CN114706108A - Real-time closed-loop signal simulation track synchronization method and device - Google Patents
Real-time closed-loop signal simulation track synchronization method and device Download PDFInfo
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- CN114706108A CN114706108A CN202210341667.2A CN202210341667A CN114706108A CN 114706108 A CN114706108 A CN 114706108A CN 202210341667 A CN202210341667 A CN 202210341667A CN 114706108 A CN114706108 A CN 114706108A
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
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Abstract
The invention relates to the technical field of satellite navigation, and particularly provides a real-time closed-loop signal simulation track synchronization method, which comprises the following steps: receiving an external track generated by external track simulation equipment at the current moment, and processing to obtain the current external track moment; calculating the difference value between the current navigation signal simulation moment and the current external track moment, and judging whether the absolute value of the difference value is greater than a simulation step length; and when the absolute value is greater than one simulation step length, adjusting the track speed of the current navigation signal simulation moment to ensure that the track is continuous so that the next navigation signal simulation moment generates data excitation required by the navigation signal by using the adjusted real-time track calculation, and resynchronizing the next external track moment and the next navigation signal simulation moment. The method ensures the closed-loop real-time performance and track authenticity of navigation signal simulation during real-time track injection by processing real-time track data. The invention also provides equipment corresponding to the method.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a real-time closed-loop track synchronization method and real-time closed-loop track synchronization equipment.
Background
The existing real-time closed-loop signal simulation equipment needs to support the real-time track data injection of external track simulation equipment to perform real-time constellation simulation and real-time signal generation. In order to ensure the authenticity and real-time performance of the navigation signal simulation, as shown in fig. 1, it is usually required that the time and frequency of the external trajectory simulation device and the satellite navigation signal simulation device are uniform, that is, the time of the external trajectory simulation and the satellite navigation signal simulation are synchronized. In the traditional method, synchronous equipment needs to be added to carry out same-frequency processing on the time frequency of the external track simulation equipment and the time frequency of the navigation signal simulation equipment, but the same-frequency processing needs to be supported by a hardware environment, so that inconvenience is brought to use, and the hardware cost is increased.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a real-time closed-loop signal simulation track synchronization method and equipment, which can ensure the authenticity, real-time property and continuity of a real-time closed-loop signal under the condition that the time frequency of external track simulation equipment is inconsistent with that of navigation signal simulation equipment, do not need to additionally increase synchronization equipment, are convenient for the simulation of the navigation signal and save the hardware cost of the equipment.
The invention provides a real-time closed-loop signal simulation track synchronization method on one hand, which comprises the following steps:
receiving an external track generated by external track simulation equipment at the current moment, and processing to obtain the current external track moment;
calculating the difference value between the current navigation signal simulation moment and the current external track moment, and judging whether the absolute value of the difference value is greater than a simulation step length;
and when the absolute value is greater than one simulation step length, adjusting the track speed of the current navigation signal simulation moment to ensure that the track is continuous so that the next navigation signal simulation moment generates data excitation required by the navigation signal by using the adjusted real-time track calculation, and resynchronizing the next external track moment and the next navigation signal simulation moment.
Further, when the absolute value is less than a simulation step length, judging whether the difference value is greater than zero; when the difference value is less than or equal to zero, calculating and generating data excitation required by the navigation signal by adopting a real-time track corresponding to the current navigation signal simulation moment; and when the difference is larger than zero, extrapolating the current external real-time track to the current navigation signal simulation time to calculate and generate the data excitation required by the navigation signal.
Furthermore, the navigation signal simulation time is the time that the satellite navigation signal simulation equipment is timed by its own time-frequency reference, and the current external trajectory time is the time that the external trajectory simulation equipment is timed by its own time-frequency reference.
Further, the simulation step size refers to a calculation step size of data excitation required by the satellite navigation signal simulation equipment for simulation calculation to generate the navigation signal.
Further, the data excitation at least comprises pseudo-range information, and the pseudo-range information is obtained through calculation according to the real-time track and cache parameters.
Further, the track continuity refers to the matching between the track position at the current moment and the track position, the track speed, the acceleration and the jerk at the previous moment, that is, the current track position should be equal to the sum of the following four terms: the trajectory position, velocity times time, half-times jerk times time squared, and one-sixth-times jerk times time cubed at the previous time.
Further, the satellite navigation signal simulation equipment generates a satellite navigation simulation signal received by the application terminal under the real-time track according to the data excitation simulation.
The invention also provides real-time closed-loop signal simulation track synchronization equipment, which comprises a track processing module and a simulation signal generation module, wherein the track processing module is used for receiving the current external track generated by the external track simulation equipment, processing the current external track to obtain the current external track time, calculating the difference between the current navigation signal simulation time and the current external track time, and determining and generating a data-excited real-time track according to the absolute value of the difference and the size of a simulation step length; the simulation signal generation module calculates and generates data excitation required by the navigation signal according to the real-time track, and generates the satellite navigation simulation signal under the real-time track according to the data excitation.
Further, when the absolute value is greater than one simulation step length, adjusting the track speed of the current navigation signal simulation time to make the track continuous so that the next navigation signal simulation time uses the adjusted real-time track to calculate and generate the data excitation required by the navigation signal, and resynchronizing the next external track time and the next navigation signal simulation time.
Further, when the absolute value is less than a simulation step length, judging whether the difference value is greater than zero; when the difference value is less than or equal to zero, calculating and generating data excitation required by the navigation signal by adopting a real-time track corresponding to the current navigation signal simulation moment; and when the difference is larger than zero, extrapolating the current external real-time track to the current navigation signal simulation time to calculate and generate the data excitation required by the navigation signal.
The real-time closed-loop signal simulation track synchronization method and the real-time closed-loop signal simulation track synchronization equipment provided by the invention are used for processing the absolute value of the difference value between the current external track time and the current navigation signal simulation time and the size of a simulation step length to obtain a real-time track, calculating and generating data excitation required by a navigation signal according to the real-time track, and generating a satellite navigation simulation signal received by an application terminal under the real-time track according to the data excitation. The method can ensure the authenticity, real-time property and continuity of the real-time closed-loop signal under the condition that the time frequency of the external track simulation equipment is inconsistent with the time frequency of the navigation signal simulation equipment, and avoid the poor closed-loop real-time property caused by the fact that the navigation signal simulation lags behind the real-time track simulation or the poor track authenticity caused by the fact that the navigation signal simulation leads the real-time track simulation, and does not need to additionally increase synchronous equipment, thereby being convenient for the simulation of the navigation signal and saving the hardware cost of the equipment.
Drawings
FIG. 1 is a schematic diagram of the components of the real-time closed-loop signal simulation trace synchronization apparatus of the prior art;
FIG. 2 is a schematic flow chart of a real-time closed-loop signal simulation trajectory synchronization method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a principle of a real-time closed-loop signal simulation trajectory synchronization method according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a real-time closed-loop signal simulation track synchronization apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
The invention will be described in further detail below with reference to the drawings and specific examples.
Referring to fig. 2, fig. 2 is a schematic flow chart of a real-time closed-loop signal simulation track synchronization method according to an embodiment of the present invention, where the method includes the following steps:
step S1: receiving an external track generated by external track simulation equipment at the current moment, and processing to obtain the current external track moment;
step S2: calculating the difference value between the current navigation signal simulation moment and the current external track moment, and judging whether the absolute value of the difference value is greater than a simulation step length;
step S3: and when the absolute value is greater than one simulation step length, adjusting the track speed of the current navigation signal simulation moment to ensure that the track is continuous so that the next navigation signal simulation moment generates data excitation required by the navigation signal by using the adjusted real-time track calculation, and resynchronizing the next external track moment and the next navigation signal simulation moment.
In a further embodiment, when the absolute value is less than a simulation step length, determining whether the difference is greater than zero; when the difference value is less than or equal to zero, calculating and generating data excitation required by the navigation signal by adopting a real-time track corresponding to the current navigation signal simulation moment; and when the difference is larger than zero, extrapolating the current external real-time track to the current navigation signal simulation time to calculate and generate data excitation required by the navigation signal. Specifically, the navigation signal simulation time is the time given by the satellite navigation signal simulation equipment by the time-frequency reference of the satellite navigation signal simulation equipment; and the current external track moment is the time given by the external track simulation equipment by the time-frequency reference of the external track simulation equipment.
Specifically, the simulation step length is a calculation step length of data excitation required by simulation calculation of the satellite navigation signal simulation equipment to generate the navigation signal, the simulation step length is related to the speed of the external track, the larger the speed of the external track is, the smaller the set simulation step length is, in short, after speed adjustment, external track time and navigation signal time are resynchronized, track synchronization is continuously performed to generate the navigation simulation signal, and therefore the signal has no deviation and sudden jump, and the real-time performance, the authenticity and the continuity of the navigation signal simulation are guaranteed.
Specifically, the data excitation is calculated according to a real-time trajectory and cache parameters, such as a navigation ephemeris, a clock error parameter, an ionosphere module parameter, and the like, and the data excitation at least includes pseudorange information, further may include pseudorange speed information, and further may include pseudorange acceleration information and the like. The navigation signal simulation equipment can simulate and generate satellite navigation simulation signals received by the application terminal under the real-time track according to data excitation.
Specifically, the track continuity refers to the matching between the track position at the current moment and the track position, the track speed, the acceleration and the jerk at the previous moment, that is, the current track position should be equal to the sum of the following four items: the trajectory position, velocity times time, half-times jerk times time squared, and one-sixth-times jerk times time cubed at the previous time.
For further description of the working principle of the present invention, fig. 3 shows a schematic diagram of a real-time closed-loop signal simulation trajectory synchronization method provided by the embodiment of the present invention; setting the step length of navigation signal simulation as S, and calculating the current navigation signal simulation time T before the navigation signal is generatednWith the current external track time TmAnd judging whether the absolute value of the delta T is larger than the simulation step length S of the navigation signal. When the absolute value of delta T is larger than S, the current navigation signal simulation time TnReal-time trajectory position PnEmulating the time T by the last navigation signaln-1Corresponding real-time track extrapolation calculation is carried out to obtain the current navigation signal simulation time TnTrack velocity VnFrom the current external track time TmOuter rail ofTrace extrapolation to the next outer trace time Tm+1Corresponding external track and current navigation signal simulation time TnCalculating the corresponding real-time track position and obtaining the position at the current navigation signal simulation time TnThe next external trace is timed Tm+1Time T of next navigation signal simulationn+1Go on to synchronisation again, i.e. Tm+1＝Tn+1。
When the absolute value of the delta T is smaller than S, continuously judging whether the delta T is larger than zero or not; when the delta T is less than or equal to zero, simulating the moment T by using the current navigation signalnCalculating the corresponding real-time track to generate data excitation required by the navigation signal; when the delta T is larger than zero, extrapolating to the current navigation signal simulation time T by adopting the current external real-time tracknThe data excitation required to generate the navigation signal is calculated.
Specifically, when S is the step size of the navigation signal simulation, Tn、Pn、Vn、An、JnRespectively time, position, velocity, acceleration and jerk of the current navigation signal time, Pn-1、Vn-1、An-1、Jn-1Position, velocity, acceleration and jerk, T, of the last simulated time of the current navigation signal time, respectivelym、Pm、Vm、Am、JmRespectively time, position, speed, acceleration and jerk of the current external track moment; delta T is the current navigation signal time TnWith the current external track time TmWhen the absolute value of delta T is larger than S, the real-time track is obtained by calculation according to the following formulas (1) to (5):
An＝0 (3)
Jn＝0 (4)
Tm+1＝Tn+1 (5)
referring to fig. 4, fig. 4 is a real-time closed-loop signal simulation track synchronization device adopting the real-time closed-loop signal simulation track synchronization method provided in an embodiment of the present application, and the device includes a track processing module and a simulation signal generation module, where the track processing module is configured to receive a current external track generated by an external track simulation device, process the current external track to obtain a current external track time, calculate a difference between the current navigation signal simulation time and the current external track time, and determine a real-time track for generating data excitation according to an absolute value of the difference and a simulation step size; the simulation signal generation module calculates and generates data excitation required by the navigation signal according to the real-time track, and generates a satellite navigation simulation signal received by the application terminal under the real-time track according to the data excitation, wherein the satellite navigation simulation signal comprises a satellite navigation signal of at least one of a GPS system, a GLONASS system, a Galileo system and a Beidou system.
Further, when the absolute value is greater than one simulation step length, adjusting the track speed of the current navigation signal simulation time to make the track continuous so that the next navigation signal simulation time uses the adjusted real-time track to calculate and generate the data excitation required by the navigation signal, and resynchronizing the next external track time and the next navigation signal simulation time.
Further, when the absolute value is less than a simulation step length, judging whether the difference value is less than zero; when the difference value is less than zero, calculating and generating data excitation required by the navigation signal by adopting a real-time track corresponding to the current navigation signal simulation moment; and when the difference is more than or equal to zero, extrapolating the current external real-time track to the current navigation signal simulation time to calculate and generate the data excitation required by the navigation signal. Specifically, the track continuity refers to the matching between the track position at the current moment and the track position, the track speed, the acceleration and the jerk at the previous moment, that is, the current track position should be equal to the sum of the following four items: the trajectory position, velocity times time, half-times jerk times time squared, and one-sixth-times jerk times time cubed at the previous time.
Specifically, the navigation signal simulation time is the time that the satellite navigation signal simulation equipment is timed by its own time-frequency reference; and the current external track moment is the time given by the external track simulation equipment by the time-frequency reference of the external track simulation equipment.
Specifically, the simulation step length is a calculation step length of data excitation required by simulation calculation of the satellite navigation signal simulation equipment to generate the navigation signal, the simulation step length is related to the speed of the external track, the larger the speed of the external track is, the smaller the set simulation step length is, in short, after speed adjustment, external track time and navigation signal time are resynchronized, track synchronization is continuously performed to generate the navigation simulation signal, and therefore the signal has no deviation and sudden jump, and the real-time performance, the authenticity and the continuity of the navigation signal simulation are guaranteed.
Specifically, the data excitation is calculated according to a real-time trajectory and cache parameters, such as a navigation ephemeris, a clock error parameter, an ionosphere module parameter, and the like, and the data excitation at least includes pseudorange information, further may include pseudorange speed information, and further may include pseudorange acceleration information and the like. And according to the data excitation, a satellite navigation simulation signal received by the application terminal under the real-time track can be generated in a simulation manner.
The invention firstly calculates the difference value between the current navigation signal simulation time and the current external track time, and determines the real-time track of data excitation required by the generated navigation simulation signal by judging whether the absolute value of the difference value is larger than the navigation signal simulation step length, so that the reality, the real-time property and the continuity of the real-time closed-loop signal can be ensured under the condition that the time frequency of the external track simulation equipment is inconsistent with that of the navigation signal simulation equipment, additional synchronous equipment is not required, the simulation of the navigation signal is facilitated, and the hardware cost of the equipment is saved.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. A real-time closed-loop signal simulation track synchronization method is characterized by comprising the following steps:
receiving an external track generated by external track simulation equipment at the current moment, and processing to obtain the current external track moment;
calculating the difference value between the current navigation signal simulation moment and the current external track moment, and judging whether the absolute value of the difference value is greater than a simulation step length;
and when the absolute value is greater than one simulation step length, adjusting the track speed of the current navigation signal simulation moment to ensure that the track is continuous so that the next navigation signal simulation moment generates data excitation required by the navigation signal by using the adjusted real-time track calculation, and resynchronizing the next external track moment and the next navigation signal simulation moment.
2. The real-time closed-loop signal simulation trajectory synchronization method of claim 1, wherein when the absolute value is less than a simulation step length, determining whether the difference is greater than zero; when the difference value is less than or equal to zero, calculating and generating data excitation required by the navigation signal by adopting a real-time track corresponding to the current navigation signal simulation moment; and when the difference is larger than zero, calculating and generating data excitation required by the navigation signal by adopting the real-time track extrapolated from the current external real-time track to the current navigation signal simulation moment.
3. The method according to claim 2, wherein the navigation signal simulation time is a time that the satellite navigation signal simulation device is timed by its own time-frequency reference, and the current external trajectory time is a time that the external trajectory simulation device is timed by its own time-frequency reference.
4. The real-time closed-loop signal simulation trajectory synchronization method of claim 1, wherein the simulation step size is a calculation step size of a data excitation required for simulation calculation of a satellite navigation signal simulation device to generate a navigation signal.
5. The method for real-time closed-loop signal simulation trajectory synchronization of claim 3, wherein the data excitation comprises at least pseudorange information, and the data excitation is calculated from the real-time trajectory and buffer parameters.
6. The real-time closed-loop signal simulation track synchronization method according to claim 1, wherein the track continuity refers to matching of the track position at the current moment and the track position, the track speed, the acceleration and the jerk at the previous moment, that is, the current track position should be equal to the sum of the following four items: the trajectory position, velocity times time, half-times jerk times time squared, and one-sixth-times jerk times time cubed at the previous time.
7. The real-time closed-loop signal simulation trajectory synchronization method as claimed in claim 5, wherein a navigation signal simulation device generates a satellite navigation simulation signal in a real-time trajectory according to the data excitation simulation.
8. A real-time closed-loop signal simulation track synchronization device is characterized by comprising a track processing module and a simulation signal generation module, wherein the track processing module is used for receiving a current external track generated by an external track simulation device, processing the current external track to obtain a current external track time, calculating a difference value between the current navigation signal simulation time and the current external track time, and determining a real-time track for generating data excitation according to an absolute value of the difference value and a simulation step length; and the simulation signal generation module calculates and generates data excitation required by the navigation signal according to the real-time track, and generates a satellite navigation simulation signal under the real-time track according to the data excitation.
9. The real-time closed-loop signal simulation trajectory synchronization device of claim 8, wherein when the absolute value is greater than one simulation step length, the trajectory speed at the current navigation signal simulation time is adjusted to continue the trajectory such that the next navigation signal simulation time uses the adjusted real-time trajectory to calculate the data excitation needed to generate the navigation signal, and the next external trajectory time is resynchronized with the next navigation signal simulation time.
10. The real-time closed-loop signal simulation trajectory synchronization device of claim 8, wherein when the absolute value is less than a simulation step length, determining whether the difference is greater than zero; when the difference value is less than or equal to zero, calculating and generating data excitation required by the navigation signal by adopting a real-time track corresponding to the current navigation signal simulation moment; and when the difference is larger than zero, extrapolating the current external real-time track to the current navigation signal simulation time to calculate and generate the data excitation required by the navigation signal.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117097430A (en) * | 2023-10-16 | 2023-11-21 | 深圳市城市交通规划设计研究中心股份有限公司 | Method for synchronizing simulation time of vehicle flow track position |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117097430A (en) * | 2023-10-16 | 2023-11-21 | 深圳市城市交通规划设计研究中心股份有限公司 | Method for synchronizing simulation time of vehicle flow track position |
| CN117097430B (en) * | 2023-10-16 | 2024-02-27 | 深圳市城市交通规划设计研究中心股份有限公司 | Method for synchronizing simulation time of vehicle flow track position |
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