the original observed quantity such as carrier frequency, carrier phase and code phase sent by the target satellite and resolving the original observed quantity into the position, speed and time of the target satellite; and the position and the speed of the antenna of the user receiver are calculated, and the position, the speed and the time information of the antenna are transmitted to the dynamic simulation module.
According to the navigation message and the original observed quantity of the target satellite, the position, the speed and the time of the target satellite are calculated, and the method comprises the following steps:
parity check is carried out on the original message, and error-free message is analyzed to obtain ephemeris of each satellite;
from the satellite ephemeris, ephemeris reference time is resolved, and the detailed orbit parameters of each satellite, the satellite position and the satellite speed of the signal generation time point are calculated according to the specification of the user interface protocol of each satellite navigation system by taking the time as a reference.
The input end of the dynamic simulation module is connected with the output end of the navigation resolving module and is used for obtaining the expected position and movement track of the receiver according to the observed value of the resolving target satellite, combining the position and speed of the current user receiver antenna, the position and speed of the current received satellite and the dynamic control quantity preset by the user, further obtaining satellite signal carrier frequency and code phase correction values at all times, and transmitting the satellite signal carrier frequency and code phase correction values to the baseband signal processing module for signal correction and intermediate frequency modulation.
Combining the position and the speed of the current receiver antenna, the position and the speed of the current satellite and the dynamic control quantity preset by a user according to the calculated observed quantity value of the target satellite to obtain a target position movement track, wherein the method comprises the following steps:
the speed of a certain moment in the dynamic control quantity preset by a user is utilized, and the integral of the acceleration at the moment to time is added to obtain a dynamic compensation speed value in a period of time;
the position of the receiver antenna obtained by calculation is utilized, and the integral of the speed value of dynamic compensation to time is added to obtain a target position within a period of time, namely, the track of the moving target position;
the true pseudo-range of each satellite can be calculated according to the true satellite position and the position of the receiver antenna, the expected pseudo-range of each satellite can be calculated according to the true satellite position and the position of the moving target, and the difference between the expected pseudo-range and the true pseudo-range is the code phase correction value of dynamic compensation;
the Doppler frequency value of the Doppler effect generated can be calculated by combining the speed values of each dynamic compensation with the carrier frequency and the satellite elevation angle, namely the carrier frequency correction value of the dynamic compensation;
the code phase compensation adopts a delay method based on a DDS, and realizes the time delay of pseudo codes by controlling the phase of a control word of a pseudo-random code generator for driving the DDS;
the carrier frequency compensation directly adds the carrier frequency correction value on the frequency control word of the local carrier DDS to realize frequency correction.
The invention has been described with particular reference to examples, which are intended to be merely illustrative of the invention and not limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (3)
1. A regenerative satellite signal repeater, comprising: the system comprises a radio frequency channel module and a baseband board, wherein the output end of the radio frequency channel module is connected with the input end of the baseband board, and the radio frequency channel module is used for converting a received target satellite signal into an analog intermediate frequency signal of a target satellite;
the baseband board card comprises an analog-to-digital conversion module, a clock module, a digital-to-analog conversion module, a baseband signal processing module, a navigation resolving module and a dynamic analog module;
the input end of the analog-to-digital conversion module is connected with the output end of the radio frequency channel module and is used for converting the analog intermediate frequency signal of the target satellite into a digital intermediate frequency signal of the target satellite;
the baseband signal processing module comprises a capturing module and a tracking module;
the input end of the capturing module is connected with the output end of the analog-to-digital conversion module and is used for judging whether the target satellite exists according to the digital intermediate frequency signal of the target satellite, and if so, the tracking module is used for tracking the carrier frequency of the target satellite, the carrier phase of the target satellite and the code phase of the target satellite so as to obtain the observed value of the target satellite; the baseband signal processing module is also used for receiving the carrier frequency and the code phase correction value output by the dynamic simulation module and delaying and compensating the target satellite code phase and the target satellite carrier phase; the code phase and the carrier phase after dynamic processing are subjected to intermediate frequency modulation and combining to obtain digital intermediate frequency signals of all satellites; transmitting the digital intermediate frequency signals of all satellites to a digital-to-analog conversion module, and outputting the analog intermediate frequency signals of all satellites to a radio frequency channel module;
the input end of the navigation resolving module is connected with the output end of the tracking module and is used for reading the navigation message and the original observed quantity of carrier frequency, carrier phase and code phase sent by the target satellite and resolving the original observed quantity into the position, speed and time of the target satellite; the position and the speed of the antenna of the user receiver are calculated, and the position, the speed and the time information of the antenna are transmitted to a dynamic simulation module;
the input end of the dynamic simulation module is connected with the output end of the navigation resolving module and is used for obtaining the expected position and movement track of the receiver according to the observed value of the resolved target satellite, combining the position and speed of the current user receiver antenna, the position and speed of the currently received target satellite and the dynamic control quantity preset by the user, further obtaining the carrier frequency and the code phase correction value of the target satellite signal at each moment, and transmitting the corrected value to the baseband signal processing module for target satellite signal correction and intermediate frequency modulation;
the acquisition module searches whether a signal of a target satellite exists in the received signals or not through a short-time matched filtering-FFT algorithm;
the capture module comprises: a digital down-conversion module, a pseudo-random code generator, a matched filter, an FFT and a Tong detector;
the digital down-conversion module is used for multiplying the digital intermediate frequency signal of the target satellite obtained by the analog-to-digital conversion module with a local carrier wave to obtain a complex baseband signal;
the pseudo-random code generator is used for generating pseudo-random codes corresponding to the target satellites to be captured according to satellite signs set by preset control software;
the matched filter is used for carrying out correlation operation through the complex baseband signal and the pseudo random code to obtain a short-time correlation value of the packet;
the FFT is used for carrying out spectrum analysis on the short-time correlation value to obtain a long integral value in the coherent time;
the Tong detector is used for traversing all long integral values output by the FFT, and judging that a target satellite exists if the integral value is larger than a preset threshold and reaches a specified number of times; otherwise, the target satellite is determined to be absent.
2. The regenerative satellite signal repeater of claim 1, wherein resolving to the position, velocity and time of the target satellite based on the navigation message and the original observations of the target satellite comprises:
parity check is carried out on the original message, and error-free message is analyzed to obtain ephemeris of each satellite; from the satellite ephemeris, ephemeris reference time is resolved, and the detailed orbit parameters of each satellite and the satellite position, speed and time of the signal generation time point are calculated according to the specification of the user interface protocol of each satellite navigation system by taking the time as a reference.
3. The regenerative satellite signal repeater of claim 1, wherein the obtaining the target position motion trajectory according to the calculated observations of the target satellite in combination with the current receiver antenna position and velocity, the current satellite position and velocity, and the user-preset dynamic control amount comprises:
the speed of a certain moment in the dynamic control quantity preset by a user is utilized, and the integral of the acceleration at the moment to time is added to obtain a dynamic compensation speed value in a period of time;
the position of the receiver antenna obtained by calculation is utilized, and the integral of the speed value of dynamic compensation to time is added to obtain a target position within a period of time, namely, the track of the moving target position;
calculating the true pseudo-range of each satellite according to the true satellite position and the position of the receiver antenna, and calculating the expected pseudo-range of each satellite according to the true satellite position and the position of the moving target, wherein the difference between the expected pseudo-range and the true pseudo-range is the code phase correction value of dynamic compensation;
calculating Doppler frequency values of the Doppler effect by combining the speed values of each dynamic compensation with carrier frequency and satellite elevation angle, namely, dynamically compensating carrier frequency correction values;
the code phase compensation adopts a delay method based on a DDS, and realizes the time delay of pseudo codes by controlling the phase of a control word of a pseudo-random code generator for driving the DDS;
the carrier frequency compensation directly adds the carrier frequency correction value on the frequency control word of the local carrier DDS to realize frequency correction.
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