CN113504551A - Satellite navigation signal simulator based on GPU + CPU + FPGA and signal simulation method - Google Patents
Satellite navigation signal simulator based on GPU + CPU + FPGA and signal simulation method Download PDFInfo
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- CN113504551A CN113504551A CN202110720203.8A CN202110720203A CN113504551A CN 113504551 A CN113504551 A CN 113504551A CN 202110720203 A CN202110720203 A CN 202110720203A CN 113504551 A CN113504551 A CN 113504551A
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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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- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
The invention discloses a satellite navigation signal simulator based on a CPU + GPU + FPGA, which comprises a simulation control computer, wherein the simulation control computer is sequentially connected with a USB3.0 module, an intermediate frequency module, a radio frequency module and a transmitting module, and is also connected with a human-computer interaction module. The simulation computer comprises a CPU module and a GPU module; the intermediate frequency module comprises an FPGA module, a digital-to-analog conversion module and a clock module. Wherein, the 10MHz output of the clock module is also connected with the 10MHz clock input of the radio frequency module. The simulation computer belongs to the upper computer part. The intermediate frequency module and the radio frequency module are arranged in a lower computer case. The invention also discloses a signal simulation method of the satellite navigation signal simulator based on the CPU + GPU + FPGA, which can carry out accurate conventional test and performance evaluation on the navigation receiving equipment, thereby reducing or completely saving the high cost for carrying out field test; the method can be used for collaborative simulation of various satellite guidance systems and has a closed-loop real-time simulation function.
Description
Technical Field
The invention belongs to the technical field of satellite navigation, and particularly relates to a satellite navigation signal simulator and a signal simulation method based on a GPU + CPU + FPGA.
Background
The satellite navigation signal simulator can completely control simulated satellite signals and environmental conditions, can generate various scenes, and realizes various types of tests, such as receiver performance test, closed-loop real-time simulation and the like.
Common satellite navigation signal simulators are GPU-based software simulators and DSP-and FPGA-based hardware simulators. The software simulator has high signal precision, but the signal generation speed is limited by the processing speed of a computer, and the signal generation cannot be finished in real time; all information pseudo code modulation and intermediate frequency signal generation of a simulation scene of the hardware simulator are completed by hardware, real-time generation and transmission of signals can be guaranteed, but simulation setting is inflexible and limited by hardware resources, and large data information such as an ephemeris library can be stored for only a short time. The invention provides a satellite navigation signal simulator with a new framework based on the combination of software and hardware of GPU + CPU + FPGA, and provides a specific signal simulation method by combining the high-precision rapid parallel computing performance of the GPU and the parallel digital signal synthesis function of the FPGA.
Disclosure of Invention
The invention aims to provide a satellite navigation signal simulator based on a GPU, a CPU and an FPGA, which is used for quickly generating satellite navigation signals in a navigation scene in real time.
The invention also aims to provide a signal simulation method of the satellite navigation signal simulator based on the GPU + the CPU + the FPGA.
The first technical scheme adopted by the invention is that the satellite navigation signal simulator based on the CPU + GPU + FPGA comprises a simulation control computer, wherein the simulation control computer is sequentially connected with a USB3.0 module, an intermediate frequency module, a radio frequency module and a transmitting module, and is also connected with a human-computer interaction module; the simulation computer comprises a CPU module and a GPU module; the intermediate frequency module comprises an FPGA module, a digital-to-analog conversion module and a clock module; the output of the clock module is also connected with the clock input of the radio frequency module; the simulation computer belongs to the upper computer part; the intermediate frequency module and the radio frequency module are arranged in a lower computer case; the upper computer and the lower computer communicate through the USB3.0 module, and the transmitting module is connected with the equipment to be tested in a wired or wireless mode.
The CPU module is used for performing initialization setting, data communication with the GPU module, data communication with the FPGA module and data display functions.
The initialization information includes: the position, speed, simulation time and motion trail of the carrier; selecting a navigation satellite frequency point; selecting an ionosphere and a troposphere on a navigation signal propagation path; satellite ephemeris information; communicating with the GPU module means transmitting the initialized carrier data information to the GPU module and receiving the calculation result of the GPU module; the communication with the FPGA module means that part of data obtained from the GPU module is transmitted into the FPGA module through the USB3.0 module, and meanwhile, a transmission success signal of the FPGA module is received; the data display function comprises the real-time display of visible star distribution, satellite pitch angle, azimuth angle, pseudo range and the like, and the display is refreshed once per second.
The GPU module is used for calculating information such as satellite transmitting time, signal propagation delay, pseudo range, pitch angle, azimuth angle and the like; judging visible satellites, and calculating navigation information control words such as telegraph text, carrier frequency, carrier phase, code frequency, code phase and the like of each visible satellite; the data required for display is returned to the CPU together with the navigation information control word.
The USB3.0 module completes the rapid communication between the upper computer and the lower computer.
The FPGA module receives navigation information control words downloaded by an upper computer, realizes the generation and modulation of carrier waves, pseudo codes and telegraph text, generates high-precision digital intermediate-frequency signals, and obtains simulated intermediate-frequency navigation satellite signals through the addition and digital-to-analog conversion module; when no external clock is input, the clock module provides a high-stability reference clock through a self constant-temperature crystal oscillator; the radio frequency module completes up-conversion processing from intermediate frequency to radio frequency; carrying out power amplification and program power control on the radio frequency signal; the transmitting module radiates the signal out through the antenna.
The device to be tested is a satellite navigation receiver; the device to be tested is a mobile station satellite navigation receiver.
In a second technical solution of the present invention,
the signal simulation method of the satellite navigation signal simulator based on the CPU + GPU + FPGA adopts the satellite navigation signal simulator based on the CPU + GPU + FPGA, and is implemented according to the following steps:
step 1, a user sets position, speed and posture information of a carrier through a man-machine interaction unit in a CPU; a satellite navigation signal frequency point to be simulated; ionosphere, troposphere information; acquiring current time ephemeris data from an ephemeris library according to the simulation time information;
step 2, finishing the initialization setting of the GPU according to the simulation parameter information obtained in the step 1; starting a thread in the GPU for parallel calculation, calculating various control words, navigation message data packets and satellite signal information of various channels, and packaging and returning the control words, the navigation message data packets and the satellite signal information of various channels to the CPU; the CPU displays the channel information on a simulation interface in real time and sends a control word to the FPGA intermediate frequency signal generation module through a USB 3.0;
step 3, receiving the data packet information in the step 2, synthesizing a digital intermediate frequency signal, and generating an analog intermediate frequency signal after high-speed digital-to-analog conversion;
and 4, filtering, mixing, amplifying and controlling power of the analog intermediate frequency signal in the step 3, up-converting to a satellite navigation radio frequency signal, and radiating the satellite navigation radio frequency signal through a transmitting module.
The step 2 is as follows:
step 2.1, initializing data in the GPU, distributing memory and threads according to the satellite navigation signal frequency points and the quantity of satellite signals transmitted in the CPU, and corresponding information transmitted in the CPU to corresponding threads;
2.2, starting a GPU parallel computing thread, computing the position, the speed, the transmitting time and the pseudo-range information of each satellite, and ensuring that all threads in the previous parallel threads are computed before starting a new parallel thread each time;
step 2.3, judging satellite visible information, wherein when the pitch angle of the satellite relative to the carrier is more than 5 degrees, the satellite is a visible satellite; for a visible satellite, generating a binary navigation message in real time according to the satellite signal transmitting time, calculating navigation information control words such as carrier frequency, carrier phase, code frequency, code phase, pseudo code period and the like, and returning satellite information and the navigation information control words to a CPU after calculation is finished;
step 2.4, under the control of an FPGA interrupt signal with a fixed time interval, packaging and sending the navigation information control word obtained in the step 2.3 to a lower computer through a USB 3.0; when the time reaches 1s, the interface data is refreshed.
The step 3 is as follows:
3.1, the intermediate frequency signal unit receives the navigation information control word in the step 3, after receiving the end mark, the data is split and recombined, and the data is refreshed to each channel signal generation module at the same time;
3.2, the channel signal generation module generates a satellite digital intermediate frequency signal under the control of a clock signal according to the obtained parameter information;
and 3.3, converting the digital intermediate frequency signal into an analog intermediate frequency signal through high-speed digital-to-analog conversion.
The beneficial effect of the invention is that,
the satellite navigation signal simulator based on the CPU + GPU + FPGA solves the corresponding satellite pseudo-range, position, pitch angle and azimuth angle information relative to a carrier in real time by a simulation control computer according to the position, speed and simulation time of the set carrier, finishes the judgment of visible satellites and generates navigation information control words, and generates satellite navigation signals which can be received by a simulation scene under the control of an ordered simulation period and a flow through an FPGA module, a digital-to-analog conversion module, a radio frequency module and a transmitting module. The satellite navigation signal simulator can support joint simulation of BD2, GPS, BD3 constellations and the like, also supports simulation of a single constellation, can be randomly selected at a frequency point, can be randomly switched on and off, and supports single-channel switch control.
Drawings
FIG. 1 is a schematic structural diagram of a satellite navigation signal simulator based on a CPU + GPU + FPGA according to the invention;
fig. 2 is a simulation calculation flowchart of step 2 of the signal simulation method of the satellite navigation signal simulator based on the CPU + GPU + FPGA.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The satellite navigation signal simulator based on the CPU + GPU + FPGA has a structure shown in figure 1 and comprises a simulation control computer, wherein the simulation control computer is sequentially connected with a USB3.0 module, an intermediate frequency module, a radio frequency module and a transmitting module, and is also connected with a human-computer interaction module. The simulation computer comprises a CPU module and a GPU module; the intermediate frequency module comprises an FPGA module, a digital-to-analog conversion module and a clock module. Wherein, the 10MHz output of the clock module is also connected with the 10MHz clock input of the radio frequency module. The simulation computer belongs to the upper computer part. The intermediate frequency module and the radio frequency module are arranged in a lower computer case. The upper computer and the lower computer communicate through the USB3.0 module, and the transmitting module is connected with the equipment to be tested in a wired or wireless mode.
The CPU module is used for carrying out initialization setting, data communication with the GPU module, data communication with the FPGA module and data display functions, and initialization information comprises the following steps: the position, speed, simulation time and motion trail of the carrier; selecting a navigation satellite frequency point; selecting an ionosphere and a troposphere on a navigation signal propagation path; satellite ephemeris information. Communicating with the GPU module refers to transmitting the initialization carrier data information to the GPU module and receiving the GPU module calculation results. The communication with the FPGA module means that part of data obtained from the GPU module is transmitted into the FPGA module through the USB3.0 module, and meanwhile, a transmission success signal of the FPGA module is received. The data display function comprises the real-time display of visible star distribution, satellite pitch angle, azimuth angle, pseudo range and the like, and the display is refreshed once per second;
the GPU module is used for calculating information such as satellite transmitting time, signal propagation delay, pseudo range, pitch angle, azimuth angle and the like; judging visible satellites, and calculating navigation information control words such as telegraph text, carrier frequency, carrier phase, code frequency, code phase and the like of each visible satellite; returning the data required for display and the navigation information control word to the CPU together;
the USB3.0 module completes the rapid communication between the upper computer and the lower computer.
The FPGA module receives navigation information control words downloaded by an upper computer, realizes the generation and modulation of carrier waves, pseudo codes and telegraph text, generates high-precision digital intermediate-frequency signals, and obtains simulated intermediate-frequency navigation satellite signals through the addition and digital-to-analog conversion module;
when no external clock is input, the clock module provides a high-stability reference clock through a self constant-temperature crystal oscillator;
the radio frequency module completes up-conversion processing from intermediate frequency to radio frequency; and performs power amplification and program power control on the radio frequency signal.
The transmitting module radiates the signal out through the antenna.
The device to be tested is a satellite navigation receiver
Satellite navigation receiver with mobile station as equipment to be tested
The signal simulation method of the satellite navigation signal simulator based on the CPU + GPU + FPGA is implemented according to the following steps:
step 1, in a CPU, a user sets position, speed and posture information of a carrier through a man-machine interaction module; a satellite navigation signal frequency point to be simulated; ionosphere, troposphere information; acquiring current time ephemeris data from an ephemeris library according to the simulation time information;
step 2, finishing the initialization setting of the GPU according to the simulation parameter information obtained in the step 1; starting a thread in the GPU for parallel calculation, calculating various control words, navigation message data packets and satellite signal information of various channels, and packaging and returning the control words, the navigation message data packets and the satellite signal information of various channels to the CPU; the CPU displays the channel information on a simulation interface in real time, and sends the control word to the FPGA intermediate frequency signal generation module through the USB3.0, and the method specifically comprises the following steps:
step 2.1, initializing data in the GPU, distributing memory and threads according to the satellite navigation signal frequency points and the quantity of satellite signals transmitted in the CPU, and corresponding information transmitted in the CPU to corresponding threads;
2.2, starting a GPU parallel computing thread, computing the position, the speed, the transmitting time and the pseudo-range information of each satellite, and ensuring that all threads in the previous parallel threads are computed before starting a new parallel thread each time;
step 2.3, judging satellite visible information, wherein when the pitch angle of the satellite relative to the carrier is more than 5 degrees, the satellite is a visible satellite; for a visible satellite, a binary navigation message is generated in real time according to the satellite signal transmitting time, navigation information control words such as carrier frequency, carrier phase, code frequency, code phase, pseudo code period and the like are calculated, and after calculation is completed, the satellite information and the navigation information control words are returned to a CPU together.
Step 2.4, under the control of an FPGA interrupt signal with a fixed time interval, packaging and sending the navigation information control word obtained in the step 2.3 to a lower computer through a USB 3.0; when the time reaches 1s, refreshing interface data;
and 3, receiving the data packet information in the step 2, synthesizing a digital intermediate frequency signal, and generating an analog intermediate frequency signal after high-speed digital-to-analog conversion, wherein the method specifically comprises the following steps:
3.1, the intermediate frequency signal unit receives the navigation information control word in the step 3, after receiving the end mark, the data is split and recombined, and the data is refreshed to each channel signal generation module at the same time;
3.2, the channel signal generation module generates a satellite digital intermediate frequency signal under the control of a clock signal according to the obtained parameter information;
step 3.3, converting the digital intermediate frequency signal into an analog intermediate frequency signal through high-speed digital-to-analog conversion;
and 4, filtering, mixing, amplifying and controlling power of the analog intermediate frequency signal in the step 3, up-converting to a satellite navigation radio frequency signal, and radiating the satellite navigation radio frequency signal through a transmitting module.
The invention develops a multi-constellation multi-frequency-point satellite navigation signal simulator, generates a near-real radio frequency satellite navigation signal, and can simulate and generate a satellite navigation signal in a scene according to a simulation scene specified by a user, including carrier dynamic characteristics, simulation time, ephemeris (the user gives or obtains from an ephemeris database according to the time), a propagation error model, environmental interference conditions and the like; the navigation receiving equipment can be accurately and conventionally tested and evaluated in performance, and the high cost for field testing is reduced or completely saved; the method can be used for collaborative simulation of various satellite guidance systems and has a closed-loop real-time simulation function.
Claims (10)
1. The satellite navigation signal simulator based on the CPU + GPU + FPGA is characterized by comprising a simulation control computer, wherein the simulation control computer is sequentially connected with a USB3.0 module, an intermediate frequency module, a radio frequency module and a transmitting module, and is also connected with a human-computer interaction module; the simulation computer comprises a CPU module and a GPU module; the intermediate frequency module comprises an FPGA module, a digital-to-analog conversion module and a clock module; the output of the clock module is also connected with the clock input of the radio frequency module; the simulation computer belongs to the upper computer part; the intermediate frequency module and the radio frequency module are arranged in a lower computer case; the upper computer and the lower computer communicate through the USB3.0 module, and the transmitting module is connected with the equipment to be tested in a wired or wireless mode.
2. The CPU + GPU + FPGA-based satellite navigation signal simulator of claim 1, wherein the CPU module is configured to perform initialization settings, data communication with the GPU module, data communication with the FPGA module, and data display functions.
3. The CPU + GPU + FPGA-based satellite navigation signal simulator of claim 2, wherein the initialization information comprises: the position, speed, simulation time and motion trail of the carrier; selecting a navigation satellite frequency point; selecting an ionosphere and a troposphere on a navigation signal propagation path; satellite ephemeris information; communicating with the GPU module means transmitting the initialized carrier data information to the GPU module and receiving the calculation result of the GPU module; the communication with the FPGA module means that part of data obtained from the GPU module is transmitted into the FPGA module through the USB3.0 module, and meanwhile, a transmission success signal of the FPGA module is received; the data display function comprises the real-time display of visible star distribution, satellite pitch angle, azimuth angle, pseudo range and the like, and the display is refreshed once per second.
4. The satellite navigation signal simulator based on the CPU + GPU + FPGA of claim 1, wherein the GPU module is used for calculating information such as satellite transmitting time, signal propagation delay, pseudo range, pitch angle and azimuth angle; judging visible satellites, and calculating navigation information control words such as telegraph text, carrier frequency, carrier phase, code frequency, code phase and the like of each visible satellite; the data required for display is returned to the CPU together with the navigation information control word.
5. The satellite navigation signal simulator based on the CPU + GPU + FPGA as recited in claim 1, wherein the USB3.0 module completes rapid communication between the upper computer and the lower computer.
6. The satellite navigation signal simulator based on the CPU + GPU + FPGA as claimed in the claim, wherein the FPGA module receives navigation information control words downloaded from an upper computer, realizes generation and modulation of carrier waves, pseudo codes and telegraph text, generates high-precision digital intermediate-frequency signals, and obtains simulated intermediate-frequency navigation satellite signals through summation and digital-to-analog conversion module; when no external clock is input, the clock module provides a high-stability reference clock through a self constant-temperature crystal oscillator; the radio frequency module completes up-conversion processing from intermediate frequency to radio frequency; carrying out power amplification and program power control on the radio frequency signal; the transmitting module radiates the signal out through the antenna.
7. The satellite navigation signal simulator based on the CPU + GPU + FPGA of claim 1, wherein the device under test is a satellite navigation receiver; the device to be tested is a mobile station satellite navigation receiver.
8. The signal simulation method of the satellite navigation signal simulator based on the CPU + GPU + FPGA is characterized in that the satellite navigation signal simulator based on the CPU + GPU + FPGA as claimed in claim 1 is adopted, and the method is implemented according to the following steps:
step 1, a user sets position, speed and posture information of a carrier through a man-machine interaction unit in a CPU; a satellite navigation signal frequency point to be simulated; ionosphere, troposphere information; acquiring current time ephemeris data from an ephemeris library according to the simulation time information;
step 2, finishing the initialization setting of the GPU according to the simulation parameter information obtained in the step 1; starting a thread in the GPU for parallel calculation, calculating various control words, navigation message data packets and satellite signal information of various channels, and packaging and returning the control words, the navigation message data packets and the satellite signal information of various channels to the CPU; the CPU displays the channel information on a simulation interface in real time and sends a control word to the FPGA intermediate frequency signal generation module through a USB 3.0;
step 3, receiving the data packet information in the step 2, synthesizing a digital intermediate frequency signal, and generating an analog intermediate frequency signal after high-speed digital-to-analog conversion;
and 4, filtering, mixing, amplifying and controlling power of the analog intermediate frequency signal in the step 3, up-converting to a satellite navigation radio frequency signal, and radiating the satellite navigation radio frequency signal through a transmitting module.
9. The signal simulation method of the satellite navigation signal simulator based on the CPU + GPU + FPGA of claim 8, wherein the step 2 is specifically as follows:
step 2.1, initializing data in the GPU, distributing memory and threads according to the satellite navigation signal frequency points and the quantity of satellite signals transmitted in the CPU, and corresponding information transmitted in the CPU to corresponding threads;
2.2, starting a GPU parallel computing thread, computing the position, the speed, the transmitting time and the pseudo-range information of each satellite, and ensuring that all threads in the previous parallel threads are computed before starting a new parallel thread each time;
step 2.3, judging satellite visible information, wherein when the pitch angle of the satellite relative to the carrier is more than 5 degrees, the satellite is a visible satellite; for a visible satellite, generating a binary navigation message in real time according to the satellite signal transmitting time, calculating navigation information control words such as carrier frequency, carrier phase, code frequency, code phase, pseudo code period and the like, and returning satellite information and the navigation information control words to a CPU after calculation is finished;
step 2.4, under the control of an FPGA interrupt signal with a fixed time interval, packaging and sending the navigation information control word obtained in the step 2.3 to a lower computer through a USB 3.0; when the time reaches 1s, the interface data is refreshed.
10. The signal simulation method of the satellite navigation signal simulator based on the CPU + GPU + FPGA of claim 8, wherein the step 3 is specifically as follows:
3.1, the intermediate frequency signal unit receives the navigation information control word in the step 3, after receiving the end mark, the data is split and recombined, and the data is refreshed to each channel signal generation module at the same time;
3.2, the channel signal generation module generates a satellite digital intermediate frequency signal under the control of a clock signal according to the obtained parameter information;
and 3.3, converting the digital intermediate frequency signal into an analog intermediate frequency signal through high-speed digital-to-analog conversion.
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| CN115685265A (en) * | 2023-01-04 | 2023-02-03 | 湖南卫导信息科技有限公司 | Satellite navigation cloud simulation system, method and device, electronic equipment and storage medium |
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