CN117452451B - Tracking method, device and medium for authorization signal in global positioning system signal - Google Patents
Tracking method, device and medium for authorization signal in global positioning system signal Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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Abstract
The application discloses a tracking method, a device and a medium for an authorization signal in a global positioning system signal. The method comprises the following steps: obtaining an upper sideband signal of an authorization signal in a global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal; mixing the upper sideband signal by using a first carrier signal to obtain a first mixed signal; mixing the lower sideband signal by using a second carrier signal to obtain a second mixed signal, wherein the frequencies of the second carrier signal and the first carrier signal are symmetrical relative to a set reference frequency, and the frequency of the first carrier signal is higher than the frequency of the second carrier signal by a set value; and obtaining a tracking result of the authorization signal in the global positioning system signal according to the first mixed signal and the second mixed signal. The embodiment of the application can realize effective tracking of M codes in GPS signals.
Description
Technical Field
The application belongs to the field of computer technology and signal technology, and more particularly relates to a tracking method, device and medium for an authorization signal in a global positioning system signal.
Background
Satellite navigation (Satellite Navigation) refers to a technique for navigating and positioning ground, sea, air and space users using navigation satellites. Common GPS (Global Positioning System ) navigation, beidou navigation and the like are all satellite navigation. Satellite navigation can provide position, speed and time information for users in a global scale, all weather, real time and continuous mode, so that frequency bands of L1, L2, L5 and the like in GPS signals are widely applied to the fields of aviation, amphibious traffic, electric power, communication, finance, agriculture and the like. For example, GPS is applied to the internet of vehicles, for example, to locate an accident vehicle, or to track an illegal vehicle, and may be applied to a power system for time service operation.
L1, L2 and L5 are the core frequency bands of the GPS signal. The carrier L1 frequency band of the GPS satellite broadcasts L1C/A (Coarse Acquisition Code), P (precision Code) (Y) and M Code signals, and two types of services of disclosure and authorization are provided. Wherein the disclosed service is provided by an L1C/A signal; the authorization service is provided by P (Y) code and M code signals, which are received by only the GPS authorization receiver. Therefore, there is a problem of tracking difficulty when an M-code signal is required to be used.
Disclosure of Invention
The embodiment of the application aims to provide a tracking method, a device and a medium for an authorization signal in a global positioning system signal, which can realize effective tracking of M codes in the GPS signal.
In a first aspect, an embodiment of the present application provides a method for tracking an authorization signal in a global positioning system signal, including:
obtaining an upper sideband signal of an authorization signal in a global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal;
mixing the upper sideband signal by using a first carrier signal to obtain a first mixed signal;
mixing the lower sideband signal by using a second carrier signal to obtain a second mixed signal, wherein the frequencies of the second carrier signal and the first carrier signal are symmetrical relative to a set reference frequency, and the frequency of the first carrier signal is higher than the frequency of the second carrier signal by a set value;
and obtaining a tracking result of the authorization signal in the global positioning system signal according to the first mixed signal and the second mixed signal.
In a second aspect, an embodiment of the present application provides a tracking device for an authorization signal in a global positioning system signal, including:
The signal acquisition module is used for acquiring an upper sideband signal of an authorization signal in the global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal;
the first mixing signal module is used for mixing the upper sideband signal by using a first carrier signal to obtain a first mixing signal;
the second mixing signal module is used for mixing the lower sideband signal by using a second carrier signal to obtain a second mixing signal, the frequencies of the second carrier signal and the first carrier signal are symmetrical relative to a set reference frequency, and the frequency of the first carrier signal is higher than the frequency of the second carrier signal by a set value;
and the tracking result module is used for obtaining a tracking result of the authorization signal in the global positioning system signal according to the first mixed signal and the second mixed signal.
In a third aspect, embodiments of the present application further provide an electronic device, including: a processor and a memory;
the memory is used for storing a program for the electronic device to execute the method provided by any embodiment of the application, and storing data related to the implementation of the method provided by any embodiment of the application;
The processor is configured to execute a program stored in the memory.
In a fourth aspect, embodiments of the present application further provide a non-transitory computer readable storage medium storing computer instructions, where the computer instructions are configured to cause a computer to perform a method for tracking an authorization signal in a global positioning system signal provided in any one of the embodiments of the present application.
The tracking method, the device and the computer readable storage medium for the authorization signal in the global positioning system signal can utilize the characteristic that the M code signal comprises an upper sideband signal and a lower sideband signal which are symmetrical to each other to carry out carrier mixing processing on the M code signal, and acquire a tracking result of the M code signal according to the processed signal, so that code-free tracking of the M code can be realized, power enhancement information analysis can be carried out by using the M code in the GPS signal, and navigation positioning can also be carried out by using an M code observation value in the GPS signal.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a tracking method of an authorization signal in a global positioning system signal according to an embodiment of the present application;
FIG. 2 is a schematic diagram of different code portions included in a GPS signal according to an example of the present application;
FIG. 3 is a schematic diagram of the passband filter frequency response for M-codes and C/A-codes in one example of the present application;
FIG. 4 is a schematic diagram of a BOC modulation process provided in an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a process of a tracking method of an authorization signal in a GPS signal according to an embodiment of the present application;
fig. 6 is a schematic diagram of a tracking structure of an authorization signal in a gps signal according to an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The method for tracking the authorization signal in the global positioning system signal according to the embodiment of the present application, as shown in fig. 1, includes:
step S11: obtaining an upper sideband signal of an authorization signal in a global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal;
Step S12: mixing the upper sideband signal by using a first carrier signal to obtain a first mixed signal;
step S13: mixing the lower sideband signal by using a second carrier signal to obtain a second mixed signal, wherein the frequencies of the second carrier signal and the first carrier signal are symmetrical relative to a set reference frequency, and the frequency of the first carrier signal is higher than the frequency of the second carrier signal by a set value;
step S14: and obtaining a tracking result of the authorization signal in the global positioning system signal according to the first mixed signal and the second mixed signal.
The L1M code and the L2M code are new military signals after GPS modernization, and are collectively called M codes. In this embodiment, the authorization signal in the global positioning system signal includes an upper sideband signal and a lower sideband signal, and the upper sideband signal and the lower sideband signal are symmetrical, as shown in fig. 2, the M code and the Y code are partially overlapped, and a certain distance exists between the M code and the C/a code. The upper sideband signal and the lower sideband signal are generated in the process of performing BOC (Binary Offset Carrier ) modulation on the M code, and the M code signal is subjected to BOC (10, 5) modulation mode to divide the M code frequency into an upper sideband and a lower sideband. As shown in fig. 4, pseudo-random codes are employed in the BOC modulation process Subcarrier signal P (t), carrier signal->And modulating the M code to obtain a modulated M code signal S (t).
The Binary Offset Carrier (BOC) signal modulation technique is to add one subcarrier modulation on the basis of BPSK (Binary Phase Shift Keying ) modulation. The BOC modulation technique has the advantage of achieving spectral separation.
The general expression for the BOC modulated signal is BOC (m, n), such as BOC (10, 5) described above. Where m represents m times the subcarrier frequency as the reference frequency (e.g., 1.023 Mhz), and n represents n times the pseudo code rate as the reference frequency.
The BOC signal mathematical model is:。
a in the formula is the signal amplitude; d (t) is data information;the code is spread spectrum code and pseudo random code; />Is the carrier frequency; />Is signal noise; p (t) is a subcarrier signal, and the expression is: />Wherein->Is the subcarrier frequency.
Expressed by Fourier series, whereCan be expressed as:
。
it can be further deduced that:
]。
from the above estimation process, the sub-carrier can be equivalently represented as the sum of the infinite order carrier stages with linearly decreasing signal amplitude. If only the first order term in the case of k=1 is considered, then:
。
The above formula shows that: the BOC signals can be equivalent to carrier frequencies of respectively、/>Is the sum of two BPSK signals:
；
。
wherein,for upper sideband signal, +.>Is the lower sideband signal; />、/>Respectively noise signals.
The GPS M code adopts BOC (10, 5) modulation mode, because the pseudo-random code of the M code can not be obtained by unauthorized usersThus, an unauthorized user cannot track M-codes using conventional code correlation techniques, and a new tracking method is required. Due toAnd lower sideband signal->Pseudo-random code->And data information->Identical, so that unauthorized users can use +.>And lower sideband signal->And the cross correlation technology is used for realizing code-free tracking of the GPS M code. Wherein the aforementioned data information D (t) represents data information modulated on top of a pseudo-random code.
In this embodiment, the first carrier signal and the second carrier signal may be generated for a party that needs to track the grant signal in the gps signal. The sine and cosine carriers, which generate f0+df frequencies, can be mixed with the M-code upper sideband signal, respectively, using a carrier NCO (Numerically Controlled Oscillator digitally controlled oscillator). The carrier NCO generates sine carrier and cosine carrier with f0-df frequency, which are mixed with sideband signal under M code.
In step S14, the signal from which the upper sideband carrier has been stripped is subjected to square correlation calculation, and then to incoherent integration processing. And similarly, square correlation calculation is carried out on the signals of which the lower sideband carrier is stripped, and incoherent integration processing is carried out. And then, the signals stripped by the lower sideband carrier are subjected to cross correlation with the signals stripped by the upper sideband carrier, and then incoherent integration processing is performed. Based on the incoherent results of the square correlation and the cross correlation, the carrier-to-noise ratio is calculated while constructing a carrier tracking loop discriminator. And acquiring information such as carrier phase, doppler frequency shift and the like of the M codes of the related satellites in real time by utilizing a carrier tracking loop.
Therefore, in the method provided by the embodiment of the present application, in the case that the military M code in the GPS signal cannot be acquired, and the GPS receiver cannot generate the local M code to acquire the tracking satellite M code signal, although the specific content of the M code cannot be known, the features of the M code are known, that is: the M code generates an upper sideband signal and a lower sideband signal symmetrically in the BOC modulation process. And carrying out passband filtering, capturing and tracking on the M code signal by utilizing the characteristics of the M code to acquire a tracking result of the M code. In a specific implementation, the tracking result of the M code may include at least one of information such as a carrier-to-noise ratio of the M code, a carrier phase of the M code, and a doppler shift of the M code.
In practice, to avoid the disabled party using L1C/A in the GPS signal, interference may be implemented to the GPS L1C/A. Since the GPS L1C/A coincides with the P (Y) code center frequency, interference will also have an effect on the P (Y) code signal. Therefore, after the modern upgrade of GPS, military (M) code signals are newly added. The upper sideband and the lower sideband signal frequency of the M code have a certain distance from the signal frequency of the L1C/A code, so that the influence of the interference signal on the M code can be reduced as much as possible when the L1C/A signal is interfered.
In addition to the advantage in distance from the L1C/a code signal, the M code in the GPS signal has a spot beam power boost 15dB (decibel) function. Therefore, in order to avoid the disabled party using the GPS signal, interference can be implemented on the L1C/A code, and meanwhile, the spot beam function can be used for enhancing the transmitting power of the M code in the GPS signal so as to improve the anti-interference capability of satellite navigation transmitting the GPS signal.
However, since the satellite navigation spoofing signal is very weak, even if its power is enhanced by 15dB for the M-code signal in the GPS signal, the spoofing signal is still hidden under thermal noise, and only the M-code signal or spoofing signal can be detected, captured and tracked by the pseudo-random code correlation technique. The premise of the code correlation technique is that the receiver locally generates the same pseudo-random code as the satellite. And performing matching correlation signal processing by using the local pseudo-random code and the pseudo-random code received by the satellite, thereby obtaining information such as pseudo-range, carrier phase, navigation message and the like, and then calculating and obtaining the information of the position, speed and time of the user. The spoofing signal is a simulated satellite navigation signal intentionally broadcasted by a malicious party, and is used for spoofing a GNSS (Global Navigation Satellite System ) receiver, and the receiver of the party having the authority to use the satellite navigation signal generates incorrect position and time information after receiving the spoofing signal.
On the other hand, the M code in the GPS signal is not disclosed, only an authorized user can acquire the M code, and an unauthorized user cannot acquire the M code related service requiring GPS authorization. If a malicious party interferes with the signals of the GPS L1C/A and other satellite navigation systems, the M code is subjected to power enhancement, so that only a GPS authorized user can use satellite navigation, and other unauthorized users cannot use the GPS public signals and other satellite navigation signals.
The codeless and semi-codeless tracking techniques are effective methods for precise ranging and high-precision navigation by GPS unauthorized users to eliminate or mitigate the AS (Anti-fraud) policy impact. In general, satellite navigation signals are very weak and are easily submerged under thermal noise, and are difficult to find unless known satellite pseudorandom codes are subjected to code correlation processing. The M code in the GPS signal is an authorized signal, and its pseudo-random code cannot be obtained, and cannot be found when the M code power is increased. If the power of the M code can be timely obtained, the warfare initiator using the M code for navigation warfare can be targeted. In a complex electromagnetic environment, in order to enable a GPS unauthorized user to monitor M code power enhancement related information in a GPS signal in real time, and meanwhile, navigation positioning can be performed by utilizing M code carrier Doppler frequency shift in the GPS signal, no-code tracking is required to be performed on M codes in the GPS signal, so that under the condition of unknown M code sequences in the GPS signal, the M codes can be captured and utilized.
Currently, code-free tracking techniques for signals in GNSS systems can be broadly divided into three categories: flat methods, cross correlation methods, and semi-codeless tracking methods (i.e., Z tracking methods, Z axis tracking). The method is to square the signal, eliminate the pseudo-random code and the text information modulated on the carrier wave and obtain the continuous carrier wave information. The main advantage of the flat approach is that no known pseudo-random code is needed, the disadvantage being that the signal-to-noise ratio is lost by about 30dB, the carrier wavelength being half the full wavelength. The cross correlation method uses the characteristic that an L1P (Y) code and an L2P (Y) pseudo-random code in a GPS signal are completely the same to carry out cross correlation on the L1P (Y) code and the L2P (Y) code signal, and uses L1C/A carrier information to recover L2 full carrier information; the main advantage is that the pseudo-random codes in the L1P (Y) code and the L2P (Y) code are dependent on the same characteristics, and the known pseudo-random codes are not needed, so that the signal-to-noise ratio loss in the tracking process is relatively small. The semi-code-free tracking method is that under the condition of known P codes, L1 code and L2 code signals are multiplied by the P codes to obtain L1W code and L2W code signals; the L1 signal in the GPS signal is modulated with a P (Y) code, and the P code and a W code are added to generate the GPS signal, wherein the P code is known, the W code is unknown, and authorization is needed for obtaining the GPS signal; the P (Y) code is therefore also unknown; the digitized sampled GPS signal P (Y) is multiplied by the digitized P code, so that the P code above the L1 code signal in the GPS signal can be stripped, and the unknown W code is remained. After the signal multiplication calculation operation is executed, the characteristics that the L1W code and the L2W code are identical are utilized to carry out cross correlation on the L1W code signal and the L2W code signal, and the length of a W code chip is about 20 times of that of a P code chip, so that the signal to noise ratio can be improved by about 13dB through semi-code-free tracking.
Since the L1-M code and the L2-M code in the GPS signal are not identical, the GPS M code cannot be observed by using a cross correlation method and a semi-code-free tracking method. The signal-to-noise ratio loss of the flat method is serious. Therefore, a new method for tracking the M signal of the GPS without codes is required to be provided, and based on the purpose, the method provided by the embodiment of the application can utilize the characteristic that the M signal comprises an upper sideband signal and a lower sideband signal which are symmetrical to each other to carry out carrier mixing processing on the M signal, and a tracking result of the M signal is obtained according to the processed signal, so that the M signal without codes can be tracked, the M code in the GPS signal can be utilized to carry out power enhancement information analysis, and the M code observation value in the GPS signal can also be utilized to carry out navigation positioning.
In one implementation, the obtaining the tracking result of the authorization signal in the global positioning system signal according to the first mixing signal and the second mixing signal includes:
performing correlation integration on the first mixed signal and the second mixed signal to obtain an integration result;
and obtaining the tracking result according to the integration result.
In the embodiment of the present application, the tracking result may include: at least one of information such as carrier-to-noise ratio of the M code, carrier phase of the M code, doppler shift of the M code, and the like.
In the embodiment of the application, under the condition that the GPS military signal M code cannot be acquired and the GPS receiver cannot generate the local M code to capture and track the satellite M code signal, the symmetry characteristics of the upper sideband signal and the lower sideband signal generated by M code BOC modulation are fully utilized, the M code signal is subjected to passband filtering, capturing and tracking, and information such as M code carrier-to-noise ratio, carrier phase, doppler frequency shift and the like is acquired, so that the code-free tracking of the M code is realized, and the M code can be utilized when specific information related to the M code is not needed.
In one implementation, the obtaining the tracking result according to the integration result includes:
calculating the carrier-to-noise ratio of the authorization signal in the global positioning system according to the integration result;
and obtaining the tracking result according to the carrier-to-noise ratio.
In this embodiment, the tracking result is obtained according to the carrier-to-noise ratio, that is, the carrier-to-noise ratio is used as at least one of the tracking results.
In one implementation, the obtaining the tracking result according to the integration result includes:
constructing a carrier tracking loop discriminator of an authorization signal in the global positioning system according to the integration result;
Obtaining Doppler frequency shift of an authorized signal in the global positioning system by using the carrier tracking loop discriminator;
and obtaining the tracking result according to the Doppler frequency shift.
In this embodiment, the tracking result is obtained according to the doppler shift, that is, the doppler shift is taken as at least one of the tracking results.
In one implementation, the obtaining the upper sideband signal and the lower sideband signal of the grant signal in the global positioning system signal comprises:
obtaining an original signal of an authorization signal in a global positioning system signal;
and performing passband filtering operation according to the original signal to obtain an upper sideband signal of the authorization signal in the global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal.
In this embodiment, the original signal of the authorization signal in the global positioning system signal may be a GPS signal containing M codes directly obtained from the corresponding micro through a signal receiving manner.
In the embodiment, the upper sideband signal and the lower sideband signal of the M-code intermediate frequency signal are respectively subjected to passband filtering, so that the influence of P (Y) code and C/A code signals in the GPS signal on M-code signal processing is reduced, and the influence of M-code multi-order carrier stages is also reduced. As shown in fig. 3, it can be seen that the M code and the C/a code have different passband filter frequency responses, and the gains corresponding to the M code and the C/a code have a larger difference under the same frequency, so that the signal strength of the M code can be improved by using the frequency with a strong gain effect on the M code to perform passband filtering, and meanwhile, the signal strength of the C/a code is not significantly affected. Similarly, passband filtering may be performed in the same manner for P (Y) codes.
In one embodiment, the method for tracking the authorization signal in the global positioning system signal further includes:
converting the original signal into an upper sideband binary phase shift keying signal and a lower sideband binary phase shift keying signal;
determining a first relationship between frequencies of the upper sideband signal and the carrier signal from the upper sideband binary phase shift keying signal;
determining a second relationship between frequencies of the lower sideband signal and the carrier signal from the lower sideband binary phase shift keying signal;
the mixing the upper sideband signal by using the first carrier signal to obtain a first mixed signal, which comprises the following steps:
mixing the upper sideband signal according to the first carrier signal and a first relation to obtain a first mixed signal;
the step of mixing the lower sideband signal by using a second carrier signal to obtain a second mixed signal comprises the following steps:
and mixing the lower sideband signal according to the second carrier signal and a second relation to obtain the second mixed signal.
In the embodiment of the present application, since the M-code upper sideband signal and the lower sideband signal approximate BPSK signals, the signals can be processed according to the BPSK signal mode respectively.
In one embodiment, the carrier signal comprises a primary signal of a first carrier frequency and a secondary carrier signal of a second carrier frequency.
In the present embodiment, the M-code upper sideband signal and the M-code lower sideband signal are respectively signal-processed by a carrier signal and a subcarrier signal. That is, the sine carrier and the cosine carrier generated by the carrier NCO with f0+df frequency are respectively mixed with the M-code upper sideband signal, and the sine carrier and the cosine carrier generated by the carrier NCO with f0-df frequency are respectively mixed with the M-code lower sideband signal.
In one embodiment, the reference frequency is a frequency of the first carrier signal; the frequency of the first carrier signal is the sum of the first carrier frequency and the second carrier frequency; the frequency of the second carrier signal is the difference between the first carrier frequency and the second carrier frequency.
In one embodiment, the first carrier signal includes a first sine signal derived based on a frequency of the first carrier signal, and a first cosine signal derived based on a frequency of the first carrier signal; the second carrier signal includes a second sine signal obtained based on a frequency of the second carrier signal, and a second cosine signal obtained based on a frequency of the second carrier signal; the performing correlation integration on the first mixed signal and the second mixed signal to obtain an integrated result, and further includes:
Converting the first mixed signal into a first discrete sub-signal based on the first sine signal and a second discrete sub-signal based on the first cosine signal;
converting the second mixed signal into a third discrete sub-signal based on the second sine signal and a fourth discrete sub-signal based on the second cosine signal;
and according to a preset sampling point, performing related integration operation on the first discrete sub-signal, the second discrete sub-signal, the third discrete sub-signal and the fourth discrete sub-signal to obtain an integration result.
In one embodiment, the performing a correlation integration operation according to the preset sampling point on the first discrete sub-signal, the second discrete sub-signal, the third discrete sub-signal, and the fourth discrete sub-signal to obtain an integration result includes:
calculating a first integral sum value over a set range by multiplying a first sum of the first discrete sub-signal and the discrete sub-signal with a second sum of the second discrete sub-signal and the fourth discrete sub-signal;
calculating a second integral sum value within a set range by means of the difference between the square value of the first sum and the square value of the second sum;
Performing double-parameter arctangent operation according to the first integral sum value and the second integral sum value to obtain a phase difference between the first carrier signal and the received signal;
and determining the integration result according to the phase difference.
In this embodiment, the M-code signal stripped from the lower sideband carrier is coherently integrated with the M-code signal stripped from the upper sideband carrier, and is non-coherently integrated after performing the integration-removal process by using the characteristics that the M-code of the upper sideband is identical to the M-code of the lower sideband.
In one embodiment, the determining the integration result according to the phase difference includes:
acquiring carrier phases of authorized signals in the global positioning system signals according to the phase differences;
and taking the carrier phase of the authorization signal in the global positioning system signal as the integration result.
And calculating the carrier-to-noise ratio based on incoherent information, constructing a carrier tracking loop discriminator, and acquiring information such as carrier phase, doppler frequency shift and the like of the M codes of the related satellites in real time by utilizing a carrier tracking loop.
In the embodiment of the application, under the condition that the GPS military signal M code cannot be acquired and the GPS receiver cannot generate the local M code to capture and track the satellite M code signal, the symmetry characteristics of the upper sideband signal and the lower sideband signal are generated by fully utilizing M code BOC modulation, the M code signal is captured and tracked, and the information such as the M code carrier-to-noise ratio (namely carrier-to-noise ratio C/NO), carrier phase, doppler frequency shift and the like is acquired.
When the M code is tracked by the method provided by the embodiment of the application, high-gain large antennas are not needed, so that the carrier-to-noise ratio measurement of the GPS M code can be realized, and the power enhancement condition of the M code can be monitored. Meanwhile, the method of the embodiment of the application is low in cost and easy to deploy, and can be used for tracking and measuring military M code signals in GPS signals by using common high-precision measuring antennas to recover full-wave carrier phase observation values.
In one example of the present application, as shown in FIG. 5, the upper and lower sideband signals of the military M code in the GPS signal are obtained by receiving the GPS signal. Wherein the upper sideband signal and the lower sideband signal are symmetrical, and have a phase difference. The phase angle of the upper sideband signal isThe phase angle of the lower sideband signal is: the phase angle of the upper sideband signal is +.>. The upper sideband signal and the lower sideband signal are respectively multiplied by carrier signals generated by carrier NCO, and the upper sideband signal carries out intermediate frequency data b1[ k ] after cosine carrier stripping]Intermediate frequency data b2[ k ] after sinusoidal carrier stripping of upper sideband signal]Intermediate frequency data b3 k after cosine carrier wave stripping of lower sideband signal]Intermediate frequency data b4 k after sinusoidal carrier stripping of lower sideband signal ]. Will b1[ k ]]And b3[ k ]]Performing signal addition operation to obtain cosine related signals b13 k of the upper sideband signal and the lower sideband signal]The method comprises the steps of carrying out a first treatment on the surface of the Will b2[ k ]]And b4[ k ]]Performing signal addition operation to obtain sinusoidal correlation signals b24[ k ] of the upper sideband signal and the lower sideband signal]. Will b13[ k ]]The square of the signal is performed and,i.e. square correlation calculation, will b24 k]Signal squaring, i.e. squaring correlation computation, is performed. At the same time, b13[ k ]]And b24[ k ]]And performing signal addition calculation to obtain a correlation sum. Will b13[ k ]]Signal squaring result, b24[ k ]]Signal square calculation result, b13[ k ]]And b24[ k ]]And carrying out correlation and integration operation respectively to obtain a calculation result of correlation integration. And a carrier ring discriminator is formed according to the calculation result of the correlation integral. So that tracking results can be obtained from the carrier loop discriminator, for example, the phase difference after phase mixing can be calculated. Meanwhile, filtering is carried out according to the result obtained by the carrier ring discriminator, and the carrier NCO can be fed back according to the signal obtained by the filtering of the carrier ring filter, so that a more suitable carrier signal is obtained. Referring to fig. 5, in the process of processing the M-code in the GPS signal, the GPS signal is passband filtered, and the obtained signal includes an upper sideband signal and a lower sideband signal of the M-code, and then the upper sideband signal and the lower sideband signal of the M-code are respectively signal-processed. Carrier NCO generation- >The sine carrier and the cosine carrier of the frequency are mixed with the M-code upper sideband signal respectively, high-frequency information is filtered, and the upper sideband signal after carrier stripping can be obtained as follows:
；
。
wherein,a signal obtained after carrier stripping of the upper sideband signal for the sinusoidal carrier; />And the bit cosine carrier is used for carrying out carrier stripping on the upper sideband signal to obtain the signal. />Is the local carrier frequency with Doppler shift, < >>For the phase difference between the local carrier and the M code in the received GPS signal, t represents time,/and t>、/>Is a noise signal->For upper sideband signal, +.>For data information applied to the upper sideband signal. Because the satellite navigation actual signal is in a continuous wave form, in order to facilitate the digital processing, the continuous physical signal is quantized according to a certain time interval to generate a set of discrete data according to time, and the process is digital sampling. In the example shown in fig. 5, the carrier stripped signal is digitally sampled to obtain the discrete signal of the upper sideband signal as:
wherein n is 1 [k]Representing the digital sampled discrete noise;
，n 2 [k]representing the digitized sampled discrete noise.
In the above formulaFor the phase difference of the local carrier and the M code in the received GPS signal, < > >[k]，Is the signal strength. b1[ k ]]The intermediate frequency data after the upper sideband signal is subjected to cosine carrier stripping mainly comprises pseudo-random codes, data information on the pseudo-random codes and noise information, b2[ k ]]Is intermediate frequency data after the upper sideband signal is stripped by sine carrier, k represents discrete number,/>、/>Representing discrete noise information.
Similar to the carrier stripped upper sideband signal, carrier NCO generationThe sine carrier and the cosine carrier of the frequency are mixed with the lower sideband signal of the M code respectively, high-frequency information is filtered, and the lower sideband signal after carrier stripping can be obtained as follows:
；
. Wherein,is noise information.
After digital sampling, the discrete signals of the lower sideband signals are as follows:
；
。
wherein,、/>is discrete noise information. Estimating +.>. Let->、/>、/>、/>All obey normal distribution +>Based on maximum likelihood estimation +.>In the known +.>Under the condition of discrete noise information +.>、/>、/>、/>The joint probability function of (2) is:
. Wherein (1)>Is the noise variance.
Assume thatAt->Obeying the average distribution in the data range:
. Where exp represents an exponential function based on a natural constant e.
The above-mentioned reference is made toLogarithm is taken from both sides of the equation:
+
。
Due to the field of satellite navigationAt the same time +.>At the same time, the constant term in the above formula is removed, and the above formula is rewritten as +.>The following objective functions:
。/>is->The term of constant is removed to obtain the term +.>Is a function of (2).
In the above，/>. Estimating with L sampling pointsThe above formula is rewritable as to +.>Objective function:
；/>for L->And (3) expression after addition.
On the upper partFor->Calculating the deviation and making it equal to 0, then calculate +>：
；
I.e.；
And then get。
The carrier phase can be determined from the phase difference as the time integral of the frequency generated by the digitally controlled oscillator plus the sum of the phase differences delta phi.
The carrier-to-noise ratio C/N0 is estimated based on the DeltaPhi maximum likelihood. First of all,combining signal power P with noise varianceEstimating as an unknown parameter, and constructing a joint probability function:
. Wherein (1)>Is the ith noise.
Taking the logarithm of the joint probability function to obtain:
。
p in the logarithm equation is biased:
。/>is the L noise signal.
In the above formula. Due to->Then:
for a pair ofDeviation guide is calculated:
。
and then can be derived:。
then according toCalculate signal-to-noise ratio SNR (Signal to Interference plus Noise Ratio, signal-to-interference plus noise ratio):
。
the above α is converted into decibel expression of signal to noise ratio: 。
The embodiment of the application also provides a tracking device for an authorization signal in a global positioning system signal, the structure of which is shown in fig. 6, including:
the signal acquisition module is used for acquiring an upper sideband signal of an authorization signal in the global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal;
the first mixing signal module is used for mixing the upper sideband signal by using a first carrier signal to obtain a first mixing signal;
the second mixing signal module is used for mixing the lower sideband signal by using a second carrier signal to obtain a second mixing signal, the frequencies of the second carrier signal and the first carrier signal are symmetrical relative to a set reference frequency, and the frequency of the first carrier signal is higher than the frequency of the second carrier signal by a set value;
and the tracking result module is used for obtaining a tracking result of the authorization signal in the global positioning system signal according to the first mixed signal and the second mixed signal.
In one embodiment, the tracking results module includes:
the integrating unit is used for carrying out correlation integration on the first mixed signal and the second mixed signal to obtain an integration result;
And the result unit is used for obtaining the tracking result according to the integration result.
In one embodiment, the result unit is further for:
calculating the carrier-to-noise ratio of the authorization signal in the global positioning system according to the integration result;
and obtaining the tracking result according to the carrier-to-noise ratio.
In one embodiment, the result unit is further for:
constructing a carrier tracking loop discriminator of an authorization signal in the global positioning system according to the integration result;
obtaining Doppler frequency shift of an authorized signal in the global positioning system by using the carrier tracking loop discriminator;
and obtaining the tracking result according to the Doppler frequency shift.
In one embodiment, the signal acquisition module includes:
the original signal obtaining unit is used for obtaining an original signal of an authorization signal in the global positioning system signal;
and the passband filter unit is used for executing passband filter operation according to the original signal to obtain an upper sideband signal of the authorization signal in the global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal.
The signal obtaining module, the tracking device of the authorization signal in the global positioning system signal further comprises:
The original signal conversion module is used for converting the original signal into an upper sideband binary phase shift keying signal and a lower sideband binary phase shift keying signal;
a first relationship module for determining a first relationship between frequencies of the upper sideband signal and the carrier signal based on the upper sideband binary phase shift keying signal;
a second relationship module for determining a second relationship between frequencies of the lower sideband signal and the carrier signal based on the lower sideband binary phase shift keying signal;
the first mixed signal module is further configured to:
mixing the upper sideband signal according to the first carrier signal and a first relation to obtain a first mixed signal;
the second mixed signal module is further configured to:
and mixing the lower sideband signal according to the second carrier signal and a second relation to obtain the second mixed signal.
In one embodiment, the carrier signal comprises a primary signal of a first carrier frequency and a secondary carrier signal of a second carrier frequency.
In one embodiment, the reference frequency is a frequency of the first carrier signal; the frequency of the first carrier signal is the sum of the first carrier frequency and the second carrier frequency; the frequency of the second carrier signal is the difference between the first carrier frequency and the second carrier frequency.
In one embodiment, the first carrier signal includes a first sine signal derived based on a frequency of the first carrier signal, and a first cosine signal derived based on a frequency of the first carrier signal; the second carrier signal includes a second sine signal obtained based on a frequency of the second carrier signal, and a second cosine signal obtained based on a frequency of the second carrier signal; the integration unit is also used for:
converting the first mixed signal into a first discrete sub-signal based on the first sine signal and a second discrete sub-signal based on the first cosine signal;
converting the second mixed signal into a third discrete sub-signal based on the second sine signal and a fourth discrete sub-signal based on the second cosine signal;
and according to a preset sampling point, performing related integration operation on the first discrete sub-signal, the second discrete sub-signal, the third discrete sub-signal and the fourth discrete sub-signal to obtain an integration result.
In an embodiment, the integration unit is further configured to:
calculating a first integral sum value over a set range by multiplying a first sum of the first discrete sub-signal and the discrete sub-signal with a second sum of the second discrete sub-signal and the fourth discrete sub-signal;
Calculating a second integral sum value within a set range by means of the difference between the square value of the first sum and the square value of the second sum;
performing double-parameter arctangent operation according to the first integral sum value and the second integral sum value to obtain a phase difference between the first carrier signal and the received signal;
and determining the integration result according to the phase difference.
In an embodiment, the integration unit is further configured to:
acquiring carrier phases of authorized signals in the global positioning system signals according to the phase differences;
and taking the carrier phase of the authorization signal in the global positioning system signal as the integration result.
The embodiments of the invention described above are combinations of elements and features of the invention. Elements or features may be considered optional unless mentioned otherwise. Each element or feature may be practiced without combining with other elements or features. In addition, embodiments of the invention may be constructed by combining some of the elements and/or features. The order of operations described in embodiments of the invention may be rearranged. Some configurations of any embodiment may be included in another embodiment and may be replaced with corresponding configurations of another embodiment.
In a firmware or software configuration, embodiments of the present invention may be implemented in the form of modules, procedures, functions, and so on. The software codes may be stored in memory units and executed by processors. The memory unit may be located inside or outside the processor and may send and receive data to and from the processor via various known means.
Aspects of the systems and methods described herein may be implemented as functionality programmed into any of a variety of circuits including Programmable Logic Devices (PLDs), such as Field Programmable Gate Arrays (FPGAs), programmable Array Logic (PAL) devices, electronic programmable logic and memory devices, standard cell-based devices, and Application Specific Integrated Circuits (ASICs). Some other possibilities for implementing these aspects of the system include: microcontrollers with memory, such as electronically erasable programmable read-only memory (EEPROM), embedded microprocessors, firmware, software, and the like. Further, these aspects of the system may be embodied in microprocessors with software-based circuit emulation, discrete logic (sequential and combinatorial), custom devices, fuzzy (neural) logic, quantum devices, and combinations of any of the various device types described above. Of course, underlying device technologies may be provided in a variety of component types, such as Metal Oxide Semiconductor Field Effect Transistor (MOSFET) technologies, such as Complementary Metal Oxide Semiconductor (CMOS), bipolar technologies, such as Emitter Coupled Logic (ECL), polymer technologies (e.g., silicon conjugated polymer and metal conjugated polymer metal structures), hybrid analog and digital, and the like.
The various functions or processes disclosed herein may be described as data and/or instructions embodied in various computer-readable media in terms of their behavior, register transfer, logic components, transistors, geometric arrangements, and/or other characteristics. Computer-readable media that may contain such formatted data and/or instructions include, but are not limited to, non-volatile storage media in various forms (e.g., optical, magnetic or semiconductor storage media) and carrier waves that may be used to transfer such formatted data and/or instructions through wireless, optical, or wired signal media or any combination thereof. Such data and/or instructions may be processed by a processing entity (e.g., one or more processors) when any of a variety of circuitry (e.g., a computer) is received.
The above description of illustrated embodiments of the systems and methods is not intended to be exhaustive or to limit the systems and methods to the precise form disclosed. Although specific embodiments of, and examples for, the system components and methods are described herein for illustrative purposes, various equivalent modifications are possible within the scope of the system, components, and methods, as those skilled in the relevant art will recognize. The teachings of the systems and methods provided herein are applicable to other processing systems and methods, and not just to the systems and methods described above.
Those skilled in the art will appreciate that various changes and/or modifications may be made to the invention as shown in the specific embodiments without departing from the spirit or scope of the invention as broadly described. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. Furthermore, the invention includes any combination of features described in relation to different embodiments, including the features in the abstract sections, even if such features or combinations of features are not explicitly specified in the claims or in the detailed description of the embodiments.
In general, in the following claims, the terms used should not be construed to limit the systems and methods to the specific embodiments disclosed in the specification and the claims, but should be construed to include all processing systems that operate under the claims. Accordingly, the systems and methods are not limited by the present disclosure, but are to be defined solely by the scope of the systems and methods.
Throughout the specification and claims, the words "comprise," "include," and the like are to be construed in an inclusive sense, rather than an exclusive or exhaustive sense, unless the context clearly requires otherwise; that is, it is interpreted in the meaning of "including but not limited to". Words using the singular or plural number also include the singular or plural number, respectively. Furthermore, the terms "herein," "hereinafter," "above," "below," and words of similar import refer to this application as a whole and not to any particular portions of this application. When the term "or" is used in reference to a list of two or more items, the term "or" includes all of the following interpretations of the term: any item in the list, all items in the list, and any combination of items in the list.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing description of the preferred embodiment of the present invention is not intended to limit the invention to the particular form disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. A method for tracking an authorization signal in a global positioning system signal, comprising:
obtaining an upper sideband signal of an authorization signal in a global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal;
mixing the upper sideband signal by using a first carrier signal to obtain a first mixed signal;
mixing the lower sideband signal by using a second carrier signal to obtain a second mixed signal, wherein the frequencies of the second carrier signal and the first carrier signal are symmetrical relative to a set reference frequency, and the frequency of the first carrier signal is higher than the frequency of the second carrier signal by a set value;
Performing correlation integration on the first mixed signal and the second mixed signal to obtain an integration result;
calculating the carrier-to-noise ratio of the authorization signal in the global positioning system according to the integration result;
obtaining a tracking result of an authorization signal in the global positioning system signal according to the carrier-to-noise ratio;
the first carrier signal comprises a first sine signal obtained based on the frequency of the first carrier signal and a first cosine signal obtained based on the frequency of the first carrier signal; the second carrier signal includes a second sine signal obtained based on a frequency of the second carrier signal, and a second cosine signal obtained based on a frequency of the second carrier signal; the performing correlation integration on the first mixed signal and the second mixed signal to obtain an integrated result, and further includes:
converting the first mixed signal into a first discrete sub-signal based on the first sine signal and a second discrete sub-signal based on the first cosine signal;
converting the second mixed signal into a third discrete sub-signal based on the second sine signal and a fourth discrete sub-signal based on the second cosine signal;
Calculating a first integral sum value over a set range by multiplying a first sum of the first discrete sub-signal and the third discrete sub-signal with a second sum of the second discrete sub-signal and the fourth discrete sub-signal;
calculating a second integral sum value within a set range by means of the difference between the square value of the first sum and the square value of the second sum;
performing double-parameter arctangent operation according to the first integral sum value and the second integral sum value to obtain a phase difference between the first carrier signal and the received signal;
and determining the integration result according to the phase difference.
2. The method of claim 1, wherein said obtaining said tracking result from said integration result comprises:
constructing a carrier tracking loop discriminator of an authorization signal in the global positioning system according to the integration result;
obtaining Doppler frequency shift of an authorized signal in the global positioning system by using the carrier tracking loop discriminator;
and obtaining the tracking result according to the Doppler frequency shift.
3. The method of claim 1, wherein the obtaining the upper sideband signal of the grant signal in the global positioning system signal and the lower sideband signal of the grant signal in the global positioning system signal comprises:
Obtaining an original signal of an authorization signal in a global positioning system signal;
and performing passband filtering operation according to the original signal to obtain an upper sideband signal of the authorization signal in the global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal.
4. A method according to claim 3, characterized in that the method further comprises:
converting the original signal into an upper sideband binary phase shift keying signal and a lower sideband binary phase shift keying signal;
determining a first relationship between frequencies of the upper sideband signal and the first carrier signal from the upper sideband binary phase shift keying signal;
determining a second relationship between frequencies of the lower sideband signal and the second carrier signal based on the lower sideband binary phase shift keying signal;
the mixing the upper sideband signal by using the first carrier signal to obtain a first mixed signal, which comprises the following steps:
mixing the upper sideband signal according to the first carrier signal and a first relation to obtain a first mixed signal;
the step of mixing the lower sideband signal by using a second carrier signal to obtain a second mixed signal comprises the following steps:
And mixing the lower sideband signal according to the second carrier signal and a second relation to obtain the second mixed signal.
5. The method of claim 4, wherein the carrier signal comprises a primary signal at a first carrier frequency and a secondary carrier signal at a second carrier frequency.
6. The method of claim 5, wherein the reference frequency is a frequency of the first carrier signal; the frequency of the first carrier signal is the sum of the first carrier frequency and the frequency of the second carrier; the frequency of the second carrier signal is the difference between the first carrier frequency and the second carrier frequency.
7. The method of claim 6, wherein said determining said integration result from said phase difference comprises:
acquiring carrier phases of authorized signals in the global positioning system signals according to the phase differences;
and taking the carrier phase of the authorization signal in the global positioning system signal as the integration result.
8. A tracking device for an authorization signal in a global positioning system signal, comprising:
the signal acquisition module is used for acquiring an upper sideband signal of an authorization signal in the global positioning system signal and a lower sideband signal of the authorization signal in the global positioning system signal;
The first mixing signal module is used for mixing the upper sideband signal by using a first carrier signal to obtain a first mixing signal;
the second mixing signal module is used for mixing the lower sideband signal by using a second carrier signal to obtain a second mixing signal, the frequencies of the second carrier signal and the first carrier signal are symmetrical relative to a set reference frequency, and the frequency of the first carrier signal is higher than the frequency of the second carrier signal by a set value;
a trace results module comprising:
the integrating unit is used for carrying out correlation integration on the first mixed signal and the second mixed signal to obtain an integration result;
the result unit is used for calculating the carrier-to-noise ratio of the authorization signal in the global positioning system according to the integration result; obtaining a tracking result of an authorization signal in the global positioning system signal according to the carrier-to-noise ratio;
the first carrier signal comprises a first sine signal obtained based on the frequency of the first carrier signal and a first cosine signal obtained based on the frequency of the first carrier signal; the second carrier signal includes a second sine signal obtained based on a frequency of the second carrier signal, and a second cosine signal obtained based on a frequency of the second carrier signal; the integration unit is also used for:
Converting the first mixed signal into a first discrete sub-signal based on the first sine signal and a second discrete sub-signal based on the first cosine signal;
converting the second mixed signal into a third discrete sub-signal based on the second sine signal and a fourth discrete sub-signal based on the second cosine signal;
calculating a first integral sum value over a set range by multiplying a first sum of the first discrete sub-signal and the third discrete sub-signal with a second sum of the second discrete sub-signal and the fourth discrete sub-signal;
calculating a second integral sum value within a set range by means of the difference between the square value of the first sum and the square value of the second sum;
performing double-parameter arctangent operation according to the first integral sum value and the second integral sum value to obtain a phase difference between the first carrier signal and the received signal;
and determining the integration result according to the phase difference.
9. An electronic device, the electronic device comprising: a processor and a memory;
the memory is used for storing a program for the electronic device to execute the method according to any one of claims 1-7 and storing data related to the implementation of the method according to any one of claims 1-7;
The processor is configured to execute a program stored in the memory.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
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