CN114089386B - Multichannel locking method for Beidou third-generation navigation signals - Google Patents
Multichannel locking method for Beidou third-generation navigation signals Download PDFInfo
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- CN114089386B CN114089386B CN202210064770.7A CN202210064770A CN114089386B CN 114089386 B CN114089386 B CN 114089386B CN 202210064770 A CN202210064770 A CN 202210064770A CN 114089386 B CN114089386 B CN 114089386B
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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
- G01S19/246—Acquisition or tracking or demodulation of signals transmitted by the system involving long acquisition integration times, extended snapshots of signals or methods specifically directed towards weak signal acquisition
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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
Abstract
The invention discloses a multichannel locking method for Beidou third-generation navigation signals, which comprises the steps of obtaining a capturing result and initiating rotation tracking to obtain total consumed time and target signal frequency; estimating the maximum carrier frequency variation generated on a target signal by a receiver in the total time consumption and obtaining a frequency pulling range; performing signal locking; expanding the coherent integration time by a plurality of times to obtain a new frequency search range; taking the left frequency boundary as a starting point to perform a plurality of steps to obtain a new locking starting frequency; and (4) carrying out traction operation by adopting a plurality of independent tracking channels and detecting the result to finish the lock entering. The invention improves the frequency traction range of the existing locking method, realizes locking of large dynamic and weak signals, improves the successful probability of locking of complex scene signals, and has high success rate, high reliability and good stability.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to a multichannel locking method for Beidou third-generation navigation signals.
Background
With the development of economic technology and the improvement of living standard of people, the navigation technology is widely applied to the production and the life of people, and brings endless convenience to the production and the life of people. With the construction of the Beidou third-generation navigation system in China, the large-scale application of the Beidou in the navigation industry draws a curtain.
In the field of equipment manufacturing, due to the influence of factors such as geographic environment, electromagnetic environment, diversified demand environment and the like, application scenes are relatively complex. Especially in high dynamic applications, when the signal is weak, such as under the scenes of antenna rotation, carrier shielding or sweeping valley flight, etc., the signal locking requires both a large dynamic range and a high sensitivity (weak signal).
Aiming at the situation, the current commonly used lock-in methods comprise lock-in methods such as PLL direct lock-in, dot product difference frequency discrimination lock-in, FFT frequency discrimination lock-in and the like, when products are applied, one class of products is biased to a large lock-in range, and dot product difference frequency discrimination or multi-point FFT frequency discrimination based on short coherent integration time is adopted; however, the short coherent integration time is easy to cause frequency discrimination result to generate deviation or even error under weak signals because coherent gain is not enough, thereby causing large frequency deviation or loss of lock in. Another class of products prefers to employ long coherent integration times to provide sufficient gain to favor lock-in of weak signals, but the frequency range of lock-in is difficult to compromise with the frequency difference caused by large speed variations.
Disclosure of Invention
The invention aims to provide a multichannel locking method for Beidou third-generation navigation signals, which is high in success rate, reliability and stability.
The invention provides a multichannel locking method for Beidou third-generation navigation signals, which comprises the following steps:
s1, acquiring a capturing result, initiating rotation tracking, and acquiring total time consumption of the locking confirmation and frequency traction process and the frequency of a target signal obtained by capturing;
s2, estimating the maximum carrier frequency variation generated on the target signal by the receiver in the total time consumption of the lock entering confirmation and the frequency traction process according to the maximum acceleration of the target receiver, thereby obtaining a frequency traction range;
s3, according to the frequency pulling range obtained in the step S2, signal locking is carried out;
s4, expanding the coherent integration time by a plurality of times to obtain a new frequency search range;
s5, according to the target signal frequency obtained by capturing in the step S1, stepping for a plurality of times by taking the left frequency boundary as a starting point to obtain a plurality of new locking starting frequencies;
s6, according to the new locking start frequencies obtained in the step S5, a plurality of independent tracking channels are adopted for traction (pullin) operation;
and S7, detecting the pullin operation in the step S6, thereby completing the lock entry.
The step S1 is to obtain the acquisition result and initiate rotation tracking to obtain the total time consumption of the lock confirmation and frequency pulling process and the frequency of the target signal obtained by acquisition, specifically, to obtain the acquisition result and initiate rotation tracking to obtain the code phase and carrier doppler of the target satellite signal, and obtain the code doppler by conversion, and finally obtain the frequency of the target signal obtained by acquisition as Fd and simultaneously note the total time consumption of the lock confirmation and frequency pulling process as T.
Step S2, estimating a maximum carrier frequency variation generated on the target signal by the receiver in the total time consumption of the lock entry confirmation and the frequency pulling process according to the maximum acceleration of the target receiver, so as to obtain the frequency pulling range, specifically including the following steps:
combining relative acceleration of receiver and satellite and receiver in lock-in confirmation and frequency pulling process according to maximum acceleration of target receiverThe Doppler additionally generated in the total time T is estimated to obtain the frequency variation range of the target signal in the time T
Thus, the frequency pulling range is obtained as Frange.
Performing signal lock-in according to the frequency pulling range obtained in the step S2 in the step S3, specifically performing signal lock-in according to the frequency pulling range obtained in the step S2; when locking is carried out, the coherent integration time is Tcoh, and the frequency search range is Tcoh
And satisfy
。
The signal locking is specifically performed by adopting a dot product frequency discrimination method or a segmented matched filtering FFT frequency discrimination method.
Expanding the coherent integration time by a plurality of times to obtain a new frequency search range, specifically, expanding the coherent integration time Tcoh by N times to obtain a new coherent integration time N × Tcoh (the frequency pulling range Fbin is plus or minus 1/(2 × N × Tcoh)), and the corresponding coherent gain is increased by 10 × lgN dB; the new frequency searching range is Frange/N; n is a positive integer greater than 1. For the capturing method of combining partial matched filtering with FFT, coherent gain can be improved by increasing coherent integration time of each segment of the segmented matched filter, and the principle is consistent and is not separately explained.
Step S5, according to the target signal frequency obtained by capturing in step S1, stepping several times with the left frequency boundary as the starting point to obtain several new lock-in starting frequencies, which specifically includes the following steps:
the target signal frequency Fd obtained in step S1 is stepped to the right frequency boundary Frange/2 by a set step size with the left frequency boundary-Frange/2 as a starting point, so as to obtain N new lock entry starting frequencies.
In step S6, the method for performing a pullin operation by using a plurality of independent tracking channels according to the plurality of new lock entry start frequencies obtained in step S5 specifically includes the following steps:
issuing the N new lock entry starting frequencies obtained in step S5 to N independent tracking channels, performing a pullin operation using the N independent tracking channels, and performing a signal lock entry with coherent integration time N × Tcoh;
when the pullin operation is performed, the parameters of the tracking channel can be freely set.
The parameters of the tracking channel specifically include an initial frequency of lock entry, a code loop parameter, a second-order loop parameter and a third-order loop parameter.
The step S7 of detecting the pullin operation in the step S6 to complete the lock entry, specifically includes the following steps:
and locking and detecting the result of the pullin operation of the N independent tracking channels, reserving the channels which successfully pass the locking and detecting, and releasing the rest unlocked channels, thereby completing the locking.
According to the multi-channel locking method for the Beidou third-generation navigation signals, when the capturing is converted into tracking, the capturing result is sent to the channels, and each channel covers different frequency sections respectively, so that the frequency traction range of the existing locking method is improved, the coherent integration time is increased, meanwhile, the sufficient frequency traction range can be ensured, and the locking of large dynamic and weak signals is realized; in addition, the invention utilizes a multi-channel method to configure different locking parameter combinations for the same capture result to deal with the randomness of signals, thereby improving the successful probability of locking of signals in complex scenes (including large dynamic, weak signals, multipath and the like); therefore, the invention has high success rate, high reliability and good stability.
Drawings
FIG. 1 is a schematic process flow diagram of the process of the present invention.
FIG. 2 is a schematic diagram of an embodiment of the method of the present invention.
Detailed Description
FIG. 1 is a schematic flow chart of the method of the present invention: the invention provides a multichannel locking method for Beidou third-generation navigation signals, which comprises the following steps:
s1, acquiring a capturing result, initiating rotation tracking, and acquiring total time consumption of the locking confirmation and frequency traction process and the frequency of a target signal obtained by capturing; specifically, a capturing result is obtained, rotation tracking is initiated to obtain a code phase and carrier Doppler of a target satellite signal, code Doppler is obtained through conversion, the frequency of the target signal obtained through capturing is finally obtained as Fd, and meanwhile, the total consumed time of a lock confirmation and frequency traction process is recorded as T;
s2, estimating the maximum carrier frequency variation generated on the target signal by the receiver in the total time consumption of the lock entering confirmation and the frequency traction process according to the maximum acceleration of the target receiver, thereby obtaining a frequency traction range; the method specifically comprises the following steps:
according to the maximum acceleration of the target receiver, combining the relative acceleration movement of the receiver and the satellite and the Doppler additionally generated by the receiver in the total time T consumed by the processes of lock-in confirmation and frequency traction, estimating the frequency change range of the target signal in the T time to be
Thus obtaining the frequency pulling range of Frange;
s3, according to the frequency pulling range obtained in the step S2, signal locking is carried out; specifically, according to the frequency pulling range obtained in the step S2, signal locking is performed; when locking is carried out, the coherent integration time is Tcoh, and the frequency search range is Tcoh
And satisfy Frange = 1/Tcoh;
when the signal is locked, a common lock-in algorithm in the prior art is adopted, for example, a dot product frequency discrimination method is adopted for locking, or a segmented matched filtering FFT frequency discrimination method is adopted for locking;
s4, expanding the coherent integration time by a plurality of times to obtain a new frequency search range; specifically, the correlation integration time Tcoh is expanded by N times, a new correlation integration time N × Tcoh is obtained (the frequency pulling range Fbin is plus or minus 1/(2 × N × Tcoh)), and the corresponding correlation gain is improved by 10 × lgN dB; the new frequency searching range is Frange/N; n is a positive integer greater than 1;
s5, according to the target signal frequency obtained by capturing in the step S1, stepping for a plurality of times by taking the left frequency boundary as a starting point to obtain a plurality of new locking starting frequencies; the method specifically comprises the following steps:
step-by-step the target signal frequency Fd obtained in step S1 to the right frequency boundary frane/2 with the left frequency boundary-frane/2 as the starting point and the set step length Fstep, so as to obtain N new lock-in starting frequencies;
the step length Fstep set here may be set to 1/(N × Tcoh), or may also be set to (frame/N + redundant frequency), where the redundant frequency Fm is selected according to actual conditions, and is generally between 0Hz and several hundred Hz (Fstep < = Fbin is satisfied); the method aims to reserve certain overlapping redundant frequency among all frequency searching ranges, thereby improving the searching reliability; when Fm is not 0, the number of channels required for final lock entry is at least N + M, wherein the value of M is the value of [ Frange- (Frange/N-Fm) × N ]/(Frange/N-Fm) and is rounded up, and additional channel numbers can be added to reserve more frequency lock entry redundancy values; in the following description, take Fm = 0;
s6, according to the new lock-in starting frequencies obtained in the step S5, a plurality of independent tracking channels are adopted for putting operation; the method specifically comprises the following steps:
issuing the N new lock entry starting frequencies obtained in step S5 to N independent tracking channels, performing a pullin operation using the N independent tracking channels, and performing a signal lock entry with coherent integration time N × Tcoh;
as N independent tracking channels are adopted for tracking, the frequency traction range of each tracking channel is Fbin, and the N channels are connected in parallel to cover the search range of Frange;
when the pullin operation is carried out, the parameters of the tracking channel can be freely set; the parameters of the tracking channel specifically comprise an initial locking frequency, a code loop parameter, a second-order loop parameter, a third-order loop parameter and the like; different parameter settings are carried out aiming at the tracking channel, so that locking of multi-parameter combination of complex signals is realized; and as long as one parameter combination takes effect, locking can be completed, so that the locking probability is improved;
s7, detecting the result obtained by the pullin operation of the step S6, thereby completing the lock entry; the method specifically comprises the following steps:
and locking and detecting the result of the pullin operation of the N independent tracking channels, reserving the channels which successfully pass the locking and detecting, and releasing the rest unlocked channels, thereby completing the locking.
The present invention is further illustrated in detail with reference to specific examples below:
the invention discloses an application example of a Beidou third-generation navigation signal multichannel locking method on a certain Beidou third-generation high dynamic B3 frequency point receiver (the speed is 3000m/s, and the acceleration is 50 g), which is shown in figure 2:
in the embodiment, step S1 is capturing, where a typical PMF-FFT is configured for capturing, 1ms is coherent, 64-segment PMFs and 128-point FFTs are configured for capturing, and a signal frequency f0 is obtained by capturing, and the resolution of the capturing frequency is 500 Hz;
in the embodiment, the step S2 corresponds to the module "A2T interrupt and thread scheduling", and the time T taken for acquisition, A2T process and confirm operation is about 220ms according to the calculation of the receiver acquisition scheduling policy. Aiming at the characteristics of the maximum speed of 50g and 3000m/s of the receiver, the maximum frequency variation generated by B3 frequency points within 220ms is 465Hz, and the frequency range Frange = 2X (500+465) Hz and about 1.93KHz ([ -970Hz, 970Hz ]) which is finally required to be towed is obtained by considering the frequency uncertainty of a capturing result brought by the capturing resolution;
in the embodiment, steps S3 and S4 correspond to a module "maximum frequency search (pull) range", and perform signal lock according to the frequency pull range obtained in step S2; if FLL is used for locking, the required coherent integration time is within 0.52ms (less than 1/Frange), the coherent integration gain is low, and the requirement of the receiver on locking sensitivity of-138 dBm cannot be met; according to the method, coherent integration time is increased to 2.5 ms, 2ms is taken in the embodiment, and 5 is taken corresponding to N; at this time, the single channel (using a typical FLL) frequency pulling range Fbin =500Hz (plus or minus 250 Hz), and the inter-channel frequency stepping is Fstep = frame/N =386Hz, leaving a certain redundancy, and taking 400 Hz; it should be noted that other types of frequency and phase detection methods in the fields of FFT, PLL, etc. may be used in this example, and the present invention is not limited to a particular frequency or phase detection method;
in step S5, according to the target signal frequency obtained in step S1, a plurality of steps are performed with the left frequency boundary as a starting point to obtain a plurality of new lock entry starting frequencies; the method specifically comprises the following steps:
step-by-step Fstep to the right frequency boundary Frange/2 with the left frequency boundary-Frange/2 as the starting point for the target signal frequency F0 captured in step S1, so as to obtain N new lock-in starting frequencies;
for lane n, its lock-in start frequency Fshift is:
fshift = f0-Frange/2 + (Frange/N)/2 + (N-1). times.Fbin, N takes the value of (1-N);
therefore, as shown in the figure,
for lane 1, its lock-in start frequency Fshift is:
Fshift =f0 - Frange/2 + (Frange/N)/2=f0-970+200=f0-770Hz；
for lane 2, its lock-in start frequency Fshift is:
Fshift =f0 - Frange/2 + (Frange/N)/2+(2-1)*Fbin=f0-270Hz；
……
then N =5 channels, respectively searching for [ -250+ f0-770, f0-770+250] Hz, [ -250+ f0-270, f0-270+250] Hz, [ -250+ f0+230, f0+230+250] Hz, [ -250+ f0+730, f0+730+250] Hz, [ -250+ f0+1230, f0+1230+250] Hz, covering plus or minus 970Hz, and meeting the requirement;
in step S6, according to the 5 new lock entry start frequencies obtained in step S5, a pullin operation is performed by using 5 independent tracking channels; the method specifically comprises the following steps:
issuing the 5 new lock-in starting frequencies obtained in the step S5 to 5 independent tracking channels, performing pullin operation by adopting the 5 independent tracking channels, and simultaneously performing FLL lock-in with coherent integration time of 2ms, wherein the engineering can support signal lock-in with a level of more than CNR32 (-138 dBm to-139 dBm);
when the pullin operation is carried out, the parameters of the tracking channel can be freely set, and the invention adopts uniform configuration and uses a second-order code loop and a third-order frequency locking loop; in complex application, different parameter settings can be carried out aiming at a tracking channel, and the purpose is to realize locking of multi-parameter combination of complex signals; and as long as one parameter combination takes effect, locking can be completed, so that the locking probability is improved;
in step S7 of the embodiment, the pullin result of each channel in step S6 is typically subjected to lock detection, including code loop EPL lock detection, IQ branch energy detection of PLL, and other lock detections; step S7 is to finally select the channel with the highest confidence of lock detection as the only lock entry channel for the current capture (in the present invention, the channel with the largest IQ ratio and the largest number of continuous and stable peak occurring positions is selected as the highest confidence channel), thereby completing the lock entry process.
The method of the invention is applied to the embodiment, the problems that the signal level is weak (-138 dBm) and the frequency dynamic range is large when the receiver is locked are solved, the method has the characteristics of low algorithm implementation difficulty, low hardware cost, high reliability and high success rate, and has considerable use value.
Claims (9)
1. A multichannel locking method for Beidou third-generation navigation signals is characterized by comprising the following steps:
s1, acquiring a capturing result, initiating rotation tracking, and acquiring total time consumption of the locking confirmation and frequency traction process and the frequency of a target signal obtained by capturing;
s2, estimating the maximum carrier frequency variation generated on the target signal by the receiver in the total time consumption of the lock entering confirmation and the frequency traction process according to the maximum acceleration of the target receiver, thereby obtaining a frequency traction range;
s3, according to the frequency pulling range obtained in the step S2, signal locking is carried out;
s4, expanding the coherent integration time by a plurality of times to obtain a new frequency search range;
s5, according to the target signal frequency obtained by capturing in the step S1, stepping for a plurality of times by taking the left frequency boundary as a starting point to obtain a plurality of new locking starting frequencies;
s6, according to the new locking starting frequencies obtained in the step S5, a plurality of independent tracking channels are adopted for traction operation;
and S7, detecting the traction operation in the step S6, and completing the lock entry.
2. The multi-channel lock entering method for the third generation Beidou navigation signal according to claim 1, wherein the step S1 comprises acquiring a capturing result, initiating rotation tracking to obtain the total time consumption of lock entering confirmation and frequency pulling process and the frequency of a target signal obtained by capturing, specifically, acquiring a capturing result, initiating rotation tracking to obtain the code phase and carrier Doppler of a target satellite signal, and obtaining code Doppler through conversion to finally acquire the frequency of the target signal obtained by capturing as Fd, and simultaneously recording the total time consumption of lock entering confirmation and frequency pulling process as T.
3. The multi-channel lock-in method for the third generation of beidou navigation signals as claimed in claim 1 or 2, wherein the step S2 is to estimate the maximum carrier frequency variation generated on the target signal by the receiver in the total time consumption of the lock-in confirmation and the frequency pulling process according to the maximum acceleration of the target receiver, so as to obtain the frequency pulling range, and specifically comprises the following steps:
according to the maximum acceleration of the target receiver, the frequency variation range of the target signal in the T time is estimated to be [ -Frange/2, Frange/2] by combining the relative acceleration motion of the receiver and the satellite and the Doppler additionally generated by the receiver in the total time T consumed by the processes of lock entering confirmation and frequency pulling, and therefore the frequency pulling range is Frange.
4. The multi-channel locking method for the third generation Beidou navigation signal according to claim 3, wherein the signal locking is performed according to the frequency pulling range obtained in the step S2 in the step S3, specifically according to the frequency pulling range obtained in the step S2; when locking is carried out, the coherent integration time is Tcoh, the frequency search range is [ -Frange/2, Frange/2], and Frange =1/Tcoh is satisfied.
5. The multi-channel lock-in method for the third generation Beidou navigation signal according to claim 4, wherein the coherent integration time is expanded by a plurality of times in the step S4, so as to obtain a new frequency search range, specifically, the coherent integration time Tcoh is expanded by N times, so as to obtain a new coherent integration time N Tcoh, so that the corresponding coherent gain is improved by 10 lgN dB; the new frequency searching range is Frange/N; n is a positive integer greater than 1.
6. The multi-channel lock-in method for the third generation Beidou navigation signal according to claim 5, wherein the step S5 comprises the following steps of performing a plurality of steps with the left frequency boundary as the starting point according to the target signal frequency acquired in the step S1 to obtain a plurality of new lock-in starting frequencies:
step-by-step the target signal frequency Fd obtained in step S1 to the right frequency boundary frane/2 with the left frequency boundary-frane/2 as the starting point and the set step length Fstep, so as to obtain N new lock-in starting frequencies;
setting the step length Fstep to be 1/(N Tcoh);
or the set step length Fstep is (frame/N + redundancy frequency), wherein the redundancy frequency Fm is selected according to the actual situation and satisfies Fstep < = Fbin; the method aims to reserve certain overlapping redundant frequency among all frequency searching ranges, thereby improving the searching reliability; when Fm is not 0, the number of channels required for final locking is at least N + M, wherein the value of M is the value of [ Frange- (Frange/N-Fm) × N ]/(Frange/N-Fm) and the value is rounded up; or adding extra channels to reserve more frequency lock-in redundancy values; fbin is the frequency pulling range of the tracking channel.
7. The multi-channel lock-in method for the third generation Beidou navigation signal according to claim 6, wherein the step S6 adopts a plurality of independent tracking channels to perform the pulling operation according to a plurality of new lock-in starting frequencies obtained in the step S5, which comprises the following steps:
issuing the N new lock entry starting frequencies obtained in the step S5 to N independent tracking channels, performing a pulling operation by using the N independent tracking channels, and performing a signal lock entry with coherent integration time N × Tcoh;
when the traction operation is carried out, the parameters of the tracking channel can be freely set.
8. The multi-channel lock-in method for the third generation Beidou navigation signal according to claim 7, wherein the parameters of the tracking channel specifically include lock-in start frequency, code loop parameters, second order loop parameters and third order loop parameters.
9. The multi-channel lock entry method for the third generation Beidou navigation signal according to claim 8, wherein the step S7 of detecting the towing operation of the step S6 to complete the lock entry comprises the following steps:
and locking and detecting the result after the traction operation of the N independent tracking channels, reserving the channels which successfully pass the locking and detecting, and releasing the rest unlocked channels, thereby completing the locking.
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