CN113253309A - Error code resistant Beidou navigation message receiving and analyzing method - Google Patents
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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
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- 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
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- 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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Abstract
The invention discloses an error code resistant Beidou navigation message receiving and analyzing method, which comprises the following steps: acquiring a current Beidou navigation message data frame; obtaining a CRC checksum according to the current Beidou navigation message data frame, and adding the CRC checksum into the current Beidou navigation message data frame according to a preset message frame format to obtain a new current Beidou navigation message data frame; carrying out message check processing on the new current Beidou navigation message data frame according to the CRC check sum to obtain the CRC check sum of the effective data of the current data frame; and when the CRC checksum of the effective data of the current data frame is inconsistent with the CRC checksum of the effective data of the last received message data frame, the number of times is changed in an iterative manner, and when the number of times is changed to reach the preset number of times, the current Beidou navigation message data frame is analyzed according to a preset Beidou message protocol. Before analysis, the repeated broadcast data is judged, only effective telegraph text frames are processed, and the efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of satellite navigation receiving, and particularly relates to an error code resistant Beidou navigation message receiving and analyzing method.
Background
The navigation message is the data basis for the positioning of the user receiver. The BDS (Bei Dou Navigation Satellite System) Navigation message contains information about the ephemeris of the Satellite, the Satellite operating state, the time System, the Satellite clock running state, orbit perturbation correction, atmospheric refraction correction, and the like. The Beidou satellite navigation system space signal interface control file defines the interface specification between the BDS space constellation part and the user equipment part and explains the format and the content of the navigation message in detail.
The navigation message is a binary code, is composed according to a specified format, and is broadcast outwards according to frames. According to different rates and structures, the navigation messages are divided into D1 navigation messages and D2 navigation messages, the rate of the D1 navigation messages is 50bps, the rate of the D2 navigation messages is 500bps, and MEO (Medium Orbit earth satellite)/IGSO (incorporated GeoSynchronous Orbit) satellites broadcast D1 navigation messages and GEO satellites broadcast D2 navigation messages. Taking the MEO/IGSO satellite as an example, the D1 navigation message is composed of superframes, main frames and subframes, each superframe is 36000 bits for 12 minutes, each superframe is composed of 24 main frames (24 pages), each main frame is 1500 bits for 30 seconds, each main frame is composed of 5 subframes, each subframe is 300 bits for 6 seconds, each subframe is composed of 10 words; each word is 30 bits for 0.6 seconds. D1 navigation message main frame structure and information content are shown in fig. 1. The basic navigation information of the MEO/IGSO satellite (corresponding to the satellite in the figure 1) is broadcasted from the sub-frame 1 to the sub-frame 3, the sub-frame 4 and the sub-frame 5 are divided into 24 pages, and all the satellite almanac information and the time synchronization information with other satellite navigation systems are broadcasted.
The navigation telegraph text broadcasting has updating performance and repeatability. Updating, namely, the ground monitoring station needs to correct a series of parameters such as a satellite motion state, a link working state, an atmosphere model and the like in real time, and updates the injected telegraph text broadcasting parameters in a set period; the repeatability means that the navigation message to be broadcast is repeatedly broadcast before the next updating moment by considering the characteristics of the user at any moment of accessing the system, so that the user can collect the required message data as soon as possible. For example, in the D1 navigation message, the repetition period of subframe 1 to subframe 3 is 30s, i.e., two frames broadcast within 60s, and other information is repeated except for the time information.
The traditional navigation message processing method is that after receiving message data frames, the message data frames are processed frame by frame, distinguished according to satellite numbers, frequency point numbers, subframe numbers, page numbers and the like, analyzed respectively, message information in each frame of data is read bit by bit according to a protocol, and after the message information is read, each data is stored according to the satellite numbers, the frequency point numbers, the subframe numbers and the page numbers. Due to the repeatability of the text (such as updating the ephemeris of the BDS once an hour and updating the almanac once a week), and in addition, the broadcast data of some types of data on all satellites or frequency points are also completely the same (such as ionosphere parameter information, time synchronization information and the like), the traditional text analysis processing mode performs a lot of 'repeated work', so that the text analysis module is inefficient in the whole navigation solution algorithm.
Disclosure of Invention
Aiming at the technical problems, the invention provides an efficient error code resistant Beidou navigation message receiving and analyzing method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
in one embodiment, the error code resisting Beidou navigation message receiving and analyzing method comprises the following steps:
step S100: acquiring a current Beidou navigation message data frame;
step S200: obtaining a CRC checksum according to the current Beidou navigation message data frame, and adding the CRC checksum into the current Beidou navigation message data frame according to a preset message frame format to obtain a new current Beidou navigation message data frame;
step S300: carrying out message check processing on the new current Beidou navigation message data frame according to the CRC check sum to obtain the CRC check sum of the effective data of the current data frame;
step S400: and comparing whether the CRC checksum of the effective data of the current data frame is consistent with the CRC checksum of the effective data of the previously received text data frame or not, iteratively changing the times when the CRC checksum of the effective data of the current data frame is inconsistent with the CRC checksum of the effective data of the previously received text data frame, and analyzing the current Beidou navigation text data frame according to a preset Beidou text protocol when the change times reach preset times.
Preferably, the beidou navigation message data frame includes data, an intra-week second count and a BCH check, and the CRC check sum of the valid data of the current data frame in step S300 specifically is:
the CRC checksum of the valid data of the current data frame is the CRC checksum, the second-in-week count.
Preferably, step S400 further comprises:
when the CRC checksum of the effective data of the current data frame is consistent with the CRC checksum of the effective data of the last received message data frame, the current Beidou navigation message data frame is not analyzed.
Preferably, step S400 further comprises:
obtaining the message type of the current Beidou navigation message data frame according to the current Beidou navigation message data frame, and determining preset times according to the message type, wherein the message type comprises at least one of satellite health and time information, ephemeris information, ionosphere parameter information, almanac information and time synchronization information.
Preferably, the determining the preset number of times according to the text type includes:
when the telegraph text type is satellite health and time information, the corresponding preset times are 0;
when the telegraph text type is ionosphere parameter information or almanac information or time synchronization information, the corresponding preset times are 3;
when the telegram type is the ephemeris information, the corresponding preset times is 2.
Preferably, when the CRC checksum of the valid data of the current data frame is inconsistent with the CRC checksum of the valid data of the last received message data frame, the number of times of iteration change is determined, and when the number of times of change reaches a preset number of times, the current beidou navigation message data frame is analyzed according to a preset beidou message protocol, which further includes:
and when the CRC checksum of the effective data of the current data frame is inconsistent with the CRC checksum of the effective data of the last received message data frame, iterating and changing the times, when the change times do not reach the preset times, acquiring the next Beidou navigation message data frame as the current Beidou navigation message data frame, and repeating the steps S200 to S400.
Preferably, step S400 is followed by:
step S500: acquiring an error rate, increasing the preset times when the error rate is greater than a preset maximum threshold, reducing the preset times when the error rate is less than a preset minimum threshold, and keeping the preset times unchanged when the error rate is between the preset minimum threshold and the preset maximum threshold.
According to the error code resisting Beidou navigation message receiving and analyzing method, message check processing is carried out on a new current Beidou navigation message data frame through CRC check sum to obtain the CRC check sum of the effective data of the current data frame, whether the CRC check sum of the effective data of the current data frame is consistent with the CRC check sum of the effective data of the previously received message data frame or not is compared, iteration change times are carried out when the CRC check sum of the effective data of the current data frame is inconsistent with the CRC check sum of the effective data of the previously received message data frame, and when the change times reach preset times, the current Beidou navigation message data frame is analyzed according to a preset Beidou navigation message protocol. Before analysis, the repeated broadcast data is judged, so that the processing of a large number of redundant message frames is reduced, only effective message frames are processed, and the message analysis efficiency is effectively improved.
Drawings
FIG. 1 is a diagram of the structure and information content of a navigation message main frame D1;
fig. 2 is a flowchart of an error-resistant beidou navigation message receiving and parsing method according to a first embodiment of the present invention;
FIG. 3 is a diagram illustrating a general format of a BDS message data frame;
FIG. 4 is a schematic diagram of a general format of BDS message data frame communication transmission;
FIG. 5 is a schematic diagram of a BDS message validity check mark;
fig. 6 is a schematic partial flow chart of an error-resistant beidou navigation message receiving and parsing method according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention is further described in detail below with reference to the accompanying drawings.
In one embodiment, as shown in fig. 2, an error-resistant beidou navigation message receiving and parsing method includes the following steps:
step S100: and acquiring a current Beidou navigation message data frame.
Specifically, a general format of the data frame of the beidou navigation message may be as shown in fig. 3, where SOW is a count of seconds in a week, not every message is available, and here, just to represent convenience of the general format, BCH (abbreviation of Bose, Ray-Chaudhuri, and Hocquenghem, a coding method) checks that all data before the current "word" are correct, correct is "0", and error is "1".
Step S200: and obtaining a Cyclic Redundancy Check (CRC) checksum according to the current Beidou navigation message data frame, and adding the CRC checksum into the current Beidou navigation message data frame according to a preset message frame format to obtain a new current Beidou navigation message data frame.
Specifically, the data in the current Beidou navigation message data frame is subjected to XOR processing to obtain a CRC checksum, the preset message frame format is shown in FIG. 4, and the CRC checksum is added into the current Beidou navigation message data frame.
Step S300: and carrying out message check processing on the new current Beidou navigation message data frame according to the CRC check sum to obtain the CRC check sum of the effective data of the current data frame. Further, the Beidou navigation message data frame includes data, a second-within-week count and a BCH check, and the CRC check sum of the valid data of the current data frame in step S300 specifically includes: the CRC checksum of the valid data of the current data frame is the CRC checksum, the second-in-week count.
Due to the repeated dissemination of data during the BDS teletext process, in effect: the repeated broadcast message data segments are completely consistent, and the difference is only different on the time Stamp (SOW) and the CRC check bit of each frame message. If the difference of the time marks of each frame of text can be subtracted from the CRC check sum of the whole frame of text, that is, the text check processing is performed, the actual "valid data" portion of each frame of text can be fully embodied, as shown in fig. 5.
The actual CRC checksum of the valid data (denoted dataCRC) can be used as the frame CRC (denoted CRC) minus the bit length of the various time information related data and the corresponding word check (denoted SOW), i.e. the checksum
dataCRC＝CRC–SOW
Step S400: and comparing whether the CRC checksum of the effective data of the current data frame is consistent with the CRC checksum of the effective data of the previously received text data frame or not, iteratively changing the times when the CRC checksum of the effective data of the current data frame is inconsistent with the CRC checksum of the effective data of the previously received text data frame, and analyzing the current Beidou navigation text data frame according to a preset Beidou text protocol when the change times reach preset times. Further, step S400 further includes: when the CRC checksum of the effective data of the current data frame is consistent with the CRC checksum of the effective data of the last received message data frame, the current Beidou navigation message data frame is not analyzed.
Specifically, whether the text broadcast by the satellite is different from the last analysis value can be judged by comparing whether the dataCRC value of the text frame of each satellite, each frequency point, each subframe and each page is the same as the last received data. If the message is not changed, further data analysis operation is not needed, if the message is continuously changed for N times (N is a set value, corresponding to preset times, the value can be set according to different message types), the current message data is stored and updated after the data of the frame is analyzed according to the BDS message protocol.
In one embodiment, when the CRC checksum of the valid data of the current data frame is inconsistent with the CRC checksum of the valid data of the last received message data frame, the number of times of iteration change is performed, and when the number of times of change reaches a preset number of times, the current beidou navigation message data frame is analyzed according to a preset beidou message protocol, further including:
and when the CRC checksum of the effective data of the current data frame is inconsistent with the CRC checksum of the effective data of the last received message data frame, iterating and changing the times, when the change times do not reach the preset times, acquiring the next Beidou navigation message data frame as the current Beidou navigation message data frame, and repeating the steps S200 to S400.
Specifically, only when the continuous change times reach the preset times, the data of the frame is analyzed according to the BDS message protocol, when the change times do not reach the preset times, the next Beidou navigation message data frame is obtained to serve as the current Beidou navigation message data frame, the step S200 to the step S400 are repeated, when the CRC checksum of the effective data of the current data frame is consistent with the CRC checksum of the effective data of the previously received message data frame, the current Beidou navigation message data frame is not analyzed, when the CRC checksum of the effective data of the current data frame is inconsistent with the CRC checksum of the effective data of the previously received message data frame, the change times are continuously iterated, and when the change times reach the preset times, the current Beidou navigation message data frame is analyzed according to the preset Beidou message protocol.
In one embodiment, as shown in fig. 6, step S400 further includes: obtaining the message type of the current Beidou navigation message data frame according to the current Beidou navigation message data frame, and determining preset times according to the message type, wherein the message type comprises at least one of satellite health and time information, ephemeris information, ionosphere parameter information, almanac information and time synchronization information. Further, determining the preset number of times according to the type of the text message comprises: when the telegraph text type is satellite health and time information, the corresponding preset times are 0; when the telegraph text type is ionosphere parameter information or almanac information or time synchronization information, the corresponding preset times are 3; when the telegram type is the ephemeris information, the corresponding preset times is 2. It should be noted that the above-mentioned text type not only includes satellite health and time information, ephemeris information, ionosphere parameter information, almanac information and time synchronization information, but also includes other types of information, such as integrity and difference information, ionosphere grid information, and the like.
Specifically, BDS navigation messages are distinguished according to the broadcast content category, and may be mainly classified as: satellite health and time information, integrity and difference information (other types of information), satellite clock difference information (ephemeris information), satellite broadcast ephemeris information, ionospheric parameter information, time synchronization with other satellite navigation systems, satellite almanac information, ionospheric grid information (other types of information), etc.
Determining the preset times according to the type of the telegraph text, wherein the preset times are determined according to the real-time requirement of the telegraph text, for example, the real-time requirement of satellite health and time information is strong, and the preset times are set to be 0 if the real-time requirement is high and real-time updating is needed; the ionosphere model information is updated once in 1 week, the real-time requirement is not strong, the almanac information is updated once in 1 week, the effective age is 1 month, the real-time requirement is not strong, the time synchronization and other categories are irrelevant to navigation solution, and the real-time requirement is not strong, so that the preset times are set to be 3; the ephemeris information is updated once in 1 hour, the validity period is 2 hours, and the real-time requirement is moderate, so that the preset times are set to be 2.
In a navigation message broadcast by a BDS for positioning and resolving, satellite health and time information is updated in real time, satellite clock error and satellite broadcast ephemeris information are updated once in 1 hour, ionosphere and almanac information are updated once in 1 week, and the rest information is not used. In addition, each satellite broadcasts time information and almanac information of all satellites, and each satellite only broadcasts satellite clock error and satellite broadcast ephemeris information of the satellite.
According to the broadcasting frequency and the broadcasting mode of the navigation messages of the types used for positioning calculation, the following processing modes are adopted:
table 1 design of message optimized receive parameter settings with efficient verification
In the above steps, a method for quickly judging whether the received message is redundant information is described, which reduces the message calculation amount by about 58% compared with the traditional message receiving method.
In one embodiment, step S400 is followed by:
step S500: acquiring an error rate, increasing the preset times when the error rate is greater than a preset maximum threshold, reducing the preset times when the error rate is less than a preset minimum threshold, and keeping the preset times unchanged when the error rate is between the preset minimum threshold and the preset maximum threshold.
Specifically, a threshold for judging the message change times can be set according to the stability (error rate) of the Beidou navigation satellite system, when the error rate is smaller than a preset maximum threshold range, the error rate is normal, when the error rate is larger than the preset maximum threshold, the error rate is high, the judgment is inaccurate, the judgment times need to be increased, the preset times are increased, when the message is continuously changed for multiple times, the message is judged to be updated, otherwise, when the error rate is smaller than the preset minimum threshold, the error rate is low, and the judgment times can be reduced, so that the message data can be updated to the latest message data as soon as possible.
In a specific embodiment, a Navigation signal analog source simulates and broadcasts a BDS-B1 frequency point Navigation message through a GNSS (Global Navigation Satellite System), a self-developed Navigation receiver is used for receiving the message, and the calculation amount of the text method and the traditional method is counted. Analyzing the text messages by using a traditional method and a text method respectively in the same time, counting the test time, classifying the text messages by using the two methods according to the types of the text messages, respectively processing the number of the types of the text messages, and analyzing whether the optimized type text messages are completely optimized according to the text method or not and whether the unoptimizable type text messages are processed according to the traditional method or not. After the same time, 9 visible satellite (MEO/IGSO satellite) messages are tested and received, the messages are classified according to message information types, the number of message processing frames is counted, and the experimental result is as follows:
table 2 message optimized receiving method test result
| Conventional method (Unit: frame) | Text method (Unit: frame) | Reducing the amount of computation | |
| Ephemeris | 396 | 18 | 95.45％ |
| Calendar | 261 | 30 | 88.51％ |
| Time synchronization | 9 | 1 | 88.89％ |
| Ionospheric parameters | 162 | 1 | 99.38％ |
| Ionization layer latticeNet | 195 | 39 | 80.00％ |
| Otherwise not treating | 586 | 586 | 0.00％ |
| Total of | 1609 | 675 | 58.05％ |
As can be seen from the table, the method herein reduces the amount of text calculation by about 58%. And the ephemeris is broadcast according to the number of the satellites, the actual effective frame number is 2 times of the number of the satellites, and the optimization of the category is tested successfully. And broadcasting all 30 pieces of ephemeris data for each satellite, completely collecting 30 pieces of ephemeris message frames within the receiving time, and testing the success of the type optimization. The time synchronization information, the ionosphere parameters and the ionosphere grid point information are not updated in the testing time, only one frame is received, and the type optimization is tested successfully. The other special format text types are not processed, and the test shows that the type optimization is successful without frame leakage. In conclusion, the method greatly reduces the calculation amount of text analysis, successfully achieves the aim of optimization design and effectively improves the analysis efficiency.
The error code resistant Beidou navigation message receiving and analyzing method provided by the invention is introduced in detail. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (7)
1. The error code resistant Beidou navigation message receiving and analyzing method is characterized by comprising the following steps of:
step S100: acquiring a current Beidou navigation message data frame;
step S200: obtaining a CRC checksum according to the current Beidou navigation message data frame, and adding the CRC checksum into the current Beidou navigation message data frame according to a preset message frame format to obtain a new current Beidou navigation message data frame;
step S300: carrying out message check processing on the new current Beidou navigation message data frame according to the CRC check sum to obtain a CRC check sum of effective data of the current data frame;
step S400: and comparing whether the CRC checksum of the effective data of the current data frame is consistent with the CRC checksum of the effective data of the previously received message data frame or not, iterating and changing the times when the CRC checksum of the effective data of the current data frame is inconsistent with the CRC checksum of the effective data of the previously received message data frame, and analyzing the current Beidou navigation message data frame according to a preset Beidou message protocol when the change times reach preset times.
2. The method according to claim 1, wherein the beidou navigation message data frame includes data, a second-in-week count and a BCH check, and the CRC check sum of the valid data of the current data frame in step S300 specifically is:
the CRC checksum of the valid data of the current data frame is the CRC checksum, the second-in-week count.
3. The method of claim 1, wherein step S400 further comprises:
and when the CRC checksum of the effective data of the current data frame is consistent with the CRC checksum of the effective data of the last received message data frame, the current Beidou navigation message data frame is not analyzed.
4. The method of claim 3, wherein step S400 further comprises:
obtaining the message type of the current Beidou navigation message data frame according to the current Beidou navigation message data frame, and determining preset times according to the message type, wherein the message type comprises at least one of satellite health and time information, ephemeris information, ionosphere parameter information, almanac information and time synchronization information.
5. The method according to claim 4, wherein the determining the preset number of times according to the text type specifically comprises:
when the message type is satellite health and time information, the corresponding preset times are 0;
when the telegraph text type is ionosphere parameter information or almanac information or time synchronization information, the corresponding preset times are 3;
when the message type is ephemeris information, the corresponding preset times is 2.
6. The method of claim 1, wherein the iteratively changing the number of times when the CRC checksum of the valid data of the current data frame is inconsistent with the CRC checksum of the valid data of the last received message data frame, and when the changing number of times reaches a preset number of times, parsing the current beidou navigation message data frame according to a preset beidou message protocol, further comprises:
and when the CRC checksum of the effective data of the current data frame is inconsistent with the CRC checksum of the effective data of the last received message data frame, iterating and changing the times, when the change times do not reach the preset times, acquiring the next Beidou navigation message data frame as the current Beidou navigation message data frame, and repeating the steps from S200 to S400.
7. The method of claim 1, wherein step S400 is followed by further comprising:
step S500: acquiring an error rate, increasing the preset times when the error rate is greater than a preset maximum threshold, decreasing the preset times when the error rate is less than a preset minimum threshold, and keeping the preset times unchanged when the error rate is between the preset minimum threshold and the preset maximum threshold.
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| CN115840239A (en) * | 2022-12-15 | 2023-03-24 | 北京六分科技有限公司 | Navigation message abnormality detection method, navigation message abnormality detection apparatus, storage medium, and program product |
| CN117452455A (en) * | 2023-12-26 | 2024-01-26 | 中国人民解放军国防科技大学 | Method for designing text decoding module of navigation receiver for embedded test |
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