CN114280636A - AltBOC signal receiving method and device - Google Patents
AltBOC signal receiving method and device Download PDFInfo
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Abstract
The invention discloses a method for receiving an AltBOC signal, which comprises the following steps: receiving an AltBOC baseband signal of a broadband, separating an upper sideband signal and a lower sideband signal in the baseband signal, and respectively moving the signals to zero intermediate frequency; down-sampling the moved upper sideband signal and the lower sideband signal; respectively regarding the upper sideband signal and the lower sideband signal subjected to down-sampling processing as spreading signals of BPSK/QPSK, correlating the spreading signals with a local carrier and a local spreading code, and obtaining correlation results of different code delays; combining correlation results of different code delays obtained by respectively tracking the upper sideband and the lower sideband to obtain an equivalent correlation result of the complete AltBOC signal; and processing the equivalent AltBOC signal correlation result to obtain control information for controlling the local carrier and the local spread spectrum code. The invention also discloses a signal receiving device. The method and the device can realize the reception of the AltBOC signal.
Description
Technical Field
The invention relates to the field of satellite navigation, in particular to a signal receiving method and device.
Background
With the continuous construction of Global Navigation Satellite Systems (GNSS), the demand for navigation services is expanding. In order to provide better service and enable a satellite navigation receiver to perform more accurate and reliable positioning, all satellite navigation systems adopt AltBOC and AltBOC-like signal modulation modes. Such as AltBOC for Galileo satellite systems, QMBOC for Beidou satellite systems, TD-AltBOC, and the like. In processing the above signals, in order to obtain the receiving effect of the complete AltBOC signal, the prior art needs to process the AltBOC signal as a complete wideband signal. Such as the typical galileo AltBOC signal, the spectrum width exceeds 51MHz, so the processed signal requires a high sampling rate and places high demands on the processing capability of the receiver. Meanwhile, the correlation peak of the AltBOC signal is narrow, and multiple peaks exist, so that more complexity is brought to signal tracking.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a signal receiving method and a signal receiving device, and aims to solve the problems that in the prior art, the processing operation amount is large when AltBOC signals and similar AltBOC signals are processed, and the risk of tracking errors is caused by multi-peak influence during tracking.
In order to achieve the above object, the present invention provides a signal receiving method, including:
s1, receiving a digital intermediate frequency input signal containing a complete AltBOC signal, respectively moving an upper sideband signal and a lower sideband signal in the AltBOC signal to a zero intermediate frequency after sideband processing, performing down-sampling after filtering out signals except for the sidebands, and respectively outputting a lower sideband signal and an upper sideband signal of the zero intermediate frequency which is lower than the sampling rate of the input signal;
s2, respectively carrying out correlation and integral accumulation operation on the lower sideband signal and the upper sideband signal as well as the local lower sideband signal and the local upper sideband signal to obtain a plurality of correlation accumulation results with different delays;
s3, respectively carrying out phase adjustment and combination on the correlation accumulation results of the lower sideband and the upper sideband with different delays to obtain the combined correlation accumulation results of the double sidebands with different delays;
s4, carrying out identification and filtering of carrier frequency, phase and code delay on the combined double-sideband correlation accumulation results with different delays or the correlation accumulation results with different delays of the lower sideband and the upper sideband which are not combined to obtain control information of the local signal;
s5, generating a lower sideband local signal containing a carrier wave and a local code according to the control information of the local signal;
and S6, generating an upper sideband local signal containing the carrier wave and the local code according to the control information of the local signal.
In addition, to achieve the above object, the present invention also provides a signal receiving apparatus, comprising:
the sideband processing module is used for receiving a digital intermediate frequency input signal containing a complete AltBOC signal, respectively moving an upper sideband signal and a lower sideband signal in the AltBOC signal to zero intermediate frequency after sideband processing, performing down-sampling after filtering out signals except the sidebands, and respectively outputting a lower sideband signal and an upper sideband signal of the zero intermediate frequency which is lower than the sampling rate of the input signal;
the correlation accumulation module is used for respectively carrying out correlation and integral accumulation operation on the lower sideband signal and the upper sideband signal as well as the local lower sideband signal and the local upper sideband signal to obtain a plurality of correlation accumulation results with different delays;
the phase adjusting and combining module is used for respectively carrying out phase adjustment and combination on the correlation accumulation results of the lower sideband and the upper sideband with different delays to obtain combined double-sideband correlation accumulation results with different delays;
the discrimination and loop filtering module is used for discriminating and filtering carrier frequency, phase and code delay of the combined double-sideband correlation accumulation results with different delays to obtain control information of a local signal;
a lower sideband local signal generating module for generating a lower sideband local signal including a carrier and a local code according to control information of the local signal;
and the upper sideband local signal generating module is used for generating an upper sideband local signal containing a carrier wave and a local code according to the control information of the local signal.
The signal receiving method and the device thereof receive a digital intermediate frequency input signal containing a complete AltBOC signal, and obtain a lower sideband signal and an upper sideband signal with lower sampling rate through sideband processing; and respectively carrying out correlation accumulation on the lower sideband signal and the upper sideband signal and the local lower sideband signal and upper sideband signal. The sampling rate of the upper and lower sideband signals after the sideband processing can be far lower than that of the input signal, so the processing operation amount of the correlation accumulation module can be greatly reduced. After the correlation accumulation results of the upper and lower sidebands are subjected to phase adjustment and combination, the correlation accumulation result which can be obtained only by processing the double-sideband signal with high sampling rate originally can be obtained. After the combined result is subjected to identification of carrier frequency, phase and code delay, control information of a local signal can be obtained; the control information of the local signal may control the generation of the local lower sideband signal and the local upper sideband signal, respectively. Through the feedback of S2, S3, S4 and S5 and the feedback of S2, S3, S4 and S6 in the method, a complete AltBOC signal tracking loop can be formed, and the AltBOC signal is tracked and demodulated.
Drawings
FIG. 1 is a power spectrum of the Galileo AltBOC signal;
fig. 2 is a schematic flow chart of a signal receiving method according to the present invention;
FIG. 3 is a schematic flowchart illustrating a detailed process of one embodiment of step S1 in FIG. 2;
FIG. 4 is a schematic diagram illustrating a detailed flow of one embodiment of step S2 in FIG. 2;
FIG. 5 is a schematic view of a detailed flow chart of an embodiment of step S3 in FIG. 2;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Taking receiving galileo AltBOC signals as an example, the radio frequency front end of the receiver receives navigation signals through an antenna, filters the navigation signals and amplifies the navigation signals; and converting the carrier frequency of the AltBOC signal component to be processed into a corresponding intermediate frequency for the navigation signal after filtering and amplifying processing, and then performing analog-to-digital conversion to obtain a baseband signal.
FIG. 1 is a power spectrum of the Galileo AltBOC signal. Since the width of the double sideband main lobe of the AltBOC signal exceeds 50MHz, the sampling rate of the baseband signal needs to be well over 50MHz even for zero intermediate frequency sampling with complex signals.
Fig. 2 is a flow chart of the present invention for processing signals, and the first step is to perform sideband processing on the input baseband signals with high sampling rate.
Fig. 3 is a detailed flow of the sideband processing of S1 in fig. 2. The method comprises the following steps:
s11, multiplying the input signal by a local carrier with the frequency respectively being the opposite number of the lower sideband and the upper sideband nominal intermediate frequency, wherein the purpose of the step is to move the signals of the upper and lower sidebands to zero intermediate frequency;
s12, filtering the signals of the upper and lower sidebands of the zero intermediate frequency respectively; the purpose of this step is to filter out the signals outside the upper and lower sideband main lobes;
and S13, down-sampling the filtered signal. Because the bandwidth of each of the two paths of signals of the upper and lower sidebands is only 20MHz, the sampling rate can be reduced to about 20 MHz.
Fig. 4 is a detailed flow of the process of correlation accumulation for S2 in fig. 2. The method comprises the following steps:
and S21, multiplying the sideband signal by the local carrier. The local carriers are the local carriers in the S5 and S6 local lower sideband signals and local upper sideband signals, respectively, of fig. 2. The multiplication with the local carrier is to remove the residual doppler in the sideband signal.
And S22, correlating the sideband signal with the residual Doppler removed with the local code. The local codes are spreading codes in the local lower sideband signals and the local upper sideband signals of S5 and S6, respectively, in fig. 2. Where Ed, Pd, and Ld represent the leading, current, and lagging data channel spreading codes, respectively, and Ep, Pp, and Lp represent the leading, current, and lagging pilot channel spreading codes, respectively.
And S23, accumulating the correlation results.
In the above processing flow, except for the local code, the other signals are complex signals. In practice, more advanced and late correlations of different code delays may be added in addition to the advanced, current and late three-way correlations shown.
Fig. 5 is a detailed flow of phase adjustment and combination for S3 in fig. 2. The method comprises the following steps:
s31, calculating the correlation accumulation result generated in the process of S2 in the figure 2 according to different sidebands and different code delays to obtain corresponding phase adjustment, and rotating the complex correlation accumulation result according to the phase adjustment to obtain the correlation accumulation result after the phase adjustment;
and S32, adding the correlation accumulation results after phase adjustment of the same code delay in the upper sideband and the lower sideband to obtain the accumulation result of the combination of the corresponding code delays.
In the above flow, only three-way phase adjustments and combinations of leading, current and lagging are shown. If there are more code delayed early and late correlation accumulation results for the correlation accumulation result generated by the process of S2 in fig. 2, more paths of phase adjustment and combining operations can be added. The accumulated result of the lower sideband and the upper sideband can be the accumulated result of the data channel, the accumulated result of the pilot channel, or the superposition of the two.
In the above flow, the method for calculating the phase adjustment is as follows:
the AltBOC and similar AltBOC signals have a common feature in that the separate upper sideband signal and lower sideband signal can be demodulated as separate BPSK/QPSK signals. Therefore, when the upper baseband signal and the lower baseband signal are used as BPSK/QPSK signals, multiplied by respective sine/cosine subcarriers and added to obtain signals, the signals can be used as local double-sideband baseband signals to replace the original double-sideband baseband signals of AltBOC to perform correlation operation with input signals, and the correlation result and the shape of a correlation peak cannot be changed remarkably. The technology of the invention applies the characteristic and adopts the substituted local double-sideband baseband signal to carry out the correlation operation.
Taking the galileo AltBOC signal as an example, the galileo E5 frequency point AltBOC signal includes four signals of E5aI, E5aQ, E5bI and E5 bQ. According to the characteristics of the AltBOC signal, constructing a local double-sideband baseband signal as follows:
wherein
、
、
And
modulo two sums of the modulated PRN code and the modulated data message representing the four frequency components respectively,
representing the frequency of the subcarrier, equal to 2 pi x 15.345 MHz.
And
which respectively represent the initial phases of two subcarriers, both of which are pi/8 in the galileo AltBOC signal.
From this we can get that the correlation result for the input signal and the local double sideband baseband signal can be expressed as:
wherein
Is the conjugate of the QBOC baseband signal described above.
Expanding the expression of the local dual-sideband baseband signal and bringing the expression into a correlation formula to obtain:
by analyzing the above formula, it can be found that the content inside the integral symbol after being divided into four integral terms is the correlation result of the input signal after removing a sinusoidal subcarrier and correlating with the local code. That is, the input AltBOC signals are firstly subjected to subband separation, respectively correlated, and the correlation results are added after being subjected to phase adjustment, so that the result equivalent to the correlation of the complete AltBOC signals can be obtained. That is, expressed as:
wherein
、
、
And
the correlation results of each sideband with the four signal components of the AltBOC signal are regarded as QPSK signals, and the previous portions multiplied by the correlation results are the respective phase adjustment amounts.
In the practice of the present invention, it is also possible to track only the signal components of the pilot portion. At this time, the correlation result may include only the correlation components of the upper and lower sideband pilot parts, as shown in the following formula:
the process of S4 in fig. 2, according to the double-sideband correlation accumulation results with different delays, performs identification and filtering of carrier frequency, phase and code delay to obtain control information of the local signal; and the processes of S5 and S6, respectively generating the lower sideband and upper sideband local signals including the carrier and the local codes of different delays according to the control information of the local signals, may employ a discriminator, a loop filter and a local signal generating method commonly used in a phase locked loop, a frequency locked loop and a delay locked loop. These methods are widely used in signal tracking of satellite navigation receivers, and any engineer skilled in the art can implement them according to the prior art.
In the above embodiment, the processing flow of S1 in fig. 2 can greatly reduce the sampling rate of the input signal, and accordingly, the computation amount in the signal processing, especially in the correlation accumulation processing, can be greatly reduced. Meanwhile, after the phase adjustment and combination are carried out on the correlation accumulation result of the lower sideband and the correlation accumulation result of the upper sideband, the complete correlation accumulation result of the double sideband signals can be obtained. Compared with single sideband signal tracking, the double sideband signal tracking not only improves the signal-to-noise ratio of the signal and enables the tracking to be more stable, but also has narrower related peak of the double sideband, improves the precision of the signal tracking and provides better anti-multipath performance.
Meanwhile, in the above embodiment, the lower sideband correlation accumulation result and the upper sideband correlation accumulation result are not subjected to phase adjustment and combination, but are respectively subjected to carrier phase and code delay discrimination, and local signal generation of respective sidebands is respectively controlled after loop filtering, so that a BPSK/QPSK signal tracking loop with two sidebands respectively independent is formed. The correlation peak only has a single peak value, and the additional complex processing brought by multi-peak pair tracking is avoided. After the code tracking of the single sideband is locked, switching to the tracking of the double sideband combination can avoid locking on a wrong correlation peak.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A signal receiving method, comprising:
s1, receiving a digital intermediate frequency input signal of an AltBOC signal containing complete double-sideband information, and performing sideband processing on the input signal to respectively obtain a lower sideband signal and an upper sideband signal of zero intermediate frequency with a lower sampling rate compared with the sampling rate of the input signal;
s2, respectively carrying out correlation and integral accumulation operation on the lower-sampling-rate lower-sideband signal and the upper-sideband signal with the local lower-sideband signal and the local upper-sideband signal to obtain a plurality of correlation accumulation results of different delays of the lower sideband and the upper sideband;
s3, respectively carrying out phase adjustment and combination on the correlation accumulation results of the lower sideband and the upper sideband with different delays to obtain combined correlation accumulation results of the double sidebands with different delays;
s4, carrying out identification and filtering of carrier frequency and/or carrier phase and code delay on the combined double-sideband correlation accumulation results with different delays or the correlation accumulation results with a plurality of different delays of the lower sideband and the upper sideband to obtain control information of the local lower sideband signal and the local upper sideband signal;
s5, according to the control information of the local lower sideband signal, generating a lower sideband local signal containing a carrier wave and local codes with different delays;
and S6, generating an upper sideband local signal containing a carrier wave and local codes with different delays according to the control information of the local upper sideband signal.
2. The signal receiving method as claimed in claim 1, wherein said step S1 includes:
s11, multiplying the input signal by a local carrier with the frequency respectively being the opposite numbers of the nominal intermediate frequency of the lower sideband and the upper sideband, and respectively moving the signals of the lower sideband and the upper sideband to zero intermediate frequency;
s12, respectively filtering the lower sideband signal and the upper sideband signal which are moved to the zero intermediate frequency, and respectively filtering signals except the sideband main lobe;
and S13, respectively performing down-sampling on the filtered signals to obtain lower-sideband zero intermediate frequency signals and upper-sideband zero intermediate frequency signals with lower sampling rates.
3. The signal receiving method as claimed in claim 1, wherein said step S2 includes:
multiplying the lower sampling rate sideband signal by a local carrier at S21, wherein the local carriers of the lower and upper sidebands are the local carriers of the local lower and upper sideband signals generated in steps S5 and S6, respectively, in the signal receiving method of claim 1;
s22, correlating the sideband signals multiplied by the local carrier with different delayed local codes respectively, wherein the different delayed local codes of the lower sideband and the upper sideband are different delayed local codes in the local lower sideband signal and the local upper sideband signal respectively generated in steps S5 and S6 in the signal receiving method of claim 1;
and S23, accumulating the results of the correlation with the local codes with different delays to obtain the correlation accumulation results with different delays.
4. The signal receiving method as claimed in claim 1, wherein said step S3 includes:
s31, calculating the correlation accumulation results of the different delays of the lower sideband and the upper sideband to obtain corresponding phase adjustment according to the different sidebands and different code delays, and rotating the complex correlation accumulation results according to the phase adjustment to obtain correlation accumulation results after the phase adjustment;
and S32, adding the correlation accumulation results of the lower sideband and the upper sideband after the phase adjustment to the correlation accumulation results of the same code delay respectively to obtain the combined correlation accumulation result of the corresponding code delay.
5. A signal receiving method as claimed in claim 1, characterized in that:
the step S4 is optionally performed by selecting one of the following two steps:
s41, identifying and filtering the carrier frequency and/or carrier phase and code delay of the combined correlation accumulation result of different code delays generated in step S3 in the signal receiving method of claim 1 to obtain the control information of the local lower sideband signal and the local upper sideband signal;
s42, identifying and filtering the carrier frequency and/or carrier phase and code delay of the correlation accumulation result of different code delays of the lower sideband generated by step S2 in the signal receiving method of claim 1 to obtain the control information of the local lower sideband signal, and identifying and filtering the carrier frequency and/or carrier phase and code delay of the correlation accumulation result of different code delays of the upper sideband generated by step S2 in the signal receiving method of claim 1 to obtain the control information of the local upper sideband signal.
6. A signal receiving apparatus, characterized in that the apparatus comprises:
the sideband processing module is used for receiving a digital intermediate frequency input signal of an AltBOC signal containing complete double-sideband information, and performing sideband processing on the input signal to respectively obtain a zero intermediate frequency lower sideband signal and an upper sideband signal which have lower sampling rates than the sampling rate of the input signal;
the correlation accumulation module 1 is used for performing correlation and integral accumulation operation on the lower sideband signal with the lower sampling rate and a local lower sideband signal to obtain a plurality of correlation accumulation results of different delays of the lower sideband;
the correlation accumulation module 2 is used for performing correlation and integral accumulation operation on the upper sideband signal with the lower sampling rate and the local upper sideband signal to obtain a plurality of correlation accumulation results of different delays of the upper sideband;
the phase adjusting and combining module is used for respectively carrying out phase adjustment and combination on the correlation accumulation results of the lower sideband and the upper sideband with different delays to obtain combined double-sideband correlation accumulation results with different delays;
the discrimination and loop filtering module is used for discriminating and filtering carrier frequency and/or carrier phase and code delay of the combined double-sideband correlation accumulation results with different delays or the correlation accumulation results with a plurality of different delays of the lower sideband and the correlation accumulation results with a plurality of different delays of the upper sideband to obtain control information of the local lower sideband and the upper sideband;
a local lower sideband signal generating module, configured to generate a lower sideband local signal including a carrier and local codes with different delays according to control information of the local lower sideband signal;
and the local upper sideband signal generating module generates an upper sideband local signal containing a carrier wave and local codes with different delays according to the control information of the local upper sideband signal.
7. The signal receiving apparatus of claim 6, wherein the sideband processing module comprises:
the complex multiplier module is used for multiplying the input signal by a local carrier with the frequency respectively being the opposite number of the nominal intermediate frequency of the lower sideband and the upper sideband, and respectively moving the signals of the lower sideband and the upper sideband to zero intermediate frequency;
the filtering module is used for respectively filtering the lower sideband signal and the upper sideband signal which are moved to the zero intermediate frequency, and respectively filtering signals except for the sideband main lobe;
and the down-sampling module is used for respectively down-sampling the filtered signals to obtain lower sideband zero intermediate frequency signals and upper sideband zero intermediate frequency signals with lower sampling rates.
8. The signal receiving apparatus of claim 6, wherein the correlation accumulation module 1 and the correlation accumulation module 2 comprise:
a complex multiplication module for multiplying the sideband signal of lower sampling rate with a local carrier, wherein the local carriers of the lower sideband and the upper sideband are the local carrier in the local lower sideband signal generated by the local lower sideband signal generation module and the local carrier in the local upper sideband signal generated by the local upper sideband signal generation module in the signal receiving apparatus according to claim 6, respectively;
a correlation module, configured to correlate the sideband signals multiplied by the local carrier with different delayed local codes respectively, where the different delayed local codes of the lower sideband and the upper sideband are different delayed local codes in the local lower sideband signal generated by the local lower sideband signal generation module and different delayed local codes in the local upper sideband signal generated by the local upper sideband signal generation module in the signal receiving apparatus according to claim 6, respectively;
and the accumulation module is used for accumulating the results after the local codes with different delays are correlated to obtain correlation accumulation results with different delays.
9. The signal receiving apparatus of claim 6, wherein the phase adjusting and combining module comprises:
the phase adjustment module is used for calculating the correlation accumulation results of the lower sideband and the upper sideband with different delays according to different sidebands and different code delays to obtain corresponding phase adjustment, and rotating the complex correlation accumulation results according to the phase adjustment to obtain correlation accumulation results after the phase adjustment;
and the addition module is used for respectively adding the correlation accumulation results of the lower sideband and the upper sideband after the phase adjustment to the correlation accumulation results of the same code delay to obtain the combined correlation accumulation result of the corresponding code delay.
10. The signal receiving apparatus of claim 6, wherein:
the discrimination and loop filtering module realizes the following two functions and can selectively output the output result of one of the two functions:
a first function of performing identification and filtering of carrier frequency and/or carrier phase and code delay on a combined correlation accumulation result of different code delays of a combination generated by a phase adjustment and combination module in the signal receiving apparatus according to claim 6 to obtain control information of a local lower sideband signal and a local upper sideband signal;
and a second function of performing identification and filtering of carrier frequency and/or carrier phase and code delay on correlation accumulation results of different code delays of the lower sideband generated by the correlation accumulation module 1 in the signal receiving apparatus according to claim 6 to obtain control information of the local lower sideband signal, and performing identification and filtering of carrier frequency and/or carrier phase and code delay on correlation accumulation results of different code delays of the upper sideband generated by the correlation accumulation module 2 in the signal receiving apparatus according to claim 6 to obtain control information of the local upper sideband signal.
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