KR20220142102A - Spinning vehicle roll rotation angle calculation method using frequency domain relative correlation calculation and satellite navigation receiver applying the same - Google Patents

Abstract

The present invention relates to a method for calculating roll rotation angle of an antibody using a frequency-domain relative correlation operation, and a satellite navigation receiver applying the same. The satellite navigation receiver includes: an RF signal processing unit which converts an external satellite signal received through an antenna into a baseband signal; a baseband satellite signal processor for extracting satellite data by removing a carrier signal and a ranging code signal from the baseband signal; and a roll rotation speed estimator for calculating the roll rotation speed and roll attitude angle of the antibody through a frequency domain relative correlation operation between the first rotation signal of the satellite data and the modeled second rotation signal.

Description

Method for calculating roll rotation angle of an antibody using frequency domain relative correlation and a satellite navigation receiver to which it is applied

The present invention relates to antibody attitude control technology, and more particularly, to a method for calculating the roll rotation angle of an antibody using frequency domain relative correlation in a rotating antibody, and a satellite navigation receiver to which the same is applied.

Global Navigation Satellite System (GNSS) is a system that calculates a user's location by triangulation using a number of satellites orbiting the earth.

Currently operating satellite navigation systems include the US Global Positioning System (GPS), Russia's GLONASS (GLOBal Navigation Satellite System), EU's Galileo, and China's BeiDou Navigation Satellite System (BDS).

The satellite navigation system continuously provides precise position, velocity and time information all over the earth. Each satellite navigation system modulates a navigation message designed for each system in a direct sequence spread spectrum (DSSS) method using a ranging code for each satellite, spreads it over the entire frequency range, and then spreads each It transmits using a radio frequency carrier (RF) for each band.

The satellite navigation receiver uses 4 or more satellite signals to calculate the user's position, speed, and time. To demodulate the navigation message transmitted by each satellite, the RF carrier and ranging code are tracked and removed, and in this process, the time taken for the signal transmitted from the satellite to reach the user is estimated to calculate the pseudo-distance with the satellite. The user's position is calculated using the satellite position and pseudorange calculated from the demodulated navigation message.

The places and objects on which the GPS receiver is mounted are also diversifying according to various user requirements, and the spinning vehicle that moves and rotates at high speed is also equipped with the satellite navigation receiver for stable movement to the desired target point. In this case, the use of various sensors is considered to obtain the attitude information of the antibody, but there are many constraints such as high impact at the time of launch, rotation during operation, size and weight, etc.

As a method to solve such a problem, various technologies using a satellite navigation receiver have been developed. When the antibody rotates, the magnitude and phase of the satellite signal change, and by monitoring this, the rotation speed and roll rotation angle of the mounted antibody can be calculated.

Korean Patent Registration No. 10-0443550 (2004.07.28)

An embodiment of the present invention is to provide a method for calculating the roll rotation angle of an antibody using a frequency domain relative correlation operation in a rotating antibody and a satellite navigation receiver to which the method is applied. An embodiment of the present invention is a satellite navigation receiver that can obtain an accurate roll rotation angle only with a satellite signal without additional mounting of an auxiliary sensor, etc. To provide a method for calculating the roll rotation angle of an antibody through frequency domain calculation.

In embodiments, a satellite navigation receiver to which a method of calculating a roll rotation angle of an antibody using a frequency domain relative correlation operation is applied may include: an RF signal processing unit that converts an external satellite signal received through an antenna into a baseband signal; a baseband satellite signal processing unit for extracting satellite data by removing a carrier signal and a ranging code signal from the baseband signal; and a roll rotation speed estimator for calculating the roll rotation speed and the roll attitude angle of the antibody through a frequency domain relative correlation operation between the first rotation signal of the satellite data and the modeled second rotation signal.

The satellite navigation receiver may further include a signal control and navigation performing unit for calculating a user's position and speed based on the satellite data.

The baseband satellite signal processing unit comprises: a carrier replica signal generator for generating a carrier replica signal from the baseband signal; a ranging code replica signal generator for generating a ranging code replica signal from the baseband signal; a carrier multiplier for generating first satellite data by removing the carrier signal from the baseband signal through a multiplication operation between the baseband signal and the carrier replica signal; a ranging code multiplier for generating second satellite data by removing the ranging code signal from the first satellite data through a multiplication operation between the first satellite data and the ranging code replica signal; and an integrator for receiving the second satellite data and interworking with the signal control and navigation unit.

The baseband satellite signal processing unit independently separates the carrier duplicate signal and the ranging code duplicate signal according to a satellite navigation system in which each of the carrier duplicate signal generator and the ranging code duplicate signal generator includes GPS, GLONASS, GALILEO and BDS. It can be implemented to create

The roll rotation speed estimator includes a low-pass filter for extracting a low-frequency component from the baseband signal; a memory controller for adjusting a sampling frequency according to the estimated roll rotation speed, extracting a sampling signal for the low frequency component, and storing the sampling signal in a memory; a correlation operation processing module for generating a result value by performing the frequency domain relative correlation operation through a multiplication operation between the sampling signal stored in the memory and the modeling signal of the rotation signal model unit; an envelope calculator for converting the size of the result value; and an error calculator for calculating an error according to a result of the envelope calculator, and a rotation signal model unit for updating a rotation signal model generating the modeling signal according to the error.

The roll rotation speed estimator is implemented such that each of the low-pass filter, the memory controller, the envelope calculator, the error calculator, and the rotation signal model unit can time-division processing, and time-divisions the baseband signal to obtain an independent rotation signal for each satellite. You can create a model.

In embodiments, a method for calculating a roll rotation angle of an antibody using a frequency domain relative correlation operation in a satellite navigation receiver includes: receiving an external satellite signal through an antenna; converting the satellite signal into a baseband signal; extracting satellite data by removing a carrier signal and a ranging code signal from the baseband signal; and calculating the roll rotation speed and the roll attitude angle of the antibody through a frequency domain relative correlation operation between the first rotation signal of the satellite data and the modeled second rotation signal.

The disclosed technology may have the following effects. However, this does not mean that a specific embodiment should include all of the following effects or only the following effects, so the scope of the disclosed technology should not be construed as being limited thereby.

The method for calculating the roll rotation angle of an antibody using the frequency domain relative correlation operation according to an embodiment of the present invention and the satellite navigation receiver to which the method is applied can calculate the roll rotation angle using the frequency domain relative correlation operation in the rotating antibody.

The method for calculating the roll rotation angle of the antibody using the frequency domain relative correlation operation according to an embodiment of the present invention is applied to the satellite navigation receiver mounted on the rotating antibody, and space and power consumption due to the installation of an additional auxiliary sensor externally. It can reduce the burden and enable the user to improve location and speed accuracy.

1 is a view for explaining a change in received power of a satellite signal according to an antenna rotation and a modeled rotation signal.

2 is a view for explaining the structure of the satellite navigation receiver capable of calculating the roll rotation speed according to the present invention.

3 is a view for explaining the detailed structure of the roll rotation speed estimator and the satellite signal processing unit according to the present invention.

4 is a view for explaining an output form of the error calculator according to the present invention.

5 is a view for explaining the processing structure for each satellite of the frequency domain calculating unit according to the present invention.

6 is a diagram for explaining the structure of a time division processing unit of a frequency domain operation unit according to the present invention.

7 is a view for explaining a structure capable of signal processing including another satellite navigation system.

8 is a view for explaining a method of calculating the roll rotation angle of the antibody according to the present invention.

1 is a view for explaining a change in received power of a satellite signal according to an antenna rotation and a modeled rotation signal.
2 is a view for explaining the structure of the satellite navigation receiver capable of calculating the roll rotation speed according to the present invention.
3 is a view for explaining the detailed structure of the roll rotation speed estimator and the satellite signal processing unit according to the present invention.
4 is a view for explaining an output form of the error calculator according to the present invention.
5 is a view for explaining the processing structure for each satellite of the frequency domain calculating unit according to the present invention.
6 is a diagram for explaining the structure of a time division processing unit of a frequency domain operation unit according to the present invention.
7 is a view for explaining a structure capable of signal processing including another satellite navigation system.
8 is a view for explaining a method of calculating the roll rotation angle of the antibody according to the present invention.

Since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiment described in the text. That is, since the embodiment is capable of various changes and may have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, it should not be understood that the scope of the present invention is limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as “first” and “second” are for distinguishing one component from another, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

When a component is referred to as being “connected” to another component, it may be directly connected to the other component, but it should be understood that other components may exist in between. On the other hand, when it is mentioned that a certain element is "directly connected" to another element, it should be understood that the other element does not exist in the middle. On the other hand, other expressions describing the relationship between elements, that is, "between" and "between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The singular expression is to be understood to include the plural expression unless the context clearly dictates otherwise, and terms such as "comprises" or "have" refer to the embodied feature, number, step, action, component, part or these It is intended to indicate that a combination exists, and it should be understood that it does not preclude the possibility of the existence or addition of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

Identifiers (eg, a, b, c, etc.) in each step are used for convenience of description, and the identification code does not describe the order of each step, and each step clearly indicates a specific order in context. Unless otherwise specified, it may occur in a different order from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

The present invention can be embodied as computer-readable codes on a computer-readable recording medium, and the computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. . Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. In addition, the computer-readable recording medium may be distributed in a network-connected computer system, and the computer-readable code may be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Terms defined in the dictionary should be interpreted as being consistent with the meaning of the context of the related art, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present application.

1 is a view for explaining a change in received power 101 of a satellite signal and a modeled rotation signal 102 according to an antenna rotation.

Referring to FIG. 1 , when the vector between the mounting surface of the antenna and the satellite becomes vertical as the antibody rotates, the received power of the satellite signal may be maximized, and the received power may decrease as the angle difference increases. . The roll rotation speed estimator can find the point where the angle of the vector for each satellite becomes vertical by using the received power of the satellite signal and the frequency domain relative correlation result of the modeled rotation signal, and using this, the roll rotation angle of the antibody can be calculated. have.

2 is a view for explaining the structure of the satellite navigation receiver capable of calculating the roll rotation speed according to the present invention.

2, the satellite navigation receiver 200 according to the present invention includes an RF signal processing unit 202 that converts an external satellite signal received through an antenna 201 into a baseband signal, and a carrier signal from the baseband signal and The baseband satellite signal processing unit 203 for extracting satellite data by removing the ranging code signal, the signal control and navigation execution unit 204 for calculating the user position and speed based on the satellite data, and the first rotation signal of the satellite data and the roll rotation speed estimator 205 for calculating the roll rotation speed and the roll attitude angle of the antibody through a frequency domain relative correlation operation between the and the modeled second rotation signal.

More specifically, the satellite navigation receiver 200 may receive an external satellite signal through the antenna 201 and convert it into a baseband signal through the RF signal processing unit 202 . The baseband satellite signal processing unit 203 connected to the RF signal processing unit 202 may perform an operation of extracting satellite data by removing the baseband signal through a multiplication operation with the carrier replica signal and the ranging code replica signal. .

Thereafter, the extracted satellite data may be transmitted to the signal control and navigation performing unit 204 , and may be used to calculate the user's position and speed. In addition, the output of the baseband satellite signal processing unit 203 is transmitted to the roll rotation speed estimator 205 and can be used to calculate the roll rotation speed and the roll attitude angle of the antibody through a frequency domain relative correlation operation.

3 is a view for explaining the detailed structure of the roll rotation speed estimator and the satellite signal processing unit according to the present invention.

Referring to FIG. 3 , the satellite navigation receiver 200 may include a baseband satellite signal processing unit 203 and a roll rotation speed estimator 205 . Here, the baseband satellite signal processing unit 203 includes a carrier duplicated signal generator 302 that generates a carrier duplicated signal from a baseband signal, and a ranging code duplicated signal generator 304 that generates a ranging code duplicated signal from the baseband signal. ), a carrier multiplier 301 that generates first satellite data by removing the carrier signal from the baseband signal through multiplication between the baseband signal and the carrier replica signal, and the multiplication operation between the first satellite data and the ranging code replica signal. The ranging code multiplier 303 for generating second satellite data by removing the ranging code signal from the first satellite data through the ) can be implemented.

In addition, the roll rotation speed estimator 205 adjusts the sampling frequency according to the low-pass filter 306 for extracting the low frequency component from the baseband signal, the estimated roll rotation speed, and extracts the sampling signal for the low frequency component to the memory ( Correlation operation for generating a result value by performing a frequency domain relative correlation operation through a multiplication operation between the memory controller 307 stored in the memory controller 307, the sampling signal stored in the memory 308, and the modeling signal of the rotation signal model unit 311 The processing module, the envelope calculator 313 that converts the size of the result value, the error calculator 314 that calculates the error according to the result of the envelope calculator 313, and the rotation signal model that generates the modeling signal are updated according to the error It may be implemented including the rotation signal model unit 311 . In this case, the correlation processing module may include fast Fourier transforms 309 and 310 and inverse fast Fourier transforms 312 .

More specifically, the satellite signal that has passed through the RF signal processing unit 202 of FIG. 2 is a carrier replica signal generator 302, a carrier multiplier 301, and a ranging code replica signal generator 304 in the baseband satellite signal processing unit 203. ) and the ranging code multiplier 303, the ranging code for each carrier and each satellite may be removed. Thereafter, a path transmitted to the integrator 305 and a path transmitted to the roll rotation speed estimator 205 may be distinguished.

When transmitted to the integrator 305, satellite data may be extracted in conjunction with the signal control and navigation performing unit 204 of FIG. 1 and may be used for calculating the user's position and speed. When transmitted to the roll rotation speed estimator 205, it may first pass through the low-pass filter 306 in order to use only the low-frequency component among the carrier multiplication components. Thereafter, the memory controller 307 may store the extracted data in the memory (input) 308 by adjusting the sampling frequency according to the estimated roll rotation speed.

When all data is accumulated in the memory 308, the memory controller 307 transmits it to the fast Fourier transformer 309 to perform multiplication with the result of passing the fast Fourier transform 310 of the rotation signal model unit 311. can Then, a correlation calculation result value between the modeled rotation signal and the actual input data may be calculated through the inverse fast Fourier transform unit 209 , and an error of calculating an error after passing through the envelope calculator 313 for size transformation may be passed to the calculator 314 . As a result, the rotation signal model is updated using the result of the error calculator 314, and the updated rotation signal model can be used for data operation in the next step.

4 is a view for explaining an output form of the error calculator according to the present invention.

Referring to FIG. 4 , the error calculator 314 may generate an output of a sinusoidal wave shape 401 that moves with time within a predetermined range. At this time, the point at which the error value is 0 may mean a point at which the roll rotation angle is 0 degrees, and the roll rotation speed estimator 205 determines the roll rotation angle according to the error value in the section showing linearity based on the point passing 0. can be estimated

5 is a view for explaining the processing structure for each satellite of the frequency domain calculating unit according to the present invention.

Referring to FIG. 5 , the satellite navigation receiver 200 may include a plurality of frequency domain calculators 501 in which a baseband satellite signal processor 203 for each satellite and a roll rotation speed estimator 205 are connected in pairs. That is, the satellite navigation receiver 200 may be implemented by including the same number of frequency domain operation units 501 in order to independently process each of the N satellites. As a result, the satellite navigation receiver 200 may include a total of N baseband satellite signal processing units 203 and roll rotation speed estimators 205 .

6 is a diagram for explaining the structure of a time division processing unit of a frequency domain operation unit according to the present invention.

Referring to FIG. 6 , the satellite navigation receiver 200 may be implemented by including a time division roll rotation speed estimator 601 having a time division structure that can be processed within one module for all satellites. That is, in the time division roll rotation speed estimator 601, each of the low-pass filter 306, the memory controller 307, the envelope calculator 313, the error calculator 314, and the rotation signal model unit 311 of FIG. As a result of the processable implementation, it is possible to generate an independent rotational signal model for each satellite by time-divisioning the baseband signal.

In FIG. 6, unlike the conventional roll rotation speed estimator 205, a time division low-pass filter 602, a time division memory controller 603, an extended memory (input) 604, a time division rotation signal model unit 606, etc. It can be implemented as time division processing to enable processing for several satellites.

More specifically, the data of the baseband satellite signal processing unit 103 for each satellite is transmitted to the time division memory controller 603 through the time division low-pass filter 602, and the data for each satellite is an extended memory (input) 608 ) can be stored in At this time, the time-division memory controller 603 performs the frequency domain operation and error calculation step including the fast Fourier transformers 309 and 310, the fast Fourier inverse transformer 312, the envelope calculator 604 and the error calculator 605 for each satellite. It can be operated separately for each time period. The result of operation for each satellite may be transmitted to the time division rotation signal model unit 606, and the time division rotation signal model unit 606 may generate a rotation signal model divided for each satellite using the input error. .

7 is a view for explaining a structure capable of signal processing including another satellite navigation system.

Referring to FIG. 7 , the satellite navigation receiver 200 may be implemented by including an extended baseband satellite signal processing unit 701 capable of processing multiple satellite navigation systems to increase the number of usable satellites.

Unlike the conventional baseband satellite signal processing unit 203, the extended carrier duplicate signal generator 702 and the extended ranging code duplicate signal generator 703 each generate duplicate signals to suit various types of satellite navigation systems. can For example, each of the extended carrier duplicate signal generator 702 and the extended ranging code duplicate signal generator 703 duplicates the carrier duplicate signal and the ranging code according to a satellite navigation system including GPS, GLONASS, GALILEO and BDS. It can be implemented to independently generate the signal.

As a result, if the number of satellite navigation systems that can be used increases, the number of satellites that can be used for calculation increases accordingly, thereby increasing the accuracy of the calculated attitude information.

8 is a view for explaining a method of calculating the roll rotation angle of the antibody according to the present invention.

Referring to FIG. 8 , the satellite navigation receiver 200 may receive an external satellite signal through the antenna 201 (step S810). The satellite navigation receiver 200 may convert the satellite signal into a baseband signal through the RF signal processing unit 202 (step S830). The satellite navigation receiver 200 may extract satellite data by removing the carrier signal and the ranging code signal from the baseband signal through the baseband satellite signal processing unit 203 (step S850).

The satellite navigation receiver 200 may perform a frequency domain relative correlation operation between the first rotation signal of the satellite data and the modeled second rotation signal through the roll rotation speed estimator 205 (step S870), through which the antibody The roll rotation speed and the roll attitude angle may be calculated (step S890).

More specifically, the signal input to the satellite navigation receiver 200 may be expressed as in Equation 1 below.

[Equation 1]

Here, A(t) is satellite signal strength, D(t) is satellite data, c(t-τ) is a ranging code (including phase information), and f _c and θ are carrier frequency and phase.

Also, A(t) may be expressed as in Equation 1-1 below.

[Equation 1-1]

The satellite navigation receiver 200 removes the ranging code and carrier frequency component of the satellite signal from the satellite signal through the baseband satellite signal processing unit 203 and generates a replica signal to extract satellite data. . In this case, the duplicate signal generated by the baseband satellite signal processing unit 203 may be expressed as in Equation 2 below.

[Equation 2]

Here, Δτ corresponds to the code phase error, Δf corresponds to the carrier frequency error, and Δθ corresponds to the carrier phase error.

In addition, the baseband satellite signal processing unit 203 may perform the calculation process expressed by Equation 3 below using the input satellite signal and the internally generated duplicate signal.

[Equation 3]

The ranging code multiplication component may be expressed as Equation 4 below. In this case, when the code phase error Δτ is constant over time, it may be treated as a constant.

[Equation 4]

(Ranging code multiplication component)

In addition, the carrier multiplication component may be expressed as in Equation 5 below.

[Equation 5]

(carrier multiplication component)

Next, the result of passing the low-pass filter 306 at the input of the roll rotation speed estimator 205 after carrier multiplication can be expressed as in Equation 6 below.

[Equation 6]

(carrier multiplication component, passing through LPF filter)

In addition, if the result of the frequency domain relative correlation operation connected to the low-pass filter 306 is divided into a real part and an imaginary part for magnitude conversion, and the square root is processed, the remaining carrier frequency error component (Δf) and the carrier phase error component (Δθ) may be removed by canceling each other, and may be expressed as in Equation 7 below.

[Equation 7]

(Carrier multiplication component, square root processing of relative correlation operation result)

When Equations 4 to 7 are applied to Equation 3, the signal input to the frequency domain relative correlation operation step of the roll rotation speed estimator 205 can be expressed as Equation 8 below.

[Equation 8]

Here, assuming that the code phase error (Δτ) is constant with time, the ranging code multiplication component (C(Δτ)) is a constant, and the satellite signal data (D(t)) is a signal control and navigation unit Assuming that it is input in 204, only the satellite signal strength component A(t) may remain in the input signal of the frequency domain relative correlation operation step of the roll rotation speed estimator 205 .

In addition, assuming that the satellite signal strength changes according to a constant period (T) when the antibody rotates, it can be expressed as Equation 9 below using a Fourier series.

[Equation 9]

If a Fourier transform is used to extract a component having the largest magnitude among the signal components of Equation 9, it can be expressed as Equation 10 below. The frequency of the component may be used as a coarse roll rotation speed, and may be transmitted to the rotation signal model unit 311 . This value can also be used as an initial value for modeling the rotation signal. In this case, the resolution of the frequency may be expressed by the following Equation 11 regarding the sampling frequency of the input signal of the roll rotation speed estimator and the number of Fourier transform taps. In order to increase the frequency resolution, the memory controller 307 may adjust the sampling frequency of the roll rotation speed estimator input signal. For example, if the sampling frequency of the input signal of the roll rotation speed estimator is 1 kHz and the number of Fourier transform taps is 2048, the resolution of the coarse roll rotation speed may correspond to 0.49 Hz.

[Equation 10]

[Equation 11]

(frequency resolution)=

The output signal of the rotation signal model unit 311 reflecting the rough roll rotation speed may be expressed as Equation 12 below.

[Equation 12]

For relative correlation between the output signal of the rotation signal model unit 311 and the input signal, each signal is multiplied by Fourier transform, and then inverse Fourier transform may be performed. If the corresponding process is expressed as an equation, it can be expressed as Equations 13 to 15 below.

[Equation 13]

[Equation 14]

[Equation 15]

The error calculator 314 may calculate an error function using the inverse Fourier transform result, which may be the same as the role of a discriminator of a general satellite navigation receiver. The difference in magnitude of the value may be expressed as a normalized value by using the value of the position (p(τ ₀ ),P(τ ₁ )) selected according to the use environment, and may be expressed as Equation 16 below.

[Equation 16]

The satellite navigation receiver 200 according to the present invention may be implemented to calculate the roll rotation speed and the roll rotation angle of the antibody through the frequency domain relative correlation calculation using the satellite signal correlation value and the rotation model signal.

That is, the satellite navigation receiver 200 may calculate a coarse roll rate using a correlation value output from an existing satellite navigation signal processing algorithm and apply it to rotation signal modeling. The satellite navigation receiver 200 may perform a frequency domain correlation operation based on the rotation model signal and the input signal, and may calculate an error using the result, and may reflect this again in the rotation signal modeling. The satellite navigation receiver 200 may calculate a roll rate and a roll angle using the output of the error calculator 314 .

Accordingly, the satellite navigation receiver 200 according to the present invention can reduce the burden of space and power consumption due to the installation of an additional auxiliary sensor outside, and can improve the accuracy of the user's position and speed.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that it can be done.

101: change in reception power of satellite signals according to antenna rotation
102: modeled rotation signal 200: satellite navigation receiver
201: satellite navigation antenna 202: broadband RF signal processing unit
203: baseband satellite signal processing unit 204: signal control and navigation performing unit
205: roll rotation speed estimator
301: carrier multiplier 302: carrier replica signal generator
303: ranging code multiplier 304: ranging code replication signal generator
305: integrator 306: low-pass filter
307: memory controller 308: memory (input)
309: Fast Fourier Transformer (for satellite signals)
310: Fast Fourier Transformer (for rotating signal models)
311: rotation signal model unit 312: fast Fourier inverse transformer
313: Envelope 314: Error Calculator
401: Output waveform of error calculator
501: frequency domain operation unit
601: time-division roll rotation speed estimator 602: time-division low-pass filter
603: time division memory controller 608: extended memory (input)
604: time division envelope calculator 605: time division error calculator
606: time division rotation signal model unit
701: extended baseband satellite signal processing unit
702: Extended carrier wave replica signal generator
703: Extended ranging code replication signal generator

Claims (8)

an RF signal processing unit for converting an external satellite signal received through an antenna into a baseband signal;
a baseband satellite signal processing unit for extracting satellite data by removing a carrier signal and a ranging code signal from the baseband signal; and
A roll rotation speed estimator for calculating the roll rotation speed and the roll attitude angle of the antibody through a frequency domain relative correlation operation between the first rotation signal of the satellite data and the modeled second rotation signal; using a frequency domain relative correlation operation including a A satellite navigation receiver to which the roll rotation angle calculation method of the antibody is applied.
The method of claim 1,
A satellite navigation receiver to which a method of calculating a roll rotation angle of an antibody using a frequency domain relative correlation operation, characterized in that it further comprises; a signal control and navigation performing unit for calculating a user's position and speed based on the satellite data.
3. The method of claim 2, wherein the baseband satellite signal processing unit
a carrier replica signal generator for generating a carrier replica signal from the baseband signal;
a ranging code replica signal generator for generating a ranging code replica signal from the baseband signal;
a carrier multiplier for generating first satellite data by removing the carrier signal from the baseband signal through a multiplication operation between the baseband signal and the carrier replica signal;
a ranging code multiplier for generating second satellite data by removing the ranging code signal from the first satellite data through a multiplication operation between the first satellite data and the ranging code replica signal; and
and an integrator for receiving the second satellite data and interworking with the signal control and navigation unit.
4. The method of claim 3, wherein the baseband satellite signal processing unit
Each of the carrier duplicate signal generator and the ranging code duplicate signal generator is implemented to independently generate the carrier duplicate signal and the ranging code duplicate signal according to a satellite navigation system including GPS, GLONASS, GALILEO and BDS A satellite navigation receiver to which the method of calculating the roll rotation angle of an antibody using the frequency domain relative correlation operation is applied.
The method of claim 1, wherein the roll rotation speed estimator is
a low-pass filter for extracting a low-frequency component from the baseband signal;
a memory controller for adjusting a sampling frequency according to the estimated roll rotation speed, extracting a sampling signal for the low frequency component, and storing the sampling signal in a memory;
a correlation operation processing module for generating a result value by performing the frequency domain relative correlation operation through a multiplication operation between the sampling signal stored in the memory and the modeling signal of the rotation signal model unit;
an envelope calculator for converting the size of the result value;
an error calculator for calculating an error according to the result of the envelope calculator; and
The rotation signal model unit for updating the rotation signal model that generates the modeling signal according to the error is applied.
The method of claim 5, wherein the roll rotation speed estimator is
Each of the low-pass filter, the memory controller, the envelope calculator, the error calculator, and the rotation signal model unit is implemented to enable time division processing,
A satellite navigation receiver to which a method of calculating an antibody roll rotation angle using a frequency domain relative correlation operation is applied, characterized in that the baseband signal is time-divided to generate an independent rotation signal model for each satellite.
The method of claim 1,
As a result of the formation of a plurality of pairs between the baseband satellite signal processing unit and the roll rotation speed estimator, a method for calculating the roll rotation angle of an antibody using a frequency domain relative correlation operation is applied, characterized in that each external satellite is independently allocated and operated. receiving set.
Receiving an external satellite signal through an antenna;
converting the satellite signal into a baseband signal;
extracting satellite data by removing a carrier signal and a ranging code signal from the baseband signal; and
Calculating the roll rotation speed and the roll attitude angle of the antibody through a frequency domain relative correlation operation between the first rotation signal of the satellite data and the modeled second rotation signal; Method of calculating the roll rotation angle of the antibody used.

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