CN111983663A - High dynamic satellite navigation chip device based on Beidou combined GPS and GLONASS - Google Patents
High dynamic satellite navigation chip device based on Beidou combined GPS and GLONASS Download PDFInfo
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- CN111983663A CN111983663A CN202010649999.8A CN202010649999A CN111983663A CN 111983663 A CN111983663 A CN 111983663A CN 202010649999 A CN202010649999 A CN 202010649999A CN 111983663 A CN111983663 A CN 111983663A
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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
- G01S19/53—Determining attitude
- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
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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
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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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a high dynamic satellite navigation chip device based on Beidou combined GPS and GLONASS, which comprises an antenna, a low noise amplifier module, a radio frequency channel module, a comprehensive information processing module, a power supply unit and a whole machine structure, wherein the antenna is a GPS, GLONASS and BDS receiving triple-frequency antenna; the low-noise amplifier module is integrated in the antenna and comprises a GPS/GLONASS and a BDS low-noise amplifier; the radio frequency channel module comprises a GPS/GLONASS compatible channel and a BDS receiving channel; the comprehensive information processing module comprises a baseband signal processing module, an information processing module and an application processing module; the baseband signal processing module completes the de-spreading, demodulation, tracking, bit synchronization, frame synchronization and the like of the GPS, GLONASS and BDS signals. The antenna automatic zero setting technology has obvious anti-interference advantage; the high-sensitivity receiver technology has the advantage of receiving small signals by a low threshold; the low-power consumption board design technology has the advantages of low power consumption and long-time standby.
Description
Technical Field
The invention relates to the technical field of satellite navigation chips, in particular to a high dynamic satellite navigation chip device based on combination of Beidou, GPS and GLONASS.
Background
The satellite navigation system is one of electronic communication systems with the fastest scientific and technological innovation development in the world at present, can provide high-precision, all-time and all-weather navigation, positioning, time service and communication services for users, is an important component of information infrastructure of each country in the world, is a major technical support system for national safety and national defense, and is also an important guarantee for national economic safety.
With the modernization of the GPS, the updating and recovering of the GLONASS and the gradual building of the Beidou, the situation that a plurality of sets of navigation satellite systems coexist in the future space appears. The deep research is based on the combined common positioning technology of a plurality of navigation satellite systems, the development of a multimode receiver chip set and the research of a corresponding data fusion method, and is the scientific and technological innovation work of the disputed development at home and abroad at present.
At present, the research on the high-dynamic three-module combined navigation board card similar to the project in China is in the research and development test stage, and the foreign high-dynamic multi-module combined navigation board card is based on the dual-module board card of the GPS fusion GLONASS; the Beidou integrated three-template card is also in the research, development and test stage, and no report on batch production and application is found; at present, the source code of the second generation of Beidou in China is not opened abroad, and domestic development users also need to be authorized after secret authentication; some domestic enterprises accumulate certain experience in the related technical field of multiple satellite multimode and have certain technical foundation. However, in general, the development and development of the satellite navigation receiver core technology in China are lagged, the development of the high-dynamic three-mode satellite navigation is only technically discussed by research institutes and military enterprises in some countries at present, and no report of realization or test exists in engineering, so that the breakthrough and the realization of engineering of the company on the technology fill the domestic blank, and the satellite navigation receiver has market-first advantages, great market competition advantages and huge development space in the future.
Disclosure of Invention
The invention aims to provide a Beidou-based GPS and GLONASS combined high dynamic satellite navigation chip device to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a high dynamic satellite navigation chip device based on Beidou combined with GPS and GLONASS comprises an antenna, a low noise amplifier module, a radio frequency channel module, a comprehensive information processing module, a power supply unit and a whole structure, wherein the antenna is a GPS, GLONASS and BDS receiving triple-frequency antenna; the low-noise amplifier module is integrated in the antenna and comprises a GPS/GLONASS and a BDS low-noise amplifier; the radio frequency channel module comprises a GPS/GLONASS compatible channel and a BDS receiving channel; the comprehensive information processing module comprises a baseband signal processing module, an information processing module and an application processing module; the baseband signal processing module completes the despreading, demodulation, tracking, bit synchronization, frame synchronization and the like of the GPS, GLONASS and BDS signals, the final demodulation data and the ranging data are sent to the information processing module, the position information is calculated out, and the position information is output through the application processing module; the receiving channel comprises a receiving radio frequency part and a local oscillator part, the receiving radio frequency part comprises down conversion, amplification and filtering, and the local oscillator part comprises a crystal oscillator and a frequency synthesizer; the baseband signal processing module and the information processing module mainly comprise three programmable logic devices of A/D, FPGA and DSP.
Preferably, the comprehensive information processing module comprises a correlator, the correlator comprises a quantization code, a down-conversion module, a code correlation module and a control module, the quantization code is connected with the down-conversion module, the down-conversion module is connected with the code correlation module, and the code correlation module is connected with the control module.
Preferably, the correlator adopts a GPS/GLONASS/BDS three-mode compatible design, and the correlator sets the states of the channels through the DSP, so that the dynamic allocation of 36 channels in total of the correlator is ensured.
Preferably, the integrated information processing module comprises an FPGA baseband signal processor, the FPGA baseband signal processor comprises a GPS/GLONASS baseband correlator, a BD baseband correlator and a control logic module, the BD baseband correlator is connected with the GPS/GLONASS baseband correlator, and the BD baseband correlator and the GPS/GLONASS baseband correlator are both connected with the DSP bus.
Preferably, the system also comprises a receiver, wherein the receiver comprises a quantization coding module and a down-conversion module, the quantization coding module is connected with the down-conversion module, the down-conversion module is connected with a code correlation module, and the code correlation module is respectively connected with the measurement module and the control module.
Preferably, the measurement module and the control module are both connected with a DSP, and the DSP is connected with the data settlement module.
Preferably, the baseband signal processing module adopts an ARM architecture.
Compared with the prior art, the invention has the beneficial effects that:
1. the GNSS three-mode receiver adopts a software-based solution, a receiver chip can carry out programmable control on the processing process software of the signal, the working mode and the receiving frequency band of the software-based GNSS three-mode receiver integrated module are completely programmable, and the programs of the receiving chip are replaced to adapt to the working modes of a multi-frequency band and a three-mode; the development cost is reduced, and the time to market of a new product is greatly shortened;
2. the multifunctional antenna designed by the project is required to be capable of receiving multi-system navigation satellite signals and differential information of an L waveband, has pre-amplification and has good response sensitivity to selected frequency; according to different functional requirements of a receiver, designing the antenna bandwidth in a material differentiation manner;
3. the three-mode radio frequency receiving module designed by the project is used for receiving three-mode satellite positioning signals; the framework of the system is based on software, and can flexibly support the receiving of various modes only through simple software upgrading; the high gain low noise amplifier, the linear automatic gain control and the digital intermediate frequency analog-to-digital converter are integrated on a chip, and the sampling operation can be configured by software; the digital intermediate frequency filter is programmable by software, can simultaneously support the operation of a GPS and other systems, and can also independently support the operation of a satellite navigation system;
4. the baseband processing chip of the project adopts an ARM architecture to process the received satellite signals in real time; the method runs corresponding navigation data processing algorithm and system software, decodes differential information, and controls the front end and the peripheral equipment of the receiver;
5. the high dynamic environment causes the carrier to generate larger Doppler frequency shift and frequency change rate, if a general phase-locked loop is used for carrier determination, the Doppler frequency shift of the carrier often exceeds the capture band of the phase-locked loop, so that the reliable capture and tracking of the carrier cannot be ensured, and the loop bandwidth must be increased; but the increase in bandwidth introduces wideband noise; if the noise level exceeds the working threshold of the loop, the carrier tracking loop is out of lock, and data cannot be demodulated; meanwhile, the pseudo code in a high dynamic environment can also generate dynamic time delay and frequency shift, so that a code tracking loop of a receiver is difficult to track the change of an upper phase, and the pseudo range is easy to lose lock and is not beneficial to measurement; moreover, the offset of the code phase can prolong the acquisition time, thereby increasing the difficulty of the navigation work of the receiver;
6. in order to meet the requirements of the high dynamic GPS receiver on both dynamic performance and tracking precision, a carrier tracking scheme of mixing FLL and PLL is adopted in the project; the problems are well solved by integrating the multi-channel serial-parallel combined pseudo code fast capturing mode, the carrier tracking method based on the cross product automatic frequency tracking algorithm, the carrier auxiliary technology and the like;
7. the availability of the navigation satellite can be greatly improved, and the availability of a single GPS urban area is improved from 55% to 95% when the GPS urban area is shared by three modules; the cost performance of the three-mode receiver chip set greatly exceeds that of a receiver of a single system; the high dynamic navigation performance also has excellent performance in some special fields.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic diagram of a compatible correlator in accordance with the present invention.
Fig. 3 is a schematic diagram of a baseband signal processor FPGA of the present invention.
Fig. 4 is a signal processing flow chart of the receiver chip of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1-4, in the embodiment of the invention, a high dynamic satellite navigation chip device based on the combination of the Beidou, the GPS and the GLONASS comprises an antenna, a low noise amplifier module, a radio frequency channel module, a comprehensive information processing module, a power supply unit and a whole structure, wherein the antenna is a GPS, GLONASS and BDS receiving triple-frequency antenna; the low-noise amplifier module is integrated in the antenna and comprises a GPS/GLONASS and a BDS low-noise amplifier; the radio frequency channel module comprises a GPS/GLONASS compatible channel and a BDS receiving channel; the comprehensive information processing module comprises a baseband signal processing module, an information processing module and an application processing module; the baseband signal processing module completes the despreading, demodulation, tracking, bit synchronization, frame synchronization and the like of the GPS, GLONASS and BDS signals, the final demodulation data and the ranging data are sent to the information processing module, the position information is calculated out, and the position information is output through the application processing module; the receiving channel comprises a receiving radio frequency part and a local oscillator part, the receiving radio frequency part comprises down conversion, amplification and filtering, and the local oscillator part comprises a crystal oscillator and a frequency synthesizer; the baseband signal processing module and the information processing module mainly comprise three programmable logic devices of A/D, FPGA and DSP.
Preferably, the comprehensive information processing module comprises a correlator, the correlator comprises a quantization code, a down-conversion module, a code correlation module and a control module, the quantization code is connected with the down-conversion module, the down-conversion module is connected with the code correlation module, and the code correlation module is connected with the control module.
Preferably, the correlator adopts a GPS/GLONASS/BDS three-mode compatible design, and the correlator sets the states of the channels through the DSP, so that the dynamic allocation of 36 channels in total of the correlator is ensured.
Preferably, the integrated information processing module comprises an FPGA baseband signal processor, the FPGA baseband signal processor comprises a GPS/GLONASS baseband correlator, a BD baseband correlator and a control logic module, the BD baseband correlator is connected with the GPS/GLONASS baseband correlator, and the BD baseband correlator and the GPS/GLONASS baseband correlator are both connected with the DSP bus.
Preferably, the system also comprises a receiver, wherein the receiver comprises a quantization coding module and a down-conversion module, the quantization coding module is connected with the down-conversion module, the down-conversion module is connected with a code correlation module, and the code correlation module is respectively connected with the measurement module and the control module.
Preferably, the measurement module and the control module are both connected with a DSP, and the DSP is connected with the data settlement module.
Preferably, the baseband signal processing module adopts an ARM architecture.
Three-module constellation compatible positioning algorithm
For determining the three-dimensional position (x) of a receiveru,yu,zu) And a time offset tuThe user machine needs to perform pseudo-range observation on at least 4 navigation satellites to generate an equation set:
wherein: sj＝(xj,yj,zj) Navigation of the star position for the reflection time of the sampled signal,/u＝ctu. The above is a nonlinear equation set, and the solution adopts a linearization iteration technique to solve:
taking an initial value of iteration as
Will solve the reality (x)u,yu,zu,lu) Deviation from the initial value of the iteration by (Δ x)u,Δyu,Δzu,Δlu) Expressing, the nonlinear equation is developed as follows.
The single pseudorange equation is expressed as:
using iterative initial values
An approximate pseudorange may be computed:
as defined above:
the higher order terms of the original equation after being expanded around the approximate position in taylor series and the first order partial derivative is truncated are as follows:
each partial derivative is calculated as:
in the formula
Substituting the expansion process into the original equation set, and after rearranging the left and right terms, transforming the original equation into a linear equation set:
the system of equations can be written in matrix form as follows:
Δρ＝HΔx
in the formula
When n is more than or equal to 4, solving the overdetermined equation set, and adopting a least square method to iterate the process as follows:
a. calculating the iteration increment Δ x ═ HTH)-1HTΔρ；
b. Computing iterative process solutions
c. Iterative convergence threshold determination
d. If the convergence threshold judgment condition is satisfied, the iteration process is ended, and the settlement result is output
e. If the convergence threshold judgment condition is not met, restarting iterative computation;
f. the maximum iteration times of the whole iteration process is limited, and the resolving timeout is prevented.
When using GPS, GLONASS and BD-1 for compatible positioning, assuming that we observe m GPS navigation stars and n GLONASS navigation stars, only Δ ρ, H, Δ x in equations 3-15 need to be changed into the following form:
wherein: the top m of Δ ρ and H represent GPS observations and the bottom n represents GLONASS observations. The parameters to be estimated have two system time differences, namely the time difference between the receiver and the GPS system and the time difference between the receiver and the GLONASS system. Therefore, at least 5 navigation satellites (GLONASS + GPS) need to be observed during the calculation. If two-system time difference parameters broadcasted by GLONASS messages are adopted in the future, only four satellites are needed to be observed, before calculation, the time difference parameters are used for correcting the GPS observed quantity, and then a 4-parameter least square estimation method of a single system is adopted.
The working principle of the invention is as follows: the GNSS three-mode receiver adopts a software-based solution, a receiver chip can carry out programmable control on the processing process software of the signal, the working mode and the receiving frequency band of the software-based GNSS three-mode receiver integrated module are completely programmable, and the programs of the receiving chip are replaced to adapt to the working modes of a multi-frequency band and a three-mode; the development cost is reduced, and the time to market of a new product is greatly shortened; the multifunctional antenna designed by the project is required to be capable of receiving multi-system navigation satellite signals and differential information of an L waveband, has pre-amplification and has good response sensitivity to selected frequency; according to different functional requirements of a receiver, designing the antenna bandwidth in a material differentiation manner; the three-mode radio frequency receiving module designed by the project is used for receiving three-mode satellite positioning signals; the framework of the system is based on software, and can flexibly support the receiving of various modes only through simple software upgrading; the high gain low noise amplifier, the linear automatic gain control and the digital intermediate frequency analog-to-digital converter are integrated on a chip, and the sampling operation can be configured by software; the digital intermediate frequency filter is programmable by software, can simultaneously support the operation of a GPS and other systems, and can also independently support the operation of a satellite navigation system; the baseband processing chip of the project adopts an ARM architecture to process the received satellite signals in real time; the method runs corresponding navigation data processing algorithm and system software, decodes differential information, and controls the front end and the peripheral equipment of the receiver; the high dynamic environment causes the carrier to generate larger Doppler frequency shift and frequency change rate, if a general phase-locked loop is used for carrier determination, the Doppler frequency shift of the carrier often exceeds the capture band of the phase-locked loop, so that the reliable capture and tracking of the carrier cannot be ensured, and the loop bandwidth must be increased; but the increase in bandwidth introduces wideband noise; if the noise level exceeds the working threshold of the loop, the carrier tracking loop is out of lock, and data cannot be demodulated; meanwhile, the pseudo code in a high dynamic environment can also generate dynamic time delay and frequency shift, so that a code tracking loop of a receiver is difficult to track the change of an upper phase, and the pseudo range is easy to lose lock and is not beneficial to measurement; moreover, the offset of the code phase can prolong the acquisition time, thereby increasing the difficulty of the navigation work of the receiver; in order to meet the requirements of the high dynamic GPS receiver on both dynamic performance and tracking precision, a carrier tracking scheme of mixing FLL and PLL is adopted in the project; the problems are well solved by integrating the multi-channel serial-parallel combined pseudo code fast capturing mode, the carrier tracking method based on the cross product automatic frequency tracking algorithm, the carrier auxiliary technology and the like; the availability of the navigation satellite can be greatly improved, and the availability of a single GPS urban area is improved from 55% to 95% when the GPS urban area is shared by three modules; the cost performance of the three-mode receiver chip set greatly exceeds that of a receiver of a single system; the high dynamic navigation performance also has excellent performance in some special fields.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a high dynamic satellite navigation chip device based on big dipper combines GPS and GLONASS, includes antenna, low noise and puts module, radio frequency channel module, comprehensive information processing module, power supply unit and complete machine structure, its characterized in that: the antenna is set to be a GPS, GLONASS and BDS receiving tri-frequency antenna; the low-noise amplifier module is integrated in the antenna and comprises a GPS/GLONASS and a BDS low-noise amplifier; the radio frequency channel module comprises a GPS/GLONASS compatible channel and a BDS receiving channel; the comprehensive information processing module comprises a baseband signal processing module, an information processing module and an application processing module; the baseband signal processing module completes the despreading, demodulation, tracking, bit synchronization, frame synchronization and the like of the GPS, GLONASS and BDS signals, the final demodulation data and the ranging data are sent to the information processing module, the position information is calculated out, and the position information is output through the application processing module; the receiving channel comprises a receiving radio frequency part and a local oscillator part, the receiving radio frequency part comprises down conversion, amplification and filtering, and the local oscillator part comprises a crystal oscillator and a frequency synthesizer; the baseband signal processing module and the information processing module mainly comprise three programmable logic devices of A/D, FPGA and DSP.
2. The chip device of claim 1, wherein the chip device comprises at least one of the following components: the comprehensive information processing module comprises a correlator, the correlator comprises a quantization code, a down-conversion module, a code correlation module and a control module, the quantization code is connected with the down-conversion module, the down-conversion module is connected with the code correlation module, and the code correlation module is connected with the control module.
3. The chip device of claim 2, wherein the chip device comprises at least one of the following components: the correlator adopts a GPS/GLONASS/BDS three-mode compatible design, and the correlator sets the states of the channels through the DSP, so that the dynamic allocation of 36 channels in total of the correlator is ensured.
4. The chip device of claim 1, wherein the chip device comprises at least one of the following components: the integrated information processing module comprises an FPGA baseband signal processor, the FPGA baseband signal processor comprises a GPS/GLONASS baseband correlator, a BD baseband correlator and a control logic module, the BD baseband correlator is connected with the GPS/GLONASS baseband correlator, and the BD baseband correlator and the GPS/GLONASS baseband correlator are both connected with the DSP bus.
5. The chip device of claim 1, wherein the chip device comprises at least one of the following components: the device also comprises a receiver, wherein the receiver comprises a quantization code and a down-conversion module, the quantization code is connected with the down-conversion module, the down-conversion module is connected with a code correlation module, and the code correlation module is respectively connected with the measurement module and the control module.
6. The chip device of claim 5, wherein the chip device comprises at least one of the following components: the measurement module and the control module are both connected with the DSP, and the DSP is connected with the data settlement module.
7. The chip device of claim 1, wherein the chip device comprises at least one of the following components: the baseband signal processing module adopts an ARM architecture.
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