CN115825998A - Satellite navigation signal and inertial navigation information synchronous simulation generation method and device - Google Patents

Satellite navigation signal and inertial navigation information synchronous simulation generation method and device Download PDF

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CN115825998A
CN115825998A CN202310089830.5A CN202310089830A CN115825998A CN 115825998 A CN115825998 A CN 115825998A CN 202310089830 A CN202310089830 A CN 202310089830A CN 115825998 A CN115825998 A CN 115825998A
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carrier
simulation
satellite
signal
error
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吕志成
欧钢
牟卫华
李蓬蓬
倪少杰
马春江
谢芳
寇瑜萍
庾靖
李壮
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National University of Defense Technology
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National University of Defense Technology
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Abstract

The application relates to a method and a device for synchronously simulating and generating satellite navigation signals and inertial navigation information. The method comprises the following steps: the method comprises the steps of modeling a motion carrier through a carrier motion track simulation unit to obtain a carrier motion track, generating GNSS satellite navigation signals corresponding to the carrier motion track in a simulation mode through a satellite navigation signal simulation unit and the carrier motion track, generating INS inertial navigation information corresponding to the carrier motion track in a simulation mode through an inertial navigation information simulation unit and the carrier motion track, and outputting the GNSS satellite navigation signals and the INS inertial navigation information synchronously through a radio frequency signal interface and a serial communication interface under the time sequence control of a time frequency unit. By adopting the method, flexible and controllable testing environment and condition can be provided for indoor static testing of the GNSS/INS combined navigation receiver.

Description

Satellite navigation signal and inertial navigation information synchronous simulation generation method and device
Technical Field
The present invention relates to the field of navigation simulation technologies, and in particular, to a method and an apparatus for synchronously simulating and generating a satellite navigation signal and inertial navigation information.
Background
The Global Navigation Satellite System (GNSS) has the characteristics of high positioning accuracy, no error accumulation and the like, but the system cannot provide navigation parameters such as carrier attitude and the like, and cannot provide continuous navigation positioning service due to the influence of carrier maneuvering, building shielding, navigation signal interference and the like. An Inertial Navigation System (INS) can continuously provide all navigation parameters including position, speed, course and attitude by means of sensors such as a gyroscope, an accelerometer and the like carried by the INS, has high short-term precision, good stability and anti-interference capability, but has the problem that errors are continuously accumulated along with time, and cannot meet the requirement of long-time continuous work. The GNSS/INS combined navigation system formed by combining the GNSS and the INS can fully utilize the complementary characteristics of the GNSS and the INS on the performances to obtain higher system performance than that when any system is used independently. On one hand, high-precision GNSS positioning information can frequently correct INS in the motion process so as to control the accumulation of errors along with time, and on the other hand, the high-precision INS positioning result in a short time not only can solve the problems of signal lock loss and cycle slip in a GNSS dynamic environment, but also can assist in enhancing the signal tracking capability and the anti-interference capability of a GNSS receiver. Therefore, the GNSS/INS combined navigation receiver is widely developed and applied in the fields of real-time navigation, vehicle-mounted positioning, aviation and navigation and the like.
The test of the GNSS/INS integrated navigation receiver is generally divided into two modes of indoor static test and outdoor dynamic test according to different test conditions, the outdoor test is generally carried out under the actual satellite navigation signal environment by means of motion platforms such as a sports car, although the software and hardware of the integrated navigation system can be comprehensively tested, the problems that the signal environment is not easy to reappear, the platform dynamic state cannot be traversed and the like exist; and in the indoor test, modeling simulation is carried out on the motion track and the attitude of the combined navigation receiver under a static condition, a satellite navigation signal is generated by combining models such as a satellite constellation and a propagation channel, and meanwhile, inertial original measurement data are generated according to simulation of error characteristic parameters of sensors such as a gyroscope and an accelerometer, so that the static closed-loop test of the GNSS/INS combined navigation receiver is realized. The GNSS/INS integrated navigation test equipment is special test equipment for indoor static test of the GNSS/INS integrated navigation receiver, not only needs to simulate and generate satellite navigation signals received by the receiver under various typical dynamic conditions, but also needs to model and simulate sensor error characteristics such as a gyroscope, an accelerometer and the like so as to generate measurement information, and finally synchronously outputs the satellite navigation signals and inertial navigation information so as to simulate the real working environment of the GNSS/INS integrated navigation receiver.
Disclosure of Invention
In view of the above, it is desirable to provide a method and an apparatus for generating a satellite navigation signal and inertial navigation information in a synchronous simulation manner.
A satellite navigation signal and inertial navigation information synchronous simulation generation method is applied to an integrated navigation test equipment system; the integrated navigation test equipment system comprises: the method comprises a carrier motion track simulation unit, a satellite navigation signal simulation unit, an inertial navigation information simulation unit and a time-frequency unit, wherein the method comprises the following steps:
modeling a moving carrier through the carrier moving track simulation unit to obtain a carrier moving track;
generating a GNSS satellite navigation signal corresponding to the carrier motion track in a simulation manner through the satellite navigation signal simulation unit and the carrier motion track;
generating INS inertial navigation information corresponding to the carrier motion track in a simulation mode through the inertial navigation information simulation unit and the carrier motion track;
and under the time sequence control of the time frequency unit, synchronously outputting the GNSS satellite navigation signal and the INS inertial navigation information through a radio frequency signal interface and a serial communication interface respectively.
In one embodiment, the method further comprises the following steps: and calculating position information, speed information and attitude information corresponding to each simulation moment in a simulation period by the carrier motion track simulation unit according to the selected type of the carrier platform and the motion characteristic parameters.
In one embodiment, the method further comprises the following steps: receiving the motion trail of the carrier through the satellite navigation signal simulation unit, and calculating satellite position information and satellite speed information at the simulation moment according to satellite orbit parameters; calculating a pitch angle and an azimuth angle of the carrier relative to the satellite according to the position information of the carrier motion track corresponding to each simulation moment and the satellite position information of each simulation moment; determining the observation relation between the satellite and the carrier according to the pitch angle and the azimuth angle, and respectively calculating the signal emission time, the satellite clock error, the ionosphere delay, the troposphere delay, the signal control parameter and the signal power control word of the satellite when the observation relation is that the satellite is visible; and according to the signal emission time, the satellite clock error, the ionosphere delay, the troposphere delay, the signal control parameters and the signal power control word, simulating to generate the GNSS satellite navigation signal.
In one embodiment, the method further comprises the following steps: calculating the position coordinates of the satellite at the simulation moment in the measurement coordinate system
Figure SMS_1
Wherein:
Figure SMS_2
；
in the formula (I), the compound is shown in the specification,
Figure SMS_3
and
Figure SMS_4
coordinate vectors of the satellite and the carrier in an ECEF coordinate system are respectively;
Figure SMS_5
and
Figure SMS_6
respectively longitude and latitude coordinate values of the carrier;
Figure SMS_7
、
Figure SMS_8
and
Figure SMS_9
rotation matrixes around three coordinate axes are respectively;
calculating pitch angle of carrier relative to satellite
Figure SMS_10
And azimuth angle
Figure SMS_11
Comprises the following steps:
Figure SMS_12
；
in the formula (I), the compound is shown in the specification,
Figure SMS_13
。
in one embodiment, the method further comprises the following steps: according to the signal emission time, the satellite clock error, the ionosphere delay, the troposphere delay, the signal control parameter and the signal power control word, the GNSS satellite navigation signal generated by simulation is as follows:
Figure SMS_14
;
wherein the content of the first and second substances,
Figure SMS_15
is the signal power;
Figure SMS_16
is a navigation message;
Figure SMS_17
is a pseudo random code;
Figure SMS_18
is the nominal frequency of the signal;
Figure SMS_19
the signal propagation delay can be obtained through pseudo-range calculation;
Figure SMS_20
the signal Doppler frequency can be obtained by calculating the change rate of the pseudo range;
Figure SMS_21
is the initial phase.
In one embodiment, the inertial navigation information simulation unit includes: a sensor model and an IMU environment model; further comprising: generating INS inertial navigation information output by each sensor model corresponding to the carrier motion track in a simulation mode through the sensor models and the carrier motion track;
and outputting simulation parameters of the sensor model through the IMU environment model.
In one embodiment, the sensor model comprises: a gyroscope model and an accelerometer model;
the gyroscope model is as follows:
Figure SMS_22
；
wherein the content of the first and second substances,
Figure SMS_24
is a calibration error;
Figure SMS_29
zero-bias error can be divided into zero-bias repetitive error
Figure SMS_31
Zero-bias stability first-order Markov process error
Figure SMS_28
And zero offset stability random walk error
Figure SMS_32
；
Figure SMS_26
Is white gaussian noise;
Figure SMS_37
scale factors and cross-coupling errors;
Figure SMS_30
scale factor asymmetry error;
Figure SMS_34
is composed of
Figure SMS_23
Sensitivity error of, including
Figure SMS_36
Error in sensitivity
Figure SMS_25
、
Figure SMS_35
Sensitivity error
Figure SMS_33
And
Figure SMS_38
sensitive scale factor error
Figure SMS_27
；
The accelerometer model is as follows:
Figure SMS_39
；
wherein，
Figure SMS_42
Is a calibration error;
Figure SMS_43
zero-bias error can be divided into zero-bias repetitive error
Figure SMS_45
Zero bias stability error
Figure SMS_41
；
Figure SMS_44
Is Gaussian white noise;
Figure SMS_46
scale factors and cross-coupling errors;
Figure SMS_47
scale factor asymmetry error;
Figure SMS_40
is a scale factor non-linear error.
An apparatus for synchronously simulating and generating a satellite navigation signal and inertial navigation information, the apparatus comprising:
the carrier motion track simulation unit is used for modeling a motion carrier to obtain a carrier motion track;
the satellite navigation signal simulation unit is used for generating GNSS satellite navigation signals corresponding to the carrier motion trail in a simulation mode according to the carrier motion trail;
the inertial navigation information simulation unit is used for generating INS inertial navigation information corresponding to the carrier motion track in a simulation mode according to the carrier motion track;
and the time-frequency unit is used for carrying out time sequence control and synchronously outputting the GNSS satellite navigation signal and the INS inertial navigation information through a radio frequency signal interface and a serial communication interface respectively.
The synchronous simulation generation method and device for the satellite navigation signal and the inertial navigation information mainly comprise a carrier motion trail simulation unit, a satellite navigation signal simulation unit, an inertial navigation information simulation unit and a time-frequency unit in structure, wherein the carrier motion trail simulation unit carries out modeling simulation on a typical carrier platform motion model; the satellite navigation signal simulation unit generates a GNSS satellite navigation signal according to the motion track of the carrier platform; the inertial navigation information simulation unit generates INS inertial navigation information according to the motion track of the carrier platform; the time-frequency unit provides a uniform time-frequency reference signal for the system, so that the satellite navigation signal and the inertial navigation information can be synchronously output. By the method, corresponding satellite navigation signals and inertial navigation information are generated in a simulation mode according to the simulated variable state parameters such as the carrier motion track, the attitude and the like, and are synchronously output under the control of the unified clock, so that flexible and controllable test environments and conditions can be provided for indoor static test of the GNSS/INS combined navigation receiver.
Drawings
FIG. 1 is a schematic diagram of a static indoor test of GNSS/INS integrated navigation system in the prior art;
FIG. 2 is a block diagram illustrating the system components of a GNSS/INS integrated navigation test facility in one embodiment;
FIG. 3 is a schematic flow chart illustrating a method for generating a satellite navigation signal and inertial navigation information in a synchronous simulation manner according to an embodiment;
FIG. 4 is a schematic diagram of a model of a motion trajectory of a carrier platform according to an embodiment;
FIG. 5 is a schematic diagram of the operation of a satellite navigation signal simulation unit in one embodiment;
FIG. 6 is a schematic diagram showing a model composition of an inertial navigation information modeling unit according to an embodiment;
FIG. 7 is a schematic diagram of an embodiment of an inertial navigation information modeling unit;
FIG. 8 is a block diagram of an embodiment of a device for generating a satellite navigation signal and inertial navigation information synchronized simulation;
FIG. 9 is an internal schematic diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As shown in fig. 1, a schematic diagram of a GNSS/INS integrated navigation indoor static test principle in the conventional technology is shown, where a GNSS/INS integrated navigation test device generates satellite navigation signals and inertial navigation information to implement indoor static test on a GNSS/INS integrated navigation receiver.
As shown in fig. 2, the GNSS/INS integrated navigation testing device system in the present invention is a block diagram, and mainly includes a carrier motion trajectory simulation unit, a satellite navigation signal simulation unit, an inertial navigation information simulation unit, a time-frequency unit, and a power supply unit, and each of the components mainly has the following functions:
(1) The carrier motion trail simulation unit mainly realizes modeling simulation of typical user motion trail, postures and the like of a fixed platform, a vehicle-mounted platform, a ship-mounted platform, an airborne platform and the like, simulates dynamic characteristics of a receiver under different application conditions, and is a driving condition and a target object for satellite navigation signal and inertial navigation information simulation.
(2) The satellite navigation signal simulation unit mainly realizes modeling simulation of a GNSS satellite constellation, a signal propagation channel, a receiving antenna directional diagram and the like, calculates satellite visibility and signal characteristic parameters such as signal power, time delay, doppler and the like in real time according to a carrier motion track, completes dynamic modulation of a satellite navigation signal spreading code and a navigation message, and outputs a radio frequency satellite navigation simulation signal.
(3) The inertial navigation information simulation unit mainly realizes modeling simulation of error factors of inertial navigation sensors such as a gyroscope, an accelerometer and the like, calculates measurement information of the inertial navigation sensors in real time according to parameters such as motion tracks, postures and the like of a carrier, and outputs the measurement information according to set frequency through data interfaces such as a serial port and the like.
(4) And the time-frequency unit is mainly used for generating high-precision 1PPS (pulse per second), 10MHz (megahertz) and other time-frequency reference signals, comprehensively generating working clock signals required by other units, completing distribution and management of time scale signals of the whole system and controlling synchronous output of satellite navigation signals and inertial navigation information.
(5) And the power supply unit mainly realizes the conversion and protection of alternating current and direct current power supplies and provides power supply support for other units.
In one embodiment, as shown in fig. 3, a method for simulation generation of satellite navigation signals and inertial navigation information synchronously is provided, which is described by way of example in fig. 2, and includes the following steps:
and step 302, modeling the moving carrier through a carrier moving track simulation unit to obtain a carrier moving track.
And step 304, generating a GNSS satellite navigation signal corresponding to the carrier motion track through simulation by the satellite navigation signal simulation unit and the carrier motion track.
And step 306, generating INS inertial navigation information corresponding to the movement track of the carrier through simulation by the inertial navigation information simulation unit and the movement track of the carrier.
And 308, under the time sequence control of the time frequency unit, respectively outputting the GNSS satellite navigation signal and the INS inertial navigation information synchronously through the radio frequency signal interface and the serial communication interface.
In the synchronous simulation generation method of the satellite navigation signal and the inertial navigation information, the corresponding satellite navigation signal and the inertial navigation information are generated through simulation according to the variation state parameters such as the simulated carrier motion track and the simulated attitude, and are synchronously output under the control of the unified clock, so that flexible and controllable test environment and conditions can be provided for indoor static test of the GNSS/INS combined navigation receiver.
In one embodiment, according to the selected type of the carrier platform and the motion characteristic parameters, position information, speed information and attitude information corresponding to each simulation moment in a simulation period are calculated through a carrier motion trajectory simulation unit.
In one embodiment, the carrier motion trail is received by the satellite navigation signal simulation unit, and satellite position information and satellite speed information at the simulation moment are calculated according to satellite orbit parameters; calculating a pitch angle and an azimuth angle of the carrier relative to the satellite according to the position information of the carrier motion track corresponding to each simulation moment and the satellite position information of each simulation moment; determining an observation relation between a satellite and a carrier according to a pitch angle and an azimuth angle, and respectively calculating signal transmission time, satellite clock error, ionosphere delay, troposphere delay, signal control parameters and signal power control words of the satellite when the observation relation is that the satellite is visible; and according to the signal emission time, the satellite clock error, the ionosphere delay, the troposphere delay, the signal control parameter and the signal power control word, generating the GNSS satellite navigation signal in a simulation mode.
In one embodiment, the position coordinates of the satellites in the measurement coordinate system at the time of simulation are calculated
Figure SMS_48
Wherein:
Figure SMS_49
；
in the formula (I), the compound is shown in the specification,
Figure SMS_50
and
Figure SMS_51
coordinate vectors of the satellite and the carrier in an ECEF coordinate system are respectively;
Figure SMS_52
and
Figure SMS_53
respectively the longitude and latitude coordinate values of the carrier;
Figure SMS_54
、
Figure SMS_55
and
Figure SMS_56
rotation matrixes around three coordinate axes are respectively;
computing carrier pitch relative to satelliteCorner
Figure SMS_57
And azimuth angle
Figure SMS_58
Comprises the following steps:
Figure SMS_59
；
in the formula (I), the compound is shown in the specification,
Figure SMS_60
。
in one embodiment, the GNSS satellite navigation signals generated by simulation according to the signal transmission time, the satellite clock error, the ionosphere delay, the troposphere delay, the signal control parameters and the signal power control word are as follows:
Figure SMS_61
；
wherein the content of the first and second substances,
Figure SMS_62
is the signal power;
Figure SMS_63
is a navigation message;
Figure SMS_64
is a pseudo-random code;
Figure SMS_65
is the nominal frequency of the signal;
Figure SMS_66
the signal propagation delay can be obtained through pseudo-range calculation;
Figure SMS_67
the signal Doppler frequency can be obtained by calculating the change rate of the pseudo range;
Figure SMS_68
is the initial phase.
In one embodiment, the carrier motion trajectory simulation unit is designed as follows:
as shown in fig. 4, a schematic view of a carrier platform motion trajectory model composition is provided, and the carrier motion trajectory simulation unit mainly calculates parameters such as a carrier motion position, a carrier motion velocity, a carrier motion attitude, and the like. And respectively carrying out modeling simulation on the motion tracks of 4 carrier platforms such as a fixed platform, a vehicle-mounted platform, a ship-mounted platform, an airborne platform and the like according to the motion characteristics of the carrier platform of the receiver, and automatically generating the motion track and the posture of the carrier platform by selecting the type of the corresponding carrier platform and inputting the characteristic parameters of the motion track. The motion of the carrier platform in the space is influenced by a plurality of factors, and to accurately describe the motion state of the carrier platform, a motion trail model needs to consider a plurality of parameters, so that the calculated amount is increased. For the GNSS/INS combined navigation test equipment, the motion track model only needs to reflect the motion characteristics of the carrier platform, and is not required to be very accurate, so that the simplified motion track model is adopted in the system implementation to reduce the calculation workload.
(1) Fixing a platform: the model simulates the characteristics of a fixed target, namely the position coordinate of the fixed target is fixed and the speed is constant and is 0.
(2) A vehicle-mounted platform: the model simulates the motion characteristics of the automobile, and comprises the following motion conditions: (a) The automobile runs in a straight line at a constant speed, namely the running speed and the course angle of the automobile are kept unchanged; (b) The speed change straight line driving, namely the advancing direction of the automobile is kept unchanged, and the speed is accelerated or decelerated according to the requirement; (c) Turning, namely keeping the horizontal speed of the automobile unchanged, and changing the course angle of the automobile according to a given turning radius; (d) And (4) climbing, namely keeping the speed and the direction of the automobile unchanged, and changing the running height of the automobile.
(3) A shipborne platform: the model simulates the motion characteristics of the ship and comprises the following motion conditions: (a) The ship sails in a uniform linear mode, namely the running speed and the course angle of the ship are kept unchanged, and the height of the ship is set according to the sea wave level and is changed according to a sine model; (b) The speed-variable straight line sailing is that the sailing direction of the ship is kept unchanged, the speed is accelerated or decelerated according to requirements, and the height is set according to the sea wave grade and is changed according to a sine model; (c) And (4) anchoring, namely, the ship is parked at a certain fixed place, and the height of the ship is set according to the sea wave grade and is changed according to a sine model.
(4) An airborne platform: the model simulates the motion characteristics of the airplane, including the following motion conditions: (a) The uniform linear flight, namely the flight height, flight speed, course and roll angle of the airplane are kept unchanged; (b) The speed change straight line driving, namely the flying height, the course and the roll angle of the airplane are all kept unchanged, and the speed is accelerated or decelerated according to the requirement; (c) Turning, namely keeping the flying height and the horizontal speed of the airplane unchanged, and changing the course angle of the airplane according to the specified direction-finding acceleration; (d) Climb/dive, i.e. keeping the heading and speed of the aircraft constant, changes the altitude of the aircraft at a given climb speed and angle.
The carrier motion track simulation unit calculates the coordinate values of satellite position, speed, attitude and the like corresponding to each simulation moment in the simulation time period according to the selected carrier platform type and the motion characteristic parameters, namely the coordinate values
Figure SMS_69
. Wherein:
Figure SMS_73
representing simulation time with the unit of s;
Figure SMS_75
is composed of
Figure SMS_71
The three-dimensional position coordinate value of the time carrier in the ECEF coordinate system is m;
Figure SMS_72
is composed of
Figure SMS_74
The three-dimensional speed coordinate value of the time carrier in the ECEF coordinate system is in the unit of m/s;
Figure SMS_76
is composed of
Figure SMS_70
And the pitch angle, the course angle and the roll angle of the carrier at the moment are in units of rad.
In one embodiment, the satellite navigation signal simulation unit is designed as follows:
the satellite navigation signal simulation unit mainly calculates and modulates dynamic control parameters of signals such as power, pseudo range and Doppler to generate radio frequency navigation signals. The working flow of the satellite navigation signal simulation unit is shown in fig. 5.
The method mainly comprises the following steps:
(1) And calculating the motion trail of the satellite.
According to the input orbit number of the Kepler satellite, the position and the speed coordinate of the satellite at the simulation moment are obtained by adopting the orbit dynamics equation integration, namely
Figure SMS_77
. Wherein, the first and the second end of the pipe are connected with each other,
Figure SMS_78
representing simulation time with the unit of s;
Figure SMS_79
is composed of
Figure SMS_80
The three-dimensional position coordinate value of the time satellite in the ECEF coordinate system is m;
Figure SMS_81
is composed of
Figure SMS_82
And the three-dimensional speed coordinate value of the time satellite in the ECEF coordinate system is in the unit of m/s.
(2) The pitch and azimuth angles of the vehicle relative to the satellites are calculated.
Firstly, calculating the position coordinates of the satellite in the measuring coordinate system at the simulation moment
Figure SMS_83
：
Figure SMS_84
；
In the formula (I), the compound is shown in the specification,
Figure SMS_85
and
Figure SMS_86
coordinate vectors of the satellite and the carrier in an ECEF coordinate system are respectively;
Figure SMS_87
and
Figure SMS_88
respectively the longitude and latitude coordinate values of the carrier;
Figure SMS_89
、
Figure SMS_90
and
Figure SMS_91
respectively, a rotation matrix around three coordinate axes.
The pitch angle of the carrier relative to the satellite is then calculated
Figure SMS_92
And azimuth angle
Figure SMS_93
Namely, the following steps are provided:
Figure SMS_94
；
in the formula (I), the compound is shown in the specification,
Figure SMS_95
。
assuming a satellite visible cut-off angle of
Figure SMS_96
If, if
Figure SMS_97
Then the satellite is visible; otherwise, if
Figure SMS_98
The satellite is not visible.
(3) And calculating the satellite signal transmission time.
The GNSS/INS combined navigation test equipment simulates satellite signals at the antenna aperture of the receiver, so that the time of receiving the signals by the receiver is taken as a reference. Due to propagation of satellite signals, delays and the like,
Figure SMS_99
the signal of the antenna aperture of the time receiving device is actually formed by
Figure SMS_100
The signal emitted at a time. Therefore, for the purpose of description
Figure SMS_101
The state of the signal of the antenna aperture of the time receiver needs to iteratively and reversely deduce the time of the satellite transmitting signal
Figure SMS_102
。
(4) Satellite clock errors are calculated.
Although a satellite uses a high-precision atomic clock (rubidium clock or cesium clock), the satellite clock and the GNSS standard may have frequency offsets and frequency shifts, and these frequency offsets and frequency shifts may change with time, resulting in an asynchronous deviation between the satellite clock and the GNSS standard, that is, a satellite clock error. Satellite clock errors are generally expressed in terms of binomials:
Figure SMS_103
；
in the formula (I), the compound is shown in the specification,
Figure SMS_104
correcting a reference epoch for a satellite clock;
Figure SMS_105
for satellite clock corrections for reference epoch to GNSS standard deviation at satellite clock: (Or zero offset);
Figure SMS_106
clock speed error (or frequency deviation) of the satellite clock;
Figure SMS_107
is the clock speed rate (or aging rate) of the satellite clock. Further, the satellite clock error change rate can be obtained:
Figure SMS_108
；
(5) Ionospheric delays are calculated.
The ionized layer is the whole ionized air space from above 60km to the top of the magnetic layer, and is formed by the way that the atmospheric molecules and atoms are subjected to the solar ultraviolet rays,
Figure SMS_109
Rays, high energy particles and
Figure SMS_110
the radiation of the ray ionizes to generate a large amount of charged particles, so that a high atmospheric layer with a certain thickness is formed. The ionosphere contains a large number of free electrons, which cause changes in the propagation direction, velocity, phase, amplitude, polarization state, etc. of radio waves passing through it. The ionospheric delay models commonly used mainly include Klobuchar model, neQuick model and BDGIM model. By using the ionospheric delay model, the ionospheric delay at the simulation moment can be calculated according to the position relation between the satellite and the carrier
Figure SMS_111
And rate of change thereof
Figure SMS_112
。
(6) Tropospheric delay is calculated.
The troposphere is an atmospheric region from the earth's surface to a height of 50km, contains about 75% by mass of the earth's atmosphere and almost all of water vapor and aerosols, and is dense in the earth's atmosphereThe highest layer. The troposphere is a non-dispersive medium, i.e. the dielectric constant of the medium is independent of the frequency, and all electromagnetic waves of different frequencies have the same propagation velocity in the troposphere. The satellite navigation signal is affected by the refraction of the troposphere during propagation, which produces bending and delay, and the refraction effect of the troposphere on the propagation of the electromagnetic wave is called troposphere delay. The commonly used classical models include a Hopfield model, a Saastamoinen model and a Block model based on actually measured meteorological data, and a UNB3m model, an EGNOS model and a GPT2w model based on empirical meteorological data. By using the troposphere delay model, the ionosphere delay at the simulation moment can be calculated according to the position relation between the satellite and the carrier
Figure SMS_113
And rate of change thereof
Figure SMS_114
。
(7) And calculating a signal control parameter.
The signal control parameters mainly comprise pseudo range, pseudo range change rate, pseudo range change acceleration, pseudo range change jerk and the like.
Figure SMS_115
Time pseudorange
Figure SMS_116
And rate of change thereof
Figure SMS_117
Can be expressed as:
Figure SMS_118
；
Figure SMS_119
；
similarly, can be calculated to obtain
Figure SMS_120
Time pseudorange
Figure SMS_121
And rate of change thereof
Figure SMS_122
. Suppose that
Figure SMS_123
Acceleration initial value of pseudo range change in time interval
Figure SMS_124
Pseudorange change jerk
Figure SMS_125
Satisfies the following conditions:
Figure SMS_126
；
in the formula (I), the compound is shown in the specification,
Figure SMS_127
. Solving the equation yields:
Figure SMS_128
；
in the formula (I), the compound is shown in the specification,
Figure SMS_129
，
Figure SMS_130
，
Figure SMS_131
。
(8) A signal power control word is calculated.
Suppose that the Equivalent Isotropic Radiated Power (EIRP) of satellite signal is recorded as
Figure SMS_132
The propagation loss of a signal in free space is recorded as
Figure SMS_133
Then, there are:
Figure SMS_134
；
in the formula (I), the compound is shown in the specification,
Figure SMS_135
is the signal propagation path length, in km;
Figure SMS_136
is the nominal frequency of the signal, and has the unit of MHz;
Figure SMS_137
and
Figure SMS_138
the gains of the transmitting and receiving antennas, respectively, are in dBi;
Figure SMS_139
in dB, for link stray losses (e.g., feed or connection losses, etc.).
Thus, the power of the satellite signal arriving at the receiver can be expressed as:
Figure SMS_140
；
further, the corresponding power control word is calculated according to the system design.
(9) And (5) modulation generation of satellite signals.
According to the satellite signal generation principle, the pseudo-random code, the navigation message and the like are subjected to carrier modulation according to the signal control parameters to generate satellite navigation signals. The satellite navigation signal expression is:
Figure SMS_141
；
in the formula (I), the compound is shown in the specification,
Figure SMS_142
is the signal power;
Figure SMS_143
is a navigation message;
Figure SMS_144
is a pseudo-random code;
Figure SMS_145
is the nominal frequency of the signal;
Figure SMS_146
the signal propagation delay can be obtained through pseudo-range calculation;
Figure SMS_147
the signal Doppler frequency can be obtained by calculating the change rate of the pseudo range;
Figure SMS_148
is the initial phase.
In one embodiment, the inertial navigation information simulation unit comprises: a sensor model and an IMU environment model; generating INS inertial navigation information output by each sensor model corresponding to the carrier motion track in a simulation manner through the sensor models and the carrier motion track; and outputting simulation parameters of the sensor model through the IMU environment model.
In another embodiment, the sensor model comprises: a gyroscope model and an accelerometer model;
the gyroscope model is:
Figure SMS_149
；
wherein the content of the first and second substances,
Figure SMS_154
is a calibration error;
Figure SMS_150
the zero offset error can be divided into zero offset repeatability error
Figure SMS_158
Zero-bias stability first-order Markov process error
Figure SMS_152
And zero offset stability random walk error
Figure SMS_160
；
Figure SMS_155
Is white gaussian noise;
Figure SMS_162
scale factors and cross-coupling errors;
Figure SMS_157
scale factor asymmetry error;
Figure SMS_164
is composed of
Figure SMS_156
Sensitivity error of, including
Figure SMS_163
Error in sensitivity
Figure SMS_153
、
Figure SMS_161
Error in sensitivity
Figure SMS_159
And
Figure SMS_165
sensitive scale factor error
Figure SMS_151
；
The accelerometer model is:
Figure SMS_166
；
wherein the content of the first and second substances,
Figure SMS_168
is a calibration error;
Figure SMS_171
zero-bias error can be divided into zero-bias repetitive error
Figure SMS_173
Zero bias stability error
Figure SMS_169
；
Figure SMS_170
Is white gaussian noise;
Figure SMS_172
scale factors and cross-coupling errors;
Figure SMS_174
scale factor asymmetry error;
Figure SMS_167
is a scale factor non-linear error.
In a specific embodiment, the inertial navigation information simulation unit is designed as follows:
the inertial navigation system mainly comprises a gyroscope, an accelerometer and other sensors, as well as an electronic circuit part and a mechanical structure of the system. The output of the accelerometer comprises an ideal specific force determined by the motion parameters of the carrier and an error part influenced by the comprehensive environment and the device; the gyroscope output comprises an ideal angle increment determined by the motion parameters of the carrier and an error part influenced by the comprehensive environment and the device; the mechanical structure and electronic circuitry of an Inertial Measurement Unit (IMU) in turn determine the effect of the IMU on system measurements. The model composition of the navigation information simulation unit is shown in fig. 6.
The inertial navigation information simulation unit mainly realizes modeling simulation of working processes of initial alignment, position calculation, speed calculation, attitude measurement, drift correction and the like of typical inertial navigation equipment, and outputs navigation calculation data of the position, the speed, the attitude and the like and observed quantity information of key sensors such as a gyroscope, an accelerometer and the like through a serial port. The working flow of the inertial navigation information simulation unit is shown in fig. 7.
(1) Gyroscope simulation model
Gyroscope error model
Figure SMS_175
Can be expressed as:
Figure SMS_176
；
in the formula:
Figure SMS_184
is a calibration error;
Figure SMS_179
zero-bias error can be divided into zero-bias repetitive error
Figure SMS_187
Zero-bias stability first-order Markov process error
Figure SMS_181
And zero offset stability random walk error
Figure SMS_188
；
Figure SMS_189
Is white gaussian noise;
Figure SMS_192
scale factors and cross-coupling errors;
Figure SMS_180
scale factor asymmetry error;
Figure SMS_191
is composed of
Figure SMS_183
Sensitivity error of, including
Figure SMS_190
Sensitivity error
Figure SMS_177
、
Figure SMS_186
Error in sensitivity
Figure SMS_182
And
Figure SMS_185
sensitive scale factor error
Figure SMS_178
。
(2) Accelerometer simulation model
Accelerometer error model
Figure SMS_193
Can be expressed as:
Figure SMS_194
；
in the formula:
Figure SMS_196
is a calibration error;
Figure SMS_199
zero-bias error can be divided into zero-bias repetitive error
Figure SMS_201
Zero bias stability error
Figure SMS_197
；
Figure SMS_198
Is white gaussian noise;
Figure SMS_200
scale factors and cross-coupling errors;
Figure SMS_202
scale factor asymmetry error;
Figure SMS_195
is a scale factor non-linear error.
(3) IMU environment simulation model
The IMU environment simulation model parameters mainly comprise sampling time, delay time, lever arm installation positions, installation angle errors and the like. The sampling time defines the output sampling time of IMU data, and the unit is s; the delay time defines the delay of IMU data relative to the actual time, and the unit is ms; the mounting position of the lever arm defines the three-dimensional relative position of the IMU equipment mounting point from the gravity center of the carrier, and the unit is m; the setting angle error defines the three-dimensional error angle between the IMU device reference coordinate system and the carrier coordinate system, in rad.
The invention provides a synchronous simulation method of a GNSS satellite navigation signal and INS inertial navigation information aiming at the application requirement of an indoor static test of a GNSS/INS combined navigation receiver, and designs a GNSS/INS combined navigation test device capable of synchronously outputting the satellite navigation signal and the inertial navigation information. The method comprises four parts of GNSS/INS integrated navigation test equipment system composition, carrier motion track simulation unit design, satellite navigation signal simulation unit design and inertial navigation information simulation unit design. Compared with the prior art, the invention has the beneficial effects that:
according to the requirement of synchronous output of satellite navigation signals and inertial navigation information, the GNSS/INS combined navigation test equipment system mainly comprises a carrier motion track simulation unit, a satellite navigation signal simulation unit, an inertial navigation information simulation unit, a time-frequency unit, a power supply unit and the like. The carrier motion track simulation unit carries out modeling simulation on a typical carrier platform motion model; the satellite navigation signal simulation unit generates a GNSS satellite navigation signal according to the motion track of the carrier platform; the inertial navigation information simulation unit generates INS inertial navigation information according to the motion track of the carrier platform; the time-frequency unit provides a uniform time-frequency reference signal for the system, so that the satellite navigation signal and the inertial navigation information can be synchronously output; the power module provides power support for each component unit of the system.
According to the motion characteristics of the carrier platform, modeling simulation is respectively carried out on the motion tracks of 4 typical carrier platforms such as a fixed platform, a vehicle-mounted platform, a ship-mounted platform and an airborne platform, and the motion tracks and the attitude coordinates of the carrier platform can be automatically calculated and generated by selecting the types of the corresponding carrier platforms and inputting the characteristic parameters of the motion tracks.
According to the satellite navigation signal generation principle and the influence factors, modeling simulation is respectively carried out on a satellite running track, a satellite clock error, an ionosphere delay, a troposphere delay and the like, a satellite navigation signal simulation flow is designed, dynamic control parameters such as a pseudo range, a pseudo range rate, a pseudo range acceleration rate, a signal power and the like of a satellite navigation signal at the simulation moment are obtained through calculation, and carrier modulation simulation is carried out on a spread spectrum code and a navigation message to generate the satellite navigation signal.
According to the main composition and working principle of an inertial navigation system, a sensor error model such as a gyroscope, an accelerometer and the like, an IMU mechanical structure and an electronic system environment model are established, an inertial navigation information simulation flow is designed, navigation resolving data such as the position, the speed, the attitude and the like at the simulation moment and observed quantity information of inertial navigation sensors such as the gyroscope, the accelerometer and the like are obtained through calculation, and the inertial navigation information and satellite navigation signals are synchronously output through a serial port under unified time-frequency scheduling.
It should be understood that, although the steps in the flowchart of fig. 3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 8, there is provided a simulation generation apparatus for synchronizing satellite navigation signals with inertial navigation information, including: a carrier motion trajectory simulation unit 802, a satellite navigation signal simulation unit 804, an inertial navigation information simulation unit 806, and a time-frequency unit 808, wherein:
the carrier motion track simulation unit is used for modeling a motion carrier to obtain a carrier motion track;
the satellite navigation signal simulation unit is used for generating GNSS satellite navigation signals corresponding to the carrier motion trail in a simulation mode according to the carrier motion trail;
the inertial navigation information simulation unit is used for simulating and generating INS inertial navigation information corresponding to the carrier motion track according to the carrier motion track;
and the time-frequency unit is used for carrying out time sequence control and synchronously outputting the GNSS satellite navigation signal and the INS inertial navigation information through a radio frequency signal interface and a serial communication interface respectively.
For specific limitations of the satellite navigation signal and inertial navigation information synchronous simulation generation device, reference may be made to the above limitations of the satellite navigation signal and inertial navigation information synchronous simulation generation method, which is not described herein again. All modules in the satellite navigation signal and inertial navigation information synchronous simulation generation device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize a method for synchronously simulating and generating satellite navigation signals and inertial navigation information. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the method in the above embodiments when the processor executes the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method in the above-mentioned embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (8)

1. A satellite navigation signal and inertial navigation information synchronous simulation generation method is characterized in that the method is applied to a combined navigation test equipment system; the integrated navigation test equipment system comprises: the device comprises a carrier motion track simulation unit, a satellite navigation signal simulation unit, an inertial navigation information simulation unit and a time-frequency unit;
the method comprises the following steps:
modeling a moving carrier through the carrier moving track simulation unit to obtain a carrier moving track;
generating a GNSS satellite navigation signal corresponding to the carrier motion track in a simulation manner through the satellite navigation signal simulation unit and the carrier motion track;
generating INS inertial navigation information corresponding to the carrier motion track in a simulation mode through the inertial navigation information simulation unit and the carrier motion track;
and under the time sequence control of the time frequency unit, synchronously outputting the GNSS satellite navigation signal and the INS inertial navigation information through a radio frequency signal interface and a serial communication interface respectively.
2. The method of claim 1, wherein modeling a moving carrier by the carrier motion trajectory simulation unit to obtain a carrier motion trajectory comprises:
and calculating position information, speed information and attitude information corresponding to each simulation moment in a simulation period by the carrier motion track simulation unit according to the selected type of the carrier platform and the motion characteristic parameters.
3. The method of claim 1, wherein the generating of the GNSS satellite navigation signals corresponding to the carrier motion trajectory by simulation through the satellite navigation signal simulation unit and the carrier motion trajectory comprises:
receiving the motion trail of the carrier through the satellite navigation signal simulation unit, and calculating satellite position information and satellite speed information at the simulation moment according to satellite orbit parameters;
calculating a pitch angle and an azimuth angle of the carrier relative to the satellite according to the position information of the carrier motion track corresponding to each simulation moment and the satellite position information of each simulation moment;
determining the observation relation between the satellite and the carrier according to the pitch angle and the azimuth angle, and respectively calculating the signal emission time, the satellite clock error, the ionosphere delay, the troposphere delay, the signal control parameter and the signal power control word of the satellite when the observation relation is that the satellite is visible;
and according to the signal emission time, the satellite clock error, the ionosphere delay, the troposphere delay, the signal control parameter and the signal power control word, generating the GNSS satellite navigation signal in a simulation mode.
4. The method of claim 3, wherein calculating the pitch angle and the azimuth angle of the carrier relative to the satellite according to the position information of the carrier motion trail corresponding to each simulation time and the satellite position information of each simulation time comprises:
calculating the position coordinates of the satellite at the simulation moment in the measurement coordinate system
Figure QLYQS_1
Wherein:
Figure QLYQS_2
;
in the formula (I), the compound is shown in the specification,
Figure QLYQS_3
and
Figure QLYQS_4
coordinate vectors of the satellite and the carrier in an ECEF coordinate system are respectively;
Figure QLYQS_5
and
Figure QLYQS_6
respectively the longitude and latitude coordinate values of the carrier;
Figure QLYQS_7
、
Figure QLYQS_8
and
Figure QLYQS_9
rotation matrixes around three coordinate axes are respectively;
calculating pitch angle of carrier relative to satellite
Figure QLYQS_10
And azimuth angle
Figure QLYQS_11
Comprises the following steps:
Figure QLYQS_12
;
in the formula (I), the compound is shown in the specification,
Figure QLYQS_13
。
5. the method of claim 3, wherein simulating GNSS satellite navigation signals according to the signal transmission time, satellite clock error, ionospheric delay, tropospheric delay, signal control parameters and signal power control word comprises:
according to the signal emission time, the satellite clock error, the ionosphere delay, the troposphere delay, the signal control parameters and the signal power control word, the GNSS satellite navigation signal generated by simulation is as follows:
Figure QLYQS_14
;
wherein the content of the first and second substances,
Figure QLYQS_15
is the signal power;
Figure QLYQS_16
is a navigation message;
Figure QLYQS_17
is a pseudo random code;
Figure QLYQS_18
is the nominal frequency of the signal;
Figure QLYQS_19
the signal propagation delay can be obtained through pseudo-range calculation;
Figure QLYQS_20
the signal Doppler frequency can be obtained by calculating the change rate of the pseudo range;
Figure QLYQS_21
is the initial phase.
6. The method of claim 1, wherein the inertial navigation information modeling unit comprises: a sensor model and an IMU environment model;
generating INS inertial navigation information corresponding to the carrier motion track in a simulation mode through the inertial navigation information simulation unit and the carrier motion track, wherein the INS inertial navigation information comprises:
generating INS inertial navigation information output by each sensor model corresponding to the carrier motion track in a simulation mode through the sensor models and the carrier motion track;
and outputting simulation parameters of the sensor model through the IMU environment model.
7. The method of claim 6, wherein the sensor model comprises: a gyroscope model and an accelerometer model;
the gyroscope model is as follows:
Figure QLYQS_22
;
wherein the content of the first and second substances,
Figure QLYQS_27
is a calibration error;
Figure QLYQS_24
zero-bias error can be divided into zero-bias repetitive error
Figure QLYQS_32
Zero-bias stability first-order Markov process error
Figure QLYQS_25
And zero offset stability random walk error
Figure QLYQS_31
；
Figure QLYQS_36
Is Gaussian white noise;
Figure QLYQS_38
scale factors and cross-coupling errors;
Figure QLYQS_29
scale factor asymmetry error;
Figure QLYQS_33
is composed of
Figure QLYQS_23
Sensitivity error of, including
Figure QLYQS_37
Error in sensitivity
Figure QLYQS_28
、
Figure QLYQS_34
Error in sensitivity
Figure QLYQS_30
And
Figure QLYQS_35
sensitive scale factor error
Figure QLYQS_26
；
The accelerometer model is as follows:
Figure QLYQS_39
;
wherein the content of the first and second substances,
Figure QLYQS_41
is a calibration error;
Figure QLYQS_43
zero-bias error can be divided into zero-bias repetitive error
Figure QLYQS_45
Zero bias stability error
Figure QLYQS_42
；
Figure QLYQS_44
Is white gaussian noise;
Figure QLYQS_46
scale factors and cross-coupling errors;
Figure QLYQS_47
scale factor asymmetry error;
Figure QLYQS_40
is a scale factor non-linear error.
8. An apparatus for synchronously simulating generation of satellite navigation signals and inertial navigation information, the apparatus comprising:
the carrier motion track simulation unit is used for modeling a motion carrier to obtain a carrier motion track;
the satellite navigation signal simulation unit is used for generating GNSS satellite navigation signals corresponding to the carrier motion trail in a simulation mode according to the carrier motion trail;
the inertial navigation information simulation unit is used for generating INS inertial navigation information corresponding to the carrier motion track in a simulation mode according to the carrier motion track;
and the time-frequency unit is used for carrying out time sequence control and synchronously outputting the GNSS satellite navigation signal and the INS inertial navigation information through a radio frequency signal interface and a serial communication interface respectively.
CN202310089830.5A 2023-02-09 2023-02-09 Satellite navigation signal and inertial navigation information synchronous simulation generation method and device Pending CN115825998A (en)

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Publication number Priority date Publication date Assignee Title
CN103675844A (en) * 2013-11-18 2014-03-26 航天恒星科技有限公司 Synchronous simulation system of GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) integrated navigation
CN103675834A (en) * 2013-11-28 2014-03-26 江西洪都航空工业集团有限责任公司 Indoor satellite signal simulation system
CN109343081A (en) * 2018-10-10 2019-02-15 中国人民解放军国防科技大学 GPS signal dynamic receiving environment simulation method and system
CN112595350A (en) * 2020-12-31 2021-04-02 福建星海通信科技有限公司 Automatic calibration method and terminal for inertial navigation system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103675844A (en) * 2013-11-18 2014-03-26 航天恒星科技有限公司 Synchronous simulation system of GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) integrated navigation
CN103675834A (en) * 2013-11-28 2014-03-26 江西洪都航空工业集团有限责任公司 Indoor satellite signal simulation system
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