JP6061773B2 - Signal processing apparatus, signal processing method, and signal processing program - Google Patents

Description

  The present invention relates to a signal processing apparatus, a signal processing method, and a signal processing program that execute signal processing of positioning signals. In particular, a satellite positioning receiver (hereinafter referred to as an SPS receiver) used in a satellite positioning system (Satellite Positioning System (hereinafter abbreviated as SPS)) typified by the US GPS (Global Positioning System). The present invention relates to a signal processing apparatus, a signal processing method, and a signal processing program.

  SPS is indispensable not only for devices for general users such as car navigation systems and mobile terminals, but also in various fields such as bus and train vehicle operation management, financial transaction time management, and farm equipment and construction vehicle operation automation. It is a social infrastructure. In Japan, the importance of this has been widely recognized, and the development of the quasi-zenith satellite system is underway.

The quasi-zenith satellite system has a function to supplement and reinforce GPS and a unique positioning function (planned).
The complementary function broadcasts a signal that is compatible with the GPS positioning signal, and in short, has the same effect as an increase in the number of GPS satellites by the number of quasi-zenith satellites.
The reinforcement function is a function that contributes to improving positioning accuracy by broadcasting error information of GPS positioning signals and information necessary for precise positioning. These supplementary / reinforcing functions can only be realized when there is a GPS satellite, and do not function by the quasi-zenith satellite alone.
On the other hand, the unique positioning function is a function that uses only the quasi-zenith satellite and performs the purpose of public use. The positioning signal is concealed and cannot be used by general users.

  The supplementary function of the quasi-zenith satellite system has a correction information broadcasting function for centimeter-class positioning, but the required data transfer rate is a problem. In general, in the case of a positioning signal such as GPS L1 C / A code using BPSK (Bi-Phase Shift Shift Keying) with a navigation data bit string, only a data transfer rate of about 50 bits per second can be realized in order to keep the bit error rate low. . However, the data transfer rate required for the centimeter class positioning is more than 10 times this.

As a data transmission method capable of realizing a relatively high data transfer rate with respect to a predetermined bit error rate, CSK (Code Shift Keying) is well known. In CSK, the positioning code is cyclically shifted by the amount corresponding to the symbol value corresponding to the data bit to be transferred and then used to modulate the carrier wave. The first quasi-zenith satellite system "MICHIBIKI" uses LEX for centimeter-class positioning applications. (L-band experience) signal.
However, in the CSK system, the code phase changes for each corresponding symbol, so that the number of required correlators increases. In particular, the LEX signal has a characteristic that the number of bits k of the symbol value is relatively large as “8” and the number of correlators is very large. Furthermore, since the boundary position of the positioning code that has been cyclically shifted is not known at the time of signal acquisition, a plurality of correlation peaks appear when the correlation processing is performed, which tends to complicate the processing.

  When designing a receiver that supports a LEX signal, the processing capacity of the processor that is required corresponding to the number of required correlators and the complexity of processing is relatively high, and the size tends to increase. Therefore, it is required to adopt a processing algorithm that is as efficient as possible.

Quasi-Zenith Satellite System User Interface Specification (IS-QZSS) Ver. 1.4 “Design and implementation of a code-phase-shift keying spread spectrum receiving a FPGA baseband decoder”, Chan, S .; K. S. Leung, V .; C. M.M. , 1997

Quasi-Zenith Satellite System User Interface Specification Ver. In the case of a LEX signal shown in 1.4 (Non-Patent Document 1), a code generated by alternately selecting a short code (4 msec cycle) and a long code (long code) (410 msec cycle) is used. use. However, as the short code, a code that is cyclically shifted by the number of chips corresponding to the symbol value represented by 8 bits of the navigation data every 4 msec is used.
When considering using short codes for signal acquisition with short code cycles, which are advantageous for early signal acquisition, short codes do not appear periodically for the above reasons, so parallel codes based on code periodicity are assumed. There is a problem that a signal detection method based on a cyclic correlation method (Circular Correlation), which is a search method (Parallel Code Code Search), cannot be generally used.
This cyclic correlation method efficiently calculates correlation values using FFT (Fast Fourier Transform), and if it can be implemented in the receiver hardware, it may greatly contribute to reducing the processing load. .

In addition, when signal acquisition processing is performed with a long code and external assistance related to time cannot be obtained (when external auxiliary data cannot be obtained in this way is called a cold start), it is necessary to check every timing. Therefore, it may take a long time to search for signal timing.
In the long code of the LEX signal, the code chip length of one cycle is 1,048,575 chips. Therefore, when inspecting every 0.5 chip, it is necessary to inspect the correlation value at the timing of 2,097,150. . Considering the change in frequency (for example, 20 patterns), 2,097,150 × 20 = 41,943,000 correlation values need to be calculated.
This calculation is enormous, and some processing device is required. At the same time, in the case of a LEX signal having a positioning code chip rate higher than that of a GPS L1 C / A code or the like, it is necessary to set the sampling frequency to be higher in accordance with the wider band of the received RF signal. As a result, there is a problem that the number of samples of data to be handled increases and the processing load increases.

  The present invention has been made to solve the above-described problems. For example, when a plurality of peaks are generated using a cyclic correlation method for a signal having a positioning code of the CSK method, It is an object of the present invention to provide a signal processing apparatus capable of increasing the accuracy of signal acquisition by examining the relationship between the peak positions of the two.

A signal processing device according to the present invention is a signal processing device that performs signal processing of a positioning signal in which a plurality of periodic signals of unit time width are continuous.
A signal corresponding to the unit time width is input from the positioning signal, and a zero-padding process is performed on the input signal, thereby generating a processing target signal having a processing time width longer than the unit time width. A processing target signal generator to perform,
A local replica signal generation unit that generates a local replica signal of the processing time width by performing zero padding processing on the signal of the unit time width generated in advance as a local replica of the periodic signal;
A correlation process between the processing target signal generated by the processing target signal generation unit and the local replica signal generated by the local replica signal generation unit is performed, and a plurality of correlations at a plurality of time points of the processing time width are performed. A correlation processing unit for calculating a value;
A first time point when a first correlation value and a second correlation value are selected from the plurality of correlation values calculated by the correlation processing unit, and the first correlation value is calculated among the plurality of time points. And the first correlation value based on the difference between the second time point at which the second correlation value is calculated among the plurality of time points and the difference between the unit time width and the processing time width. And a determination unit that determines the probability that the second correlation value is truly a correlation peak due to the periodic signal.

  According to the signal processing device of the present invention, as a result of performing correlation processing on a positioning signal composed of a plurality of periodic signals, a first correlation value and a second correlation value, which are a plurality of correlation peaks, are obtained. Even when the first correlation value and the second correlation value are detected, the first correlation value and the second correlation value are calculated by examining the relationship between the first time point and the second time point at which the first correlation value and the second correlation value are calculated. Since it is possible to determine the certainty that the correlation value is truly a correlation peak due to a periodic signal, the accuracy of signal acquisition can be increased.

It is a figure which shows the structure of the LEX signal of a quasi-zenith satellite (the first unit). It is a figure for demonstrating a CSK system. It is a timing relationship figure of a LEX signal. It is a figure which shows an example of a structure of the satellite positioning receiver 100 which concerns on Embodiment 1. FIG. 6 is a diagram showing processing of a signal acquisition processing unit 103 according to Embodiment 1. FIG. 6 is a diagram for explaining correlation processing by a correlation value calculation unit 1031 according to Embodiment 1. FIG. 6 is a diagram for explaining a correlation process for a code whose start position is shifted for each symbol such as a LEX signal according to Embodiment 1. FIG. It is a figure which shows an example of the correlation value calculation by the correlation value calculation part 1031 which concerns on Embodiment 1. FIG. It is a figure which shows an example of the mating code used for the correlation process which concerns on Embodiment 2, (a) is an example of mating of a short code and a zero code, (b) is an example of mating of the first half part and the latter half part of a short code. It is. FIG. 10 is a diagram illustrating another example of a mating code used for correlation processing according to the second embodiment, in which (a) is a mating example of a part of a long code and another part of the long code in one long code; ) Is an example of mating between a short code and a portion where a certain timing is shifted in the long code. 3 is a diagram showing a hardware configuration of a signal acquisition processing unit 103 according to Embodiments 1 and 2. FIG.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a structure of a LEX signal of a quasi-zenith satellite (first unit). FIG. 2 is a diagram for explaining the CSK method. FIG. 3 is a timing relationship diagram of the LEX signal.
First, a technique that is a premise of the present embodiment will be described with reference to FIGS.

In the present embodiment, it is assumed that the positioning satellite broadcasts a positioning signal using the CSK method. For example, it is assumed that the LEX signal of the quasi-zenith satellite shown in FIG. 1 is broadcast.
As shown in FIG. 1, the baseband signal C _LEX of the _LEX signal includes a PRN short code that is CSK modulated by a Reed-Solomon coded navigation message (Nav Message), and a zero of a period of 820 ms. A PRN long code modulated with a starting square wave (“010101...”) Is alternately selected and generated for each chip at a chipping rate of 5.115 Mchip / s.
In the drawing, the short code may be described as “short code” and the long code may be described as “long code”. However, in the following description, they are described as “short code” and “long code”.

  As defined in (*) Definition of Code Shift Keying (CSK) Modulation in FIG. 2, CSK modulation is performed by cutting out navigation message data every 8 bits, and PRN by the amount corresponding to the cut-out 8-bit symbol value. The code phase of the code is shifted. In the following description, “one period code” in the CSK modulation code refers to a code for one period after the code chip pattern is cyclically shifted by the symbol value “N” as shown in FIG. Shall.

  The initialization period of the short code generator and the long code generator is 4 ms for the short code generator and 410 ms for the long code generator. The timing relationship related to the short code and long code in the LEX signal is as shown in FIG.

  In this embodiment, a signal structure in which short codes and long codes appear alternately as shown in FIG. 3 is assumed. However, when using the parallel code search method based on the cyclic correlation method, two codes are not necessarily used in this way. The signal structure does not have to appear alternately.

FIG. 4 is a diagram illustrating an example of the configuration of the satellite positioning receiver 100 according to the present embodiment.
As shown in FIG. 4, the satellite positioning receiver 100 is connected to the positioning signal receiving antenna 1 and inputs an RF signal including a positioning signal emitted from the positioning satellite via the positioning signal receiving antenna 1.

The satellite positioning receiver 100 includes a front end unit 101 and a baseband processing unit 102.
The baseband processing unit 102 includes a signal acquisition processing unit 103, a symbol extraction unit 104, and a tracking filter unit 106.
In FIG. 4, the satellite positioning receiver 100 includes a navigation data decoding unit 107 and an observation value raw data generation unit 108, but these components are arranged outside the satellite positioning receiver 100. It may be.
The components of the baseband processing unit 102 are configured by hardware or software.

In the RF front end unit 101, the RF signal dropped to the intermediate frequency by the superheterodyne method may be digitally sampled. However, in this embodiment, the In-Phase signal (I signal) and the Quadrature-Phase are converted by the direct conversion method. A description will be made on the premise of a digital sampling method divided into signals (Q signals). The signals of both the In-Phase signal (I signal) and the Quadrature-Phase signal (Q signal) are collectively referred to as an I / Q signal.
The RF front end unit 101 executes front end processing and outputs an I / Q signal to the baseband processing unit 102.

  The signal acquisition processing unit 103 inputs an I / Q signal from the RF front end unit 101 and executes signal acquisition processing. The signal acquisition processing unit 103 is an example of a signal processing device that performs signal processing on a positioning signal.

FIG. 5 is a diagram showing processing of the signal acquisition processing unit 103 (an example of a signal processing device) according to the present embodiment.
As illustrated in FIG. 5, the signal acquisition processing unit 103 includes a zero padding unit 1030 (processing target signal generation unit), a correlation value calculation unit 1031, and an acquisition determination unit 1032. In general, the processing of FIG. 5 is performed by buffering input data for a predetermined time and collectively processing the data. For example, in the case of a LEX signal, an input signal for 4 ms, which is one cycle code length of a short code, is stored, and the data is processed as input.

  The zero padding unit 1030 inputs a signal of one period code length from an I / Q signal (positioning signal), that is, a signal corresponding to a 4 ms (unit time) width in the case of a LEX signal, and performs zero padding on the input signal. This is an example of a processing target signal generation unit that generates processing target signals of the number of powers of 2 (FFT processing time width) that can be subjected to FFT.

  The correlation value calculation unit 1031 is an example of a correlation processing unit that calculates a correlation value using a cyclic correlation method using FFT, IFFT, Conj (processing for taking a complex conjugate) or the like. The local replica signal generation unit 1031a generates a local replica signal of the number of powers of 2 (FFT processing time width) that can be subjected to FFT by performing zero padding on the local replica code for one period code. .

  The correlation value calculation unit 1031 receives the signal to be processed from the zero padding unit 1030, executes the cross correlation value calculation with the local replica signal by the cyclic correlation method, and calculates the mutual value calculated by shifting the timing at every sampling interval of the input data. The number of correlation values corresponding to the number of input data samplings is calculated as the correlation value (z (n)).

The capture determination unit 1032 is an example of a determination unit that executes signal capture determination processing based on the correlation value z (n) calculated by the correlation value calculation unit 1031. n is a correlation index, which is an index of the correlation value z corresponding to the shift time τ when the cross-correlation function is calculated.
The capture determination unit 1032 selects the first correlation value and the second correlation value as correlation peaks from the correlation value z (n) calculated by the correlation value calculation unit 1031. First, they are sufficient for the noise floor. Confirm that it is a correlation peak due to a positioning code by confirming that it has a large size. The capture determination unit 1032 selects a first correlation value representing the maximum peak and a second correlation value representing the maximum peak in a range excluding the range of one chip before and after the position of the first correlation value, It is an example of the correlation peak determination part which determines whether these 1st correlation values and 2nd correlation values are correlation values by a period code.

  Although the capture determination unit 1032 cannot reliably determine whether or not they are truly correlation peaks due to the positioning code only by the above processing, for the time being, only the first correlation value is the code based on the determination result. If it is determined that it is a correlation peak, the correlation peak position is determined based on the timing, and if both the first correlation value and the second correlation value are determined to be code correlation peaks, both The correlation value of the first correlation value and the second correlation value are truly determined by the positioning code based on the difference in the correlation index between the first correlation code and the difference between the number of samples in one period code and the number of samples in the power of 2 during FFT processing. The certainty of whether or not it is a generated correlation peak is determined.

FIG. 6 is a schematic diagram for explaining a signal processing method in correlation processing by correlation value calculation section 1031 according to the present embodiment.
First, a description will be given of a case where a correlation process is performed on a positioning signal using a code in which a predetermined code is periodically continued, that is, a code having a complete periodicity in a code chip pattern. The code in which the predetermined code is periodically continued is, for example, an L1 C / A code used in a GPS satellite.

  In FIG. 6, for simplicity of explanation, the code length of one cycle is 1 ms, and the number of sampling data Nsc (= fs × 0.001) of one cycle code is 3500. That is, the signal acquisition processing unit 103 of the satellite positioning receiver 100 inputs a positioning signal in which a plurality of 1-cycle codes each having a 1 ms width (unit time width). Since FIG. 6 is a diagram for explaining the signal processing method, the code length as a specific example, the distribution of the code and the assigned zero code, the code length in the drawing, the above distribution, and the like The correspondence is schematically illustrated.

The number of data used for FFT is assumed to be FFT length Nfft. In nfft = ^{2 k,} k is the smallest integer satisfying Nsc ≦ nfft.
Here, k is assumed to be a “smallest” integer satisfying Nsc ≦ Nfft, and the following description will be made on the assumption of it. In FIG. 6, as an example, Nfft = 2 ¹² = 4096.
As shown in FIG. 6, a code (positioning signal) in which the same code repeats periodically is defined as an X1 code.

The zero padding unit 1030 illustrated in FIG. 5 performs the following processing to generate the processing target signal illustrated in FIG. A signal (processing target code) for one cycle code (1 ms width) is input from the I / Q signal, and zero padding is performed on the input signal to generate a processing target signal of Nfft samples.
Further, the local replica signal generation unit 1031a of the correlation value calculation unit 1031 illustrated in FIG. 5 generates a local replica signal of Nfft samples by performing zero padding on the local replica code for one period code.
Here, as described above, the number of samples one period code (1 ms width) is the data sample number Nsc = 3500, and the number of samples Nfft = 4096 = 2 ¹² the processing time width.

  Since the number of data samples Nsc used in the cyclic correlation method is equal to or less than Nfft, (Nfft−Nsc) 0s are added after the processing target code to make the processing target code Nfft data (processing target signal). Therefore, when the number of samples is equal to the FFT length (when Nsc = Nfft), zero padding processing is not necessary. Also, zero padding is not necessary when using DFT (Discrete Fourier Transform) instead of FFT.

  For example, as described above, when Nsc = 3500 and Nfft = 4096, 596 0s are added after the processing target code to form a data sequence of 4096 samples. Similarly, for the local replica code that correlates with the processing target code, 596 zeros are added later to obtain a local replica signal of a data sequence of 4096 samples.

  The correlation value calculation unit 1031 calculates the correlation value z (n) using the correlation value string data as z (n) (n = 1 to Nfft). As a method of calculating the correlation value z (n), for example, as shown in the correlation value calculation unit 1031 in FIG. 5, processing is performed by a cyclic correlation method using FFT, IFFT, Conj, or the like. Although it is necessary to search the correlation peak value by performing processing while changing the carrier frequency in FIG. 5, the example of FIG. 5 shows an example in which the frequency shift processing is realized by “shift operation”.

As shown in FIG. 6, in the correlation process, since the start position of one cycle code is unknown, the processing target code may be acquired from the middle of the one cycle code. The difference between the start point of the processing target code and the start point (start position) of the one-cycle code is Ns.
FIG. 6 shows a case where the deviation Ns between the start point of the processing target code and the start position of the one-cycle code is 2000 samples.

In this state, when the cross-correlation between the code to be processed and the local replica code is taken, a correlation peak occurs at a position where the start point of the local replica code is shifted by Ns. This shifted position (shifted time point (an example of the first time point)) Ns is defined as Np1 (correlation peak 1).
Specifically, since a correlation peak occurs at a position where the start point of the local replica code is shifted by Ns = 2000, Np1 = 2000.

Further, if the correlation process is continued, the correlation value should be high when the Ns samples from the end point of the local replica code overlap with the Ns samples from the start point of the processing target code.
At this time, the start position of the one-cycle code is shifted by (Nfft−Nsc) + Np1 as shown in FIG. That is, this shifted position (shifted point (an example of the second point)) (Nfft−Nsc) + Np1 becomes Np2 (correlation peak 2).
That means
(Nfft−Nsc) + Np1 = Np2 (Formula 1)
Holds.

  Specifically, it is a case where 2000 samples retroactively from the end point of the local replica code overlap with 2000 samples from the start point of the processing target code, and the start position of one cycle code is (4096 (Nfft) -3500 (Nsc)) +2000 (Np1) = 2596. That is, Np2 = 2596, and the correlation value becomes high at this time.

  In this way, when the cyclic correlation method is applied to a code having periodicity in which symbol codes are continuous, two locations (Np1 and Np2 in the above example) are determined to be correlation peaks due to code correlation. There is. At this time, if both Np1 and Np2 are truly correlation peaks due to code correlation, (Nfft−Nsc) + Np1 = Np2 must be satisfied.

  Next, a case will be described in which the above cyclic correlation method is applied to a code in which the start position of the original code pattern is shifted every period by CSK modulation. An example of such a code is the LEX signal described above.

FIG. 7 is a diagram for explaining a correlation process for a code (X2 code) whose code phase is shifted by a different symbol value for each period.
As illustrated in FIG. 7, it is assumed that the processing target code is acquired across two consecutive periodic codes (periodic signals). At this time, it is assumed that the start point of the code on the front side of the two periodic codes is shifted by Ns from the start point of the processing target code.
Further, it is assumed that the symbol value of the code on the front side of the two periodic codes is ΔNp1, and the symbol value of the code on the rear side of the two periodic codes is ΔNp2.
In this way, the code X2 is a code in which the original code start position is shifted by the respective symbol values for each code period.

At this time, assuming that correlation peaks are detected at two locations Np1 and Np2 by the cross-correlation value calculation by the cyclic correlation method, Np1 in (Equation 1) (not the head position as a delimiter of one period code but by CSK) Here, the position at which the head chip of the original short code before the cyclic shift is moved after the cyclic shift corresponds to Np1 + ΔNp1 (this is the start position of the one-cycle code), and similarly, Np2 in (Equation 1) corresponds to Np2 + ΔNp2. Can think. Therefore, if Np1 is replaced with (Np1 + ΔNp1) and (Np2) is replaced with (Np2 + ΔNp2) in (Equation 1),
(Np2 + ΔNp2) − (Np1 + ΔNp1) = Nfft−Nsc (Formula 2)
It becomes.

  Here, ΔNp1 and ΔNp2 are unknown numbers that take values of 0 to (255 × 2 × spc) corresponding to symbol values of integer values of 0 to 255 in the case of a short code of a LEX signal. . However, spc is the number of samplings per chip of the positioning code of the LEX signal (a code in which a short code and a long code are alternately mated). The absolute value of the difference between ΔNp1 and ΔNp2 is (510 × spc) samples at the maximum.

When the above (formula 2) is modified, the following is obtained.
Np2-Np1- (Nfft-Nsc) = ΔNp1-ΔNp2 (Formula 3)
The right side (ΔNp1−ΔNp2) is an unknown value that takes a value in a certain range, but takes values in the specification from (−510 × spc) to (+ 510 × spc) as described above.
Therefore, the following formula is established.
(−510 × spc) ≦ {Np2−Np1− (Nfft−Nsc)} ≦ (+ 510 × spc) (Formula 4)

Thus, (Equation 4) is a necessary condition that must be satisfied when the first correlation value and the second correlation value detected as being a peak due to code correlation are truly peak due to code correlation. is there.
When Np1 and Np2 satisfy (Equation 4), capture determination section 1032 determines that correlation peaks Np1 and Np2 are truly code correlation peaks.

  Although it depends on the detection method of the correlation peak, the probability that a false detection peak, that is, a peak value that appears due to noise, etc., is detected as a peak due to code correlation by mistake is generally low. It can be an effective verification method for supporting

Next, in FIG. 7, description will be made by applying specific numerical values. Since FIG. 7 is a diagram for explanation, the correspondence between the code length as a specific example and the distribution of the code and the assigned zero code, the code length in the drawing, and the above-described distribution and the like is schematically illustrated. It is assumed that it is shown in the figure.
The number of samples of one period code is Nsc = fs (20 MHz) × 0.004 ms = 80000. Ns = 20000, ΔNp1 = 156, ΔNp2 = 78, Nfft = 2 ¹⁷ = 131072, and spc = Nsc / 10230 = 9.97.
As shown in FIG. 7, the local replica code has a correlation peak 1 at a position shifted by Np1 = 20000-156 = 19844. Further, a correlation peak 2 is obtained at a position shifted by Np2 = 20000 + (131072-80000) −78 = 70994.
At this time, since Np1 = 19844 and Np2 = 70994 satisfy (−510 × spc) ≦ {Np2−Np1− (Nfft−Nsc)} ≦ (+ 510 × spc) (Equation 4), Np1, Np2 Can be determined to be a correlation peak to be originally detected.

  As described above, when the above (Formula 4) is established, it is determined that the correlation peak is certain even when the cyclic correlation method is applied to a code (X2 code) whose start position is shifted for each symbol. be able to.

FIG. 8 is a diagram illustrating an example of correlation value calculation by the correlation value calculation unit 1031 according to the present embodiment. In the example of FIG. 8, two peaks (n = Np1 and Np2) can be detected as the index n of the correlation peak position.
Various algorithms for detecting this peak are conceivable. For example, a method of searching the correlation value index n at the peak position using a detection threshold value that is several times the noise floor value is conceivable.

The capture determination unit 1032 illustrated in FIG. 5 performs correlation peak determination based on the correlation value calculation result of the correlation value calculation unit 1031.
When Np1 and Np2 satisfy (−510 × spc) ≦ {Np2−Np1− (Nfft−Nsc)} ≦ (+ 510 × spc), the capture determination unit 1032 determines that Np1 and Np2 are the original correlation peaks. It is determined that

Here, the configuration of the signal acquisition processing unit 103 (signal processing device) according to the present embodiment will be summarized.
The signal acquisition processing unit 103 (signal processing device) is a baseband signal processing device that receives a periodic code signal having a unit time width or a positioning signal in which a plurality of cyclically shifted signals based on CSK modulation are consecutive.
The signal acquisition processing unit 103 (signal processing device)
A digital signal corresponding to the unit time width is input from the positioning signal, and zero padding processing to be described later is performed on the input digital signal, so that the number of data samples is a power of 2 capable of FFT calculation. A processing target signal generation unit;
A local replica signal generation unit that performs zero padding on a signal of the unit time width that is generated in advance as a local replica signal of the unit signal and similarly generates powers of 2;
A plurality of correlation values are calculated at intervals equal to or less than a necessary time width for cross-correlation between the processing target signal generated by the processing target signal generation unit and the local replica signal generated by the local replica signal generation unit. A correlation processing unit to be executed;
The maximum peak is represented by a range obtained by removing the first correlation value representing the maximum peak and the range of one chip before and after the position of the first correlation value from the plurality of correlation values calculated by the correlation processing unit. A correlation peak determination unit that selects a second correlation value and determines whether the first correlation value and the second correlation value are correlation values based on a periodic code;
When the correlation peak determination unit determines that both the first correlation value and the second correlation value are correlation value peaks generated by a period code, the first correlation value among the plurality of time points Based on the difference between the first time point at which the second correlation value is calculated and the difference between the unit time width and the processing time width among the plurality of time points. And a determination unit that determines the probability that the first correlation value and the second correlation value are truly correlation peaks due to a periodic code.

When a CSK-type positioning code is provided, such as a quasi-zenith satellite LEX signal, the positioning code does not change periodically. Therefore, the cyclic correlation method may detect a plurality of correlation peaks, and is not suitable for signal acquisition (signal detection) by the parallel code search method.
The cyclic correlation method is generally not suitable for LEX signals, but the cyclic correlation method calculates the relationship between code timing and correlation value by convolution integration. It is possible to discover timing. If correlation peak values are found at a plurality of locations due to the non-periodicity of the short code, the accuracy of the correlation peak authenticity determination can be raised from the relationship.

  As described above, according to the satellite positioning receiver 100 according to the present embodiment, when a plurality of peaks are generated using the cyclic correlation method even for a signal having a positioning code of the CSK method, The accuracy of signal acquisition can be increased by examining the relationship between peak positions.

Embodiment 2. FIG.
As described above, in the case of a CSK positioning code such as the LEX signal of a quasi-zenith satellite, the code cycle is long and the sampling frequency must be higher than that of the GPS L1 C / A code receiver. Therefore, there is a strong demand for measures to reduce the processing load corresponding to this.
Therefore, in the present embodiment, a mode for improving the efficiency of correlation processing will be described.

FIG. 9 is a diagram illustrating an example of a mating code used for correlation processing, where (a) is a mating example of a short code and a zero code, and (b) is a mating example of a first half part and a second half part of the short code. .
The mating code shown in FIG. 9A is a mating code of a short code and zero data used when signal capture is performed with a short code. By arranging 0 data at a position where a long code is originally arranged, only a short code component can be taken out and a signal can be captured with the short code.

In the present embodiment, the correlation process is performed using the mating codes of the first half and the latter half of the short code instead of the mating code of FIG.
Thereby, the correlation processing of the first half of the short code and the correlation processing of the second half of the short code can be performed simultaneously, and the number of samples to be handled can be halved.
Since the number of samples handled can be halved, the length of data used can be halved. Therefore, when obtaining a correlation value by a cyclic correlation method using FFT, it is possible to improve processing efficiency and process with fewer resources. In this way, when the first half and the latter half of the short code are crossed and used, when a correlation peak is found, a process for determining which code caused the peak is added, so that the final The code timing can be confirmed.

  FIG. 10 is a diagram showing another example of the mating code used for the correlation processing. FIG. 10A shows an example of mating between a part of the long code and the other part of the long code in one long code, and FIG. This is an example of mating between a short code and a portion where a certain timing is shifted in the long code.

When it is desired to capture a signal using a long code, as shown in FIG. 10A, a long code is not a crossing code of zero code and a long code part, If the correlation process is performed using a code that is crossed, the processing efficiency can be increased by a factor of about two.
In this way, by performing signal capture processing with a code in which two portions of a long code are crossed, signal capture processing for a long code can be performed with almost twice the efficiency.

Furthermore, in the case of the LEX signal of the quasi-zenith satellite (first unit), the efficiency can be improved by using a local replica signal in which the relationship between the original timing that can be taken by the short code and the long code determined by the specifications shown in FIG. 3 is shifted. A long code signal can be captured.
For example, when considering a receiver that captures a LEX signal of a quasi-zenith satellite (first unit), a procedure for capturing a short code with a short code period first and then capturing a long code is considered. At this time, when the short code is first captured using the above method or the like, the boundary position of one cycle of the short code having uncertainty for the symbol is found. After that, in order to acquire the symbol value of the short code every one period, it is necessary to continue calculating the correlation value using the cyclic correlation method or the like. In this process, as shown in FIG. When long-shifted deliberately long codes are crossed to short codes and the correlation value calculation process using the cyclic correlation method is performed to obtain the symbol value of the short code, the symbol value of the short code is obtained at the same time. It is possible to detect a long code without affecting the processing. In FIG. 10B, the short code is generated by shifting the timing so that the head of the long code is arranged so that the head of the short code that moves for each period code does not fall within the possible range depending on the symbol value. The correlation peak and the correlation peak generated by detecting the long code can be distinguished. Since the correlation peak of which code can be determined by its position, there is no influence on the processing during symbol value acquisition processing that must be performed for each period code even after acquisition of a short code. This is a technique that enables long codes to be captured without increasing the load.

In addition to the above, the short code of the positioning code received from one satellite and the short code of the positioning code received from a satellite different from the one satellite are crossed to correlate the short codes for two satellites. Can be done at the same time.
Similarly, for the long code, the long code of the positioning code received from one satellite and the long code of the positioning code received from a satellite different from the one satellite are crossed to form a long code for two satellites. The correlation processing can be performed simultaneously.
Correlation processing may be executed by crossing a part of a long code and a part of a long code of a different satellite, or by crossing signals of satellites that are part of a short code and a long code and are different from each other.

  As described above, according to the signal acquisition processing unit 103 of the satellite positioning receiver 100 according to the present embodiment, it is possible to improve the processing efficiency and the resource efficiency, and to realize the reduction of the correlation processing load. it can.

FIG. 11 is a diagram illustrating an example of a hardware configuration when the signal acquisition processing unit 103 of the satellite positioning receiver 100 according to Embodiments 1 and 2 is realized by software.
A hardware configuration example of the signal acquisition processing unit 103 of the satellite positioning receiver 100 will be described with reference to FIG.

As described above, the signal acquisition processing unit 103 of the satellite positioning receiver 100 may realize each element by a program.
As a hardware configuration of the signal acquisition processing unit 103, an arithmetic device 901, an external storage device 902, a main storage device 903, a communication device 904, and an input / output device 905 are connected to the bus.

The arithmetic device 901 is a CPU (Central Processing Unit) that executes a program.
The external storage device 902 is, for example, a ROM (Read Only Memory), a flash memory, or a hard disk device.
The main storage device 903 is a RAM (Random / Access / Memory).
What is described as “˜unit” in the description of this embodiment is stored as a program in the external storage device 902, read to the main storage device 903 by the arithmetic device 901, and executed by the arithmetic device 901.

  In the description of the present embodiment, what is described as “to part” may be “to circuit”, “to device”, “to device”, and “to step”, “to process”, “to”. ~ Procedure "," ~ process ". That is, what is described as “˜unit” may be realized by firmware stored in the ROM 913. Alternatively, what is described as “˜unit” may be realized only by software, or only by hardware such as an element, a device, a board, and wiring. Alternatively, what is described as “to part” may be realized by a combination of software and hardware, or a combination of software, hardware and firmware.

Note that the configuration of FIG. 11 is merely an example of the hardware configuration of the signal acquisition processing unit 103, and the hardware configuration of the signal acquisition processing unit 103 is not limited to the configuration illustrated in FIG. There may be.
Further, the signal processing method according to the present invention can be realized by the procedure shown in the first and second embodiments.

  In the description of the first and second embodiments, the “zero padding unit”, “correlation value calculation unit”, and “capture determination unit” are independent blocks. However, the present invention is not limited to this. The “padding part” and the “correlation value calculation part” may be realized by one block. Alternatively, the signal acquisition processing unit 103 may be configured by any other combination of these blocks.

  As mentioned above, although Embodiment 1-2 of this invention was demonstrated, you may implement combining these two among these embodiments. Alternatively, one of these embodiments may be partially implemented. Alternatively, two of these embodiments may be partially combined. In addition, this invention is not limited to these embodiment, A various change is possible as needed.

  DESCRIPTION OF SYMBOLS 1 Positioning signal receiving antenna, 100 Satellite positioning receiver, 101 Front end part, 102 Baseband processing part, 103 Signal acquisition processing part, 104 Symbol extraction part, 106 Tracking filter part, 107 Navigation data decoding part, 108 Observation value raw data Generation unit, 901 arithmetic device, 902 external storage device, 903 main storage device, 904 communication device, 905 input / output device, 1030 zero padding unit, 1031 correlation value calculation unit, 1031a local replica signal generation unit, 1032 capture determination unit.

Claims (8)

In a signal processing apparatus that executes signal processing of a positioning signal in which a plurality of periodic signals of unit time width are continuous,
A signal corresponding to the unit time width is input from the positioning signal, and a zero-padding process is performed on the input signal, thereby generating a processing target signal having a processing time width longer than the unit time width. A processing target signal generator to perform,
A local replica signal generation unit that generates a local replica signal of the processing time width by performing zero padding processing on the signal of the unit time width generated in advance as a local replica of the periodic signal;
A correlation process between the processing target signal generated by the processing target signal generation unit and the local replica signal generated by the local replica signal generation unit is performed, and a plurality of correlations at a plurality of time points of the processing time width are performed. A correlation processing unit for calculating a value;
A first time point when a first correlation value and a second correlation value are selected from the plurality of correlation values calculated by the correlation processing unit, and the first correlation value is calculated among the plurality of time points. And the first correlation value based on the difference between the second time point at which the second correlation value is calculated among the plurality of time points and the difference between the unit time width and the processing time width. And a determination unit that determines the probability that the second correlation value is truly a correlation peak due to the periodic signal. The determination unit
Depending on whether the difference between the difference between the first time point and the second time point and the difference between the unit time width and the processing time width is within a predetermined range, the first correlation value and The signal processing apparatus according to claim 1, wherein a probability of the second correlation value is determined.   3. The signal according to claim 1, wherein at least one of the plurality of periodic signals is shifted by a number different from the number by which the other periodic signals are shifted. Processing equipment.   The signal processing apparatus according to claim 3, wherein the positioning signal is converted by a code shift keying method. The positioning signal includes a short code having a unit time width and a short code composed of a single short period periodic signal, and a long code having a multiple of the unit time width. It is composed of a long code composed of a periodic signal for long,
The local replica signal generator is
When capturing a signal using the short code, a signal obtained by crossing the first half portion and the second half portion of the short period signal acquired in advance is generated in advance as a local replica of the short period signal. Item 5. The signal processing device according to any one of Items 1 to 4. The local replica signal generator is
When capturing a signal using the long code, a signal obtained by crossing a part of the plurality of long periodic signals acquired in advance with the other part of the plurality of long periodic signals is used as a model of the long periodic signal. The signal processing apparatus according to claim 5, wherein the signal processing apparatus is generated in advance. In a signal processing method of a signal processing device that executes signal processing of a positioning signal in which a plurality of periodic signals of unit time width are continuous,
The processing signal generation unit inputs a signal corresponding to the unit time width from the positioning signal, and performs zero padding processing on the input signal, thereby processing time that is longer than the unit time width. A processing target signal generation step for generating a processing target signal of a width;
Based on the periodic signal acquired in advance, a local replica signal generation unit performs a zero padding process on the signal of the unit time width generated in advance as a local replica of the periodic signal, whereby the processing time width A local replica signal generation step of generating a local replica signal of
A correlation processing unit executes correlation processing between the processing target signal generated by the processing target signal generation step and the local replica signal generated by the local replica signal generation step, and a plurality of processing time widths A correlation processing step for calculating a plurality of correlation values at a time point;
The determination unit selects a first correlation value and a second correlation value from the plurality of correlation values calculated in the correlation processing step, and the first correlation value is calculated among the plurality of time points. Based on the difference between the first time point and the second time point at which the second correlation value is calculated among the plurality of time points, and the difference between the unit time width and the processing time width, 1. A signal processing method for a signal processing device, comprising: a determination step of determining whether the correlation value of 1 and the second correlation value are truly correlation peaks due to the periodic signal. In a signal processing program of a signal processing apparatus that executes signal processing of a positioning signal in which a plurality of periodic signals of unit time width are continuous,
The processing signal generation unit inputs a signal corresponding to the unit time width from the positioning signal, and performs zero padding processing on the input signal, thereby processing time that is longer than the unit time width. Processing target signal generation processing for generating a processing target signal of width;
Based on the periodic signal acquired in advance, a local replica signal generation unit performs a zero padding process on the signal of the unit time width generated in advance as a local replica of the periodic signal, whereby the processing time width Local replica signal generation processing for generating a local replica signal of
A correlation processing unit executes correlation processing between the processing target signal generated by the processing target signal generation processing and the local replica signal generated by the local replica signal generation processing, and a plurality of processing time widths A correlation process for calculating a plurality of correlation values at a time point;
The determination unit selects a first correlation value and a second correlation value from the plurality of correlation values calculated by the correlation process, and the first correlation value calculated from the plurality of time points is calculated. 1 based on the difference between the first time point and the second time point at which the second correlation value is calculated among the plurality of time points, and the difference between the unit time width and the processing time width. A signal processing program that causes a signal processing device, which is a computer, to execute a determination process for determining the likelihood of a correlation peak due to the periodic signal being true for the correlation value and the second correlation value .

Images