CN115079211B - Satellite navigation signal performance evaluation method capable of being used as frequency coordination basis - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
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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
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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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
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Abstract
The invention belongs to the field of satellite navigation system signal design, and particularly relates to a satellite navigation signal performance evaluation method for frequency coordination work. According to the method, various performance parameters of the navigation signal are calculated through computer modeling, capturing, tracking, compatibility, multipath resistance and anti-interference performance of the navigation signal are evaluated, various performances are quantized and normalized, and the evaluation result fully reflects all performances which can be related to a navigation signal system level. The signal performance evaluation result of the method can be used as a signal design basis in the initial stage of navigation system construction, and the compatibility performance evaluation result can be used as a basis for frequency coordination work, so that the method has the advantages of being comprehensive, visual, flexible and adjustable on line.
Description
Technical field:
The invention belongs to the field of satellite navigation system signal design, and particularly relates to a satellite navigation signal performance evaluation method for frequency coordination work.
The background technology is as follows:
There are generally four types of performance evaluation means for satellite navigation signals: theoretical calculation, computer simulation, ground physical simulation and satellite-ground transceiving verification. According to the degree of coincidence with the actual situation, the effectiveness of the evaluation results of the four schemes is increased in sequence, but the universality is reduced in sequence, and the evaluation cost is higher and higher. In particular, in the frequency coordination work, the work is carried out in the initial stage of the navigation system construction, and the signals are not actually transmitted for verification. Meanwhile, the frequency coordination work involves multi-party negotiations and games, and the evaluation method used as a support needs to have the characteristics of comprehensiveness and flexibility. Therefore, the performance evaluation method should focus on two means of "theoretical calculation" and "computer simulation", comprehensively consider all performance indexes of the navigation signal, and comprehensively and systematically evaluate the comprehensive performance of the navigation signal.
The theoretical calculation evaluation of satellite navigation signals is mainly a method for establishing a theoretical model of signal receiving and transmitting, carrying out theoretical deduction on the performance of a certain aspect of signals under specific conditions and obtaining theoretical evaluation results, has the strongest universality and can be used for evaluating the performance of all aspects of navigation signals. The computer simulation evaluation method of satellite navigation signals is a further enhancement of the theoretical calculation method, the signal receiving and transmitting process is more comprehensively subjected to mathematical modeling and simulation analysis through a computer, a signal link model between a satellite constellation and receivers distributed all over the world is established, various performance performances of the model are quantized through the computer, and the signal theoretical evaluation result is further verified.
The "theoretical calculation" was originally applied to the first proposed compatibility performance evaluation of GPS and other GNSS systems in the united states, and was used to evaluate the size of an index that interferes with the respective system services and affects the navigation combat ability when positioning, navigation and timing services of GPS and other GNSS systems are used alone or simultaneously. Finally, in 2004, GPS and GALIEO achieved protocols for facilitating, providing, and using GALIEO and GPS star-based navigation systems and their related applications.
In 2007, the international telecommunications union issued "coordination method for interference estimation between satellite radio navigation service systems" (ITU-R m.1831 space-2007, which was currently revoked and updated in 2015 as ITU-rm.1831-2015), and the proposal used "lumped gain factor" as an evaluation criterion for compatibility theoretical calculation. In 2009, U.S. J.W.Betz doctor proposed an equivalent carrier to noise ratio assessment method under non-white noise (WOS: 000274144200021). On the tracking of a coherent lead-lag loop (CELP), the code tracking spectrum separation coefficient is deduced to represent the size of a code tracking error, the influence of high-frequency components in a signal on an equivalent carrier-to-noise ratio is pointed out, and the method has a milestone meaning in the theoretical calculation aspect of signal evaluation.
The university of science and technology Tang Zuping in its doctor's paper on GNSS signal design and evaluation of several theoretical studies derives detailed evaluation methods on the tracking accuracy of codes and the multipath error suppression capability in navigation signals, discussing the influence of signal parameters and receiver parameters on the signal performance evaluation results.
The S.Wallner[Interference Computations Between GPS and Galileo[J]//In Proceedings of International Technical Meeting of the Satellite Division of the Institute of Navigation.] of the European style office calculates the intersystem interference of the GPS and GALIEO system same frequency signals on the L1 frequency band, and considers the influence of the actual signal power spectrum density on the carrier-to-noise ratio calculation.
The Wang Yao et al [ INTERFERENCE ANALYSIS AND Simulation for GPS/Galileo signs [ C ]// third China satellite navigation academy of year ] by Shijia 54 considers the influence of signal parameters such as pseudo codes and telegraphs on the calculation of the frequency spectrum separation coefficients, and analyzes and simulates the interference degree between the GPS and Galieo systems.
The Shanghai university Liu Wei has studied the techniques for evaluating the compatibility and interoperability of the GNSS system in its doctor's paper on the global technical study of GNSS compatibility and interoperability, perfected the techniques for evaluating the compatibility and determining the alarm threshold, and has performed theoretical analysis and computer simulation evaluation on the compatibility between GPS, GALIEO, beiDou systems.
The university of Qinghua Hong Yuan et al, "development of navigation Signal Performance evaluation software based on MATLAB" [ C ]// third China satellite navigation academy of sciences "designed signal Performance evaluation software based on MATLAB, has the characteristic of flexible configuration of signal parameters, and finally evaluates the signal receiving performance by using the software.
The Shanghai university Liu Li considers the influence of signal loss introduced by operations such as receiver quantization, sampling and band limitation on the spectrum separation coefficient and the code tracking sensitivity coefficient in the GNSS signal radio frequency compatible analysis and design technology research of the Shanghai university in the doctor paper thereof, and provides a general GNSS compatibility performance simulation evaluation scheme.
Italian d.borio et al [Spectral Separation Coefficients for digital GNSS receivers//14th European Signal Processing Conference] calculated the effect of satellite navigation signals on each other on the acquisition module of the digital receiver, and verified and analyzed the compatibility performance of the signals during acquisition.
Chu Henglin et al [ S frequency band satellite navigation signal and adjacent frequency signal compatibility analysis and test [ J ]// telemetry remote control ] of Qinghai university ] actually receive the S frequency band navigation signal broadcast by the in-orbit satellite, and evaluate the influence degree of two adjacent frequency signals of the cellular communication 4G signal and the WLAN signal on the S frequency band navigation signal.
The invention comprises the following steps:
The invention aims to provide a comprehensive evaluation method for satellite navigation signal performance, which has the characteristics of comprehensiveness, intuitiveness, flexibility and adjustability and can be used as a basis for frequency coordination work.
1. A satellite navigation signal performance evaluation method capable of being used as a frequency coordination basis is characterized by comprising the following steps:
(1) The method comprises the steps of finding and sorting out parameter information of all transmitted existing navigation signals in the world from files issued by the international telecommunication union (International Telecommunication Union, ITU) authorities;
(2) Counting parameter information of a newly designed signal needing frequency coordination work;
(3) Establishing a digital simulation model of an existing signal, a design signal and a loop for signal reception on a computer;
(4) The smaller the value of the calculation result of the "receiving power loss", the "signal noise interference ratio" and the "equivalent carrier-to-noise ratio" of each signal is calculated, the larger the value of the calculation result of the "receiving power loss", the "signal noise interference ratio" and the "equivalent carrier-to-noise ratio" is calculated, the stronger the signal capturing performance is;
(5) Calculating 3 indexes of a code tracking error, a code tracking error lower bound and a Gabor bandwidth of each signal, wherein the smaller the numerical value of the calculation results of the code tracking error and the code tracking error lower bound is, the larger the numerical value of the calculation result of the Gabor bandwidth is, and the stronger the tracking performance of the signal is;
(6) Under the condition that other signal interference exists around, calculating 2 indexes of a frequency spectrum separation coefficient and a code tracking sensitivity coefficient of each signal at the moment, wherein the smaller the numerical value of the calculation result of the 2 indexes is, the stronger the signal compatibility performance is;
(7) Calculating 2 indexes of multipath error envelope and average multipath error of each signal, wherein the smaller the numerical value of the calculation result of the 2 indexes is, the stronger the multipath resistance of the signal is;
(8) Under the condition that other signal interference exists around, calculating an anti-interference quality factor index of each signal, wherein the larger the numerical value of an index calculation result is, the stronger the anti-interference performance of the signal is;
(9) Normalizing the calculation results in (4) - (8) according to the index with highest performance being 100 and the index with lowest performance being 60 to obtain normalized values of all performance indexes of all signals, and drawing a signal comprehensive performance radar chart;
(10) Taking the compatibility performance evaluation result of the existing signal and the design signal as the frequency coordination basis of the design signal;
(11) And comparing the existing signals with other performance evaluation results of the design signals, and describing the rationality of the design signals.
2. The method and the parameter description for calculating various indexes when evaluating signal performance according to the items (3) - (9) in claim 1, wherein:
(1) In order to build a general navigation baseband signal model, C n is a pseudo code symbol, p (T) is a rectangular chip, T is a coherent integration time, D (T) is a data signal, f 0 is a carrier frequency, θ is a carrier phase, δ is a lead-lag correlator spacing, β ι is a wideband interference signal bandwidth, β r is a receiver front-end low-pass filter bandwidth, C S is a received signal power, G s (f) is a received signal normalized power spectral density, G ι (f) is an interference signal power spectral density, C ι is an interference signal power, N 0 is a noise power spectral density, τ is a transmission delay of a signal, a S is a signal amplitude, iota (T) is an interference signal score, N (T) is a noise signal, and Var (x) represents a variance of x;
(2) One general pseudo code signal can be expressed as:
(3) One wideband interferer may be expressed as:
(4) One general navigation signal envelope can be expressed as:
(5) When there is no error in carrier tracking, a baseband signal after carrier and data code stripping and spreading by pseudo code can be expressed as:
r(t)＝Asg(t-τ)ejθ+n(t)+ι(t)<4>
(6) The signal "received power loss" indicator reflecting the received power loss due to limited receiver bandwidth can be expressed as:
(7) Under the same receiver conditions, if interference exists, the "signal-to-noise-and-interference ratio" indicator that is positively correlated to the receiver signal acquisition performance can be expressed as:
(8) If interference exists, the signal equivalent carrier-to-noise ratio indicator for measuring the receiving performance of the instant branch can be expressed as follows:
(9) The mathematical model of the "code tracking error" indicator of the coherent lead-lag loop can be expressed as:
(10) The code tracking error lower bound index of the coherent lead-lag loop is the limit value of tracking error when the lead-lag distance approaches zero, and represents the signal tracking performance limit determined by the signal structure, and the mathematical model can be expressed as follows:
(11) The "Gabor bandwidth" index related to the signal power spectrum for evaluating the signal tracking performance can be expressed as:
(12) The index of the "spectral separation coefficient" reflecting the influence of the interference signal on the performance of the useful signal such as acquisition, carrier tracking and data demodulation on the instant branch can be expressed as:
(13) The "code tracking sensitivity coefficient" index reflecting the interference level of the useful signal by other signals in the code tracking loop can be expressed as:
(14) The amplitude of the multipath signal relative to the direct signal is denoted by α, δ m denotes the time delay of the multipath signal relative to the direct signal, Φ m denotes the carrier phase of the received multipath signal, and the received multipath signal can be expressed as:
(15) The "average multipath error" index consisting of the maximum and minimum multipath errors can be expressed as:
(16) The "anti-interference figure of merit" indicator of pseudo code tracking may be expressed as:
(17) The "anti-interference figure of merit" indicator of carrier tracking may be expressed as:
(18) And selecting the Gabor bandwidth as a quantization index of the tracking performance of the navigation signal, and recording the maximum value of the Gabor bandwidth in all evaluation results as V Gabor_max, the minimum value as V Gabor_min and the Gabor bandwidth to be normalized of the current evaluation signal as V Gabor_unknown. At this time, the tracking performance normalization result of the current evaluation signal is:
(19) And selecting 'receiving power loss' as a capture performance quantization index, recording the maximum value of the receiving power loss in all evaluation results as V powerloss_max, the minimum value of the receiving power loss as V powerloss_min, and the receiving power loss to be normalized of the current evaluation signal as V powerloss_unknown. The capture performance normalization result of the current evaluation signal is:
(20) And selecting a 'spectrum separation coefficient' as a compatibility performance quantization index, recording that the maximum value of the spectrum separation coefficient is V SSC_max, the minimum value of the spectrum separation coefficient is V SSC_min and the spectrum separation coefficient to be normalized of the current evaluation signal is V SSC_unknown. The capture performance normalization result of the current evaluation signal is:
(21) And selecting an average multipath error maximum value as an anti-multipath performance quantization index, and recording the average multipath error maximum value as V MPerror_max, the average multipath error minimum value as V MPerror_min and the average multipath error to be normalized of the current evaluation signal as V MPerror_unknown in all evaluation results. The capture performance normalization result of the current evaluation signal is:
(22) And selecting an anti-interference quality factor as an anti-interference performance quantization index, recording the maximum value of the anti-interference quality factor in all evaluation results as V Q_max, the minimum value of the anti-interference quality factor as V Q_min, and the anti-interference quality factor to be normalized of the current evaluation signal as V Q_unknown. The capture performance normalization result of the current evaluation signal is:
The invention aims at evaluating the waveform design aspect of a satellite navigation signal system. The satellite navigation signal is a carrier for realizing the basic functions of the navigation system, and the core of the satellite navigation signal is the waveform of the signal. The navigation signal waveform mainly comprises 3 main parameters of a modulation mode, carrier frequency and a pseudo code structure, which determine the basic performance of a signal system, play a decisive role in key performances and indexes such as positioning, speed measurement, time service precision, compatibility, interoperability, anti-interference capability and the like of a navigation system, are core key technologies of the design of the signal system, and are input conditions of a plurality of key technologies in the subsequent navigation system construction process.
Compared with the prior art, the invention has the advantages that:
1. the invention fully considers all the performances related to the signal system level, integrates the performances into a whole for comparison, fully displays the advantages and disadvantages of various aspects of signals, and can be used as the basis of the initial signal design of the navigation system construction.
2. The compatibility index aspect not only calculates the influence of the design signal on the existing signal, but also fully considers the interference factors of the existing signals, and can be used as the basis of frequency coordination work.
3. The module is flexible and online adjustable, and can update the result at any time on the frequency coordination site to provide guarantee for smooth work.
Drawings
FIG. 1 is a general flow of a satellite navigation signal performance assessment method that may be used as a basis for frequency coordination;
FIG. 2 is a spectrum occupation of existing signals and design signals in the B3 band;
Fig. 3 is a graph of received power loss for various signals at different receiver bandwidths;
FIG. 4 is CELP tracking error for various signals at different carrier-to-noise ratios;
FIG. 5 is a plot of CELP tracking error lower bound for various signals at different carrier-to-noise ratios;
fig. 6 is Gabor bandwidth for each signal at different receiver bandwidths;
FIG. 7 is a B3I signal multipath error envelope;
FIG. 8 is a B3A signal multipath error envelope;
FIG. 9 is an E6B signal multipath error envelope;
FIG. 10 is a B3I signal multipath error envelope;
FIG. 11 is a P3A1 signal multipath error envelope;
FIG. 12 is a P3A2 signal multipath error envelope;
FIG. 13 is a P3A3 signal multipath error envelope;
FIG. 14 is CELP tracking error for various signals at different interference bandwidths;
FIG. 15 is a CELP tracking error lower bound for each signal at different interference bandwidths;
fig. 16 is a graph of signal-to-noise-and-interference ratios for various signals at different interference bandwidths;
FIG. 17 is an equivalent carrier-to-noise ratio of signals at different interference bandwidths;
FIG. 18 is a pseudo code tracking immunity figure of merit for signals at different interference bandwidths;
fig. 19 is a carrier tracking immunity figure of merit for signals at different interference bandwidths;
FIG. 20 is a comprehensive evaluation quantification result of the B3A signal;
FIG. 21 is a comprehensive evaluation quantification result of B3I signals;
FIG. 22 is a comprehensive evaluation quantification result of E6A signals;
FIG. 23 is a comprehensive evaluation quantification result of E6B signals;
FIG. 24 is a comprehensive evaluation quantification result of the P3A1 signal;
FIG. 25 is a comprehensive evaluation quantification result of the P3A2 signal;
Fig. 26 is a comprehensive evaluation quantization result of the P3A3 signal.
Detailed Description
In order to clearly illustrate the working process of the invention for evaluating the performance of the navigation signal based on various evaluation indexes, the invention is further described by taking the navigation B3 frequency band (1215-1300 MHz) as an example with reference to the embodiment and the attached drawings, but the protection scope of the invention is not limited by the description.
The working process is as follows:
(1) The modulation parameters of the existing navigation signals on the B3 frequency band (1215-1300 MHz) are arranged based on the recommendation 'R-REC-M.1787-3-201803-I' issued by ITU are shown in table 1;
(2) The parameters of the design signals to be coordinated on the B3 frequency band are arranged as shown in a table 2;
(3) The spectrum occupation diagram is shown in fig. 2, and it can be seen from the diagram that the design signal only has an overlapping portion with the beidou B3I, B a, galileo E6B, E a, GLONASS L2, but is far from the center frequency point of the GLONASS L2. Only the Beidou and Galileo signals need to be focused on for the design signals at the moment, so that 7 signals of B3I, B, 3A, E6B, E6A, P A1, P3A2 and P3A3 are finally needed to be evaluated;
(4) Modeling the 7 signals in (3) according to equation <3 >;
(5) Calculating the "received power loss" of 7 signals at different receiver bandwidths in (3) according to the formula <5>, the result being shown in fig. 3;
(6) Calculating the 'CELP tracking error' of 7 signals in (3) under different carrier-to-noise ratios according to the formula <8>, and the result is shown in figure 4;
(7) Calculating the 'CELP tracking error lower bound' of 7 signals in (3) under different carrier-to-noise ratios according to the formula <9>, and the result is shown in figure 5;
(8) Calculating "Gabor bandwidths" of 7 signals at different receiver bandwidths in (3) according to the formula <10>, and the result is shown in fig. 6;
(9) Calculating the "spectral separation coefficients" between 3 design signals and 4 existing signals in (3) according to the formula <11>, and the results are shown in table 3;
(10) Calculating the "spectral separation coefficients" of the 4 existing signals in (3) with respect to each other according to the formula <11>, and the results are shown in Table 4;
(11) Calculating the code tracking sensitivity coefficients of 4 existing signals when 3 design signals exist in the step (3) according to a formula <12>, so as to obtain the interference condition of the design signals in the step (3) on the existing signals, wherein the result is shown in a table 5;
(12) Calculating the code tracking sensitivity coefficient of 3 design signals when 4 existing signals exist in the step (3) according to a formula <12>, and obtaining the interference condition of the existing signals in the step (3) on the design signals, wherein the result is shown in a table 6;
(13) Calculating the interference conditions of 4 existing signals in the step (3) according to the formula <12>, and the results are shown in the table 7;
(14) Calculating the "multipath error envelopes" of the 7 signals in (3) according to the formula <13>, and the results are shown in fig. 7 to 13;
(15) In the presence of wideband interference as represented by equation <2>, calculating "CELP tracking error" for 7 signals at different interference bandwidths in (3) according to equation <8>, the result being shown in fig. 14;
(16) Calculating the "CELP tracking error lower bound" for 7 signals at different interference bandwidths in (3) according to equation <9> in the presence of wideband interference as represented by equation <2>, the result being shown in fig. 15;
(17) In the presence of wideband interference as represented by equation <2>, calculating the "signal-to-noise-and-interference ratios" for 7 signals at different interference bandwidths in (3) according to equation <6>, the result being shown in fig. 16;
(18) In the presence of wideband interference as represented by equation <2>, calculating the "equivalent carrier-to-noise ratio" of the 7 signals in (3) at different interference bandwidths according to equation <7>, the result being shown in fig. 17;
(19) In the presence of wideband interference as represented by equation <2>, calculating the "pseudo code tracking anti-interference figures of merit" for 7 signals at different interference bandwidths in (3) according to equation <15>, the result being shown in figure 18;
(20) In the presence of wideband interference as represented by equation <2>, calculating the "carrier tracking anti-interference figures of merit" for 7 signals at different interference bandwidths in (3) according to equation <16>, the result being shown in fig. 19;
(21) According to formulas <17> to <21>, each index is quantized and normalized, and the comprehensive evaluation quantization result of each signal as shown in figures 20-26 is obtained;
(22) The evaluation results of fig. 3 to 26 illustrate the design performance of the design signal at the signal system level, so that the user can compare and choose according to the actual situation of the user, and the evaluation results can be used as an important basis for the signal design in the initial stage of the navigation system construction;
(23) The compatibility performance portion of the design signals in tables 3 to 7 and fig. 20 to 26 can be used as a basis for frequency coordination.
Table 1.
Table 2.
Table 3.
| SSC(dB/Hz) | B3I | B3A | E6B | E6A |
| P3A1 | -83.01 | -84.30 | -89.06 | -84.39 |
| P3A2 | -87.85 | -88.41 | -86.64 | -79.83 |
| P3A3 | -75.21 | -79.46 | -82.00 | -87.08 |
Table 4.
| SSC(dB/Hz) | B3I | B3A | E6B | E6A |
| B3I | -71.87 | -84.13 | -83.08 | -74.79 |
| B3A | -84.13 | -70.63 | -84.30 | -85.81 |
| E6B | -83.08 | -84.30 | -68.74 | -86.25 |
| E6A | -74.79 | -85.81 | -86.25 | -73.53 |
Table 5.
Table 6.
Table 7.
Claims (2)
1. A satellite navigation signal performance evaluation method capable of being used as a frequency coordination basis is characterized by comprising the following steps:
(1) The method comprises the steps of finding and sorting out parameter information of all transmitted existing navigation signals in the world from files issued by the international telecommunication union (International Telecommunication Union, ITU) authorities;
(2) Counting parameter information of a newly designed signal needing frequency coordination work;
(3) Establishing a digital simulation model of an existing signal, a design signal and a loop for signal reception on a computer;
(4) The smaller the value of the calculation result of the "receiving power loss", the "signal noise interference ratio" and the "equivalent carrier-to-noise ratio" of each signal is calculated, the larger the value of the calculation result of the "receiving power loss", the "signal noise interference ratio" and the "equivalent carrier-to-noise ratio" is calculated, the stronger the signal capturing performance is;
(5) Calculating 3 indexes of a code tracking error, a code tracking error lower bound and a Gabor bandwidth of each signal, wherein the smaller the numerical value of the calculation results of the code tracking error and the code tracking error lower bound is, the larger the numerical value of the calculation result of the Gabor bandwidth is, and the stronger the tracking performance of the signal is;
(6) Under the condition that other signal interference exists around, calculating 2 indexes of a frequency spectrum separation coefficient and a code tracking sensitivity coefficient of each signal at the moment, wherein the smaller the numerical value of the calculation result of the 2 indexes is, the stronger the signal compatibility performance is;
(7) Calculating 2 indexes of multipath error envelope and average multipath error of each signal, wherein the smaller the numerical value of the calculation result of the 2 indexes is, the stronger the multipath resistance of the signal is;
(8) Under the condition that other signal interference exists around, calculating an anti-interference quality factor index of each signal, wherein the larger the numerical value of an index calculation result is, the stronger the anti-interference performance of the signal is;
(9) Normalizing the calculation results in (4) - (8) according to the index with highest performance being 100 and the index with lowest performance being 60 to obtain normalized values of all performance indexes of all signals, and drawing a signal comprehensive performance radar chart;
(10) The rationality of the design of the signal is illustrated by comparing the comprehensive performance evaluation results of the existing signal and the design signal, and the evaluation result can be used as the basis of the design of the signal in the initial stage of the navigation system construction;
(11) And taking the compatibility performance evaluation result of the existing signal and the design signal as a working basis when the frequency of the design signal is coordinated.
2. The satellite navigation signal performance evaluation method according to claim 1, wherein the calculation method and the parameter description of each index are as follows:
(12) In order to build a general navigation baseband signal model, C n is a pseudo code symbol, p (T) is a rectangular chip, T is a coherent integration time, D (T) is a data signal, f 0 is a carrier frequency, θ is a carrier phase, δ is a lead-lag correlator spacing, β ι is a wideband interference signal bandwidth, β r is a receiver front-end low-pass filter bandwidth, C S is a received signal power, G s (f) is a received signal normalized power spectral density, G ι (f) is an interference signal power spectral density, C ι is an interference signal power, N 0 is a noise power spectral density, τ is a transmission delay of a signal, a S is a signal amplitude, iota (T) is an interference signal score, N (T) is a noise signal, and Var (x) represents a variance of x;
(13) One general pseudo code signal can be expressed as:
(14) One wideband interferer may be expressed as:
(15) One general navigation signal envelope can be expressed as:
(16) When there is no error in carrier tracking, a baseband signal after carrier and data code stripping and spreading by pseudo code can be expressed as:
r(t)＝Asg(t-τ)ejθ+n(t)+ι(t)
(17) The signal "received power loss" indicator reflecting the received power loss due to limited receiver bandwidth can be expressed as:
(18) Under the same receiver conditions, if interference exists, the "signal-to-noise-and-interference ratio" indicator that is positively correlated to the receiver signal acquisition performance can be expressed as:
(19) If interference exists, the signal equivalent carrier-to-noise ratio indicator for measuring the receiving performance of the instant branch can be expressed as follows:
(20) The mathematical model of the "code tracking error" indicator of the coherent lead-lag loop can be expressed as:
(21) The code tracking error lower bound index of the coherent lead-lag loop is the limit value of tracking error when the lead-lag distance approaches zero, and represents the signal tracking performance limit determined by the signal structure, and the mathematical model can be expressed as follows:
(22) The "Gabor bandwidth" index related to the signal power spectrum for evaluating the signal tracking performance can be expressed as:
(23) The index of the "spectral separation coefficient" reflecting the influence of the interference signal on the performance of the useful signal such as acquisition, carrier tracking and data demodulation on the instant branch can be expressed as:
(24) The "code tracking sensitivity coefficient" index reflecting the interference level of the useful signal by other signals in the code tracking loop can be expressed as:
(25) The amplitude of the multipath signal relative to the direct signal is denoted by α, δ m denotes the time delay of the multipath signal relative to the direct signal, Φ m denotes the carrier phase of the received multipath signal, and the received multipath signal can be expressed as:
(26) The "average multipath error" index consisting of the maximum and minimum multipath errors can be expressed as:
(27) The "anti-interference figure of merit" indicator of pseudo code tracking may be expressed as:
(28) The "anti-interference figure of merit" indicator of carrier tracking may be expressed as:
(29) The Gabor bandwidth is selected as a quantization index of the tracking performance of the navigation signal, the maximum value of the Gabor bandwidth in all evaluation results is recorded as V Gabor_max, the minimum value is recorded as V Gabor_min, the to-be-normalized Gabor bandwidth of the current evaluation signal is recorded as V Gabor_unknown;, and the tracking performance normalization result of the current evaluation signal is that:
(30) Selecting 'receiving power loss' as a capture performance quantization index, recording the maximum value of the receiving power loss in all evaluation results as V powerloss_max, the minimum value of the receiving power loss as V powerloss_min, and the to-be-normalized receiving power loss of the current evaluation signal as V powerloss_unknown;, wherein the capture performance normalization result of the current evaluation signal is as follows:
(31) The 'spectrum separation coefficient' is selected as a compatibility performance quantization index, the maximum value of the spectrum separation coefficient is recorded as V SSC_max, the minimum value of the spectrum separation coefficient is recorded as V SSC_min, the spectrum separation coefficient to be normalized of the current evaluation signal is recorded as V SSC_unknown;, and the capturing performance normalization result of the current evaluation signal is recorded as follows:
(32) Selecting 'average multipath error maximum value' as an anti-multipath performance quantization index, recording the average multipath error maximum value as V MPerror_max, the average multipath error minimum value as V MPerror_min in all evaluation results, and capturing the current evaluation signal when the average multipath error to be normalized of the current evaluation signal is as V MPerror unknown;
The performance normalization results were:
(33) The anti-interference quality factor is selected as an anti-interference performance quantization index, the maximum value of the anti-interference quality factor in all evaluation results is recorded as V Q_max, the minimum value of the anti-interference quality factor is recorded as V Q_min, the anti-interference quality factor to be normalized of the current evaluation signal is recorded as V Q_unknown;, and the capturing performance normalization result of the current evaluation signal is that:
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