WO2019018979A1 - 北斗导航信号的相关、捕获方法及其设备 - Google Patents

北斗导航信号的相关、捕获方法及其设备 Download PDF

Info

Publication number
WO2019018979A1
WO2019018979A1 PCT/CN2017/094055 CN2017094055W WO2019018979A1 WO 2019018979 A1 WO2019018979 A1 WO 2019018979A1 CN 2017094055 W CN2017094055 W CN 2017094055W WO 2019018979 A1 WO2019018979 A1 WO 2019018979A1
Authority
WO
WIPO (PCT)
Prior art keywords
navigation signal
code
signal segment
segment
correlation value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/094055
Other languages
English (en)
French (fr)
Inventor
仇晓颖
韩彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201780005461.XA priority Critical patent/CN108513622B/zh
Priority to PCT/CN2017/094055 priority patent/WO2019018979A1/zh
Publication of WO2019018979A1 publication Critical patent/WO2019018979A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related

Definitions

  • the invention relates to the field of signal processing, in particular to a correlation, acquisition method and device of a Beidou navigation signal.
  • Signal acquisition is a key signal processing process for navigation systems and a prerequisite for positioning and navigation.
  • the secondary modulation of the NH (Neumann-Hoffman) code in the Beidou signal can improve the correlation of the spreading code.
  • the NH code also increases the probability of symbol hopping during signal acquisition. The hopping of the symbol reduces the correlation peak, which affects the judgment of the capture result, in order to improve the capture performance, especially in the weak signal capture. Only the coherent integration time can be extended, which will increase the amount of signal acquisition and reduce the speed of signal acquisition.
  • the invention provides a correlation, capture method and equipment of the Beidou navigation signal, so as to reduce the calculation amount of the Beidou navigation signal capture and improve the capture speed of the Beidou navigation signal.
  • a first aspect of the present invention provides a method for correlating a Beidou navigation signal, the method comprising:
  • a second aspect of the present invention provides a method for capturing a Beidou navigation signal, the method comprising:
  • Coherent integration and non-coherent integration are respectively performed on the correlation values to obtain non-coherent integration values
  • the capture result is obtained based on the non-coherent integration value.
  • a third aspect of the present invention provides a related device for a Beidou navigation signal, including:
  • a local pseudo code circuit for generating a local pseudo code of a preset length
  • a fourth aspect of the present invention provides a capture device for a Beidou navigation signal, including:
  • the digital front-end circuit is configured to process the intermediate frequency data of the Beidou navigation signal outputted by the RF front-end circuit to obtain a Beidou navigation signal after a Doppler frequency shift of a preset length;
  • the related device is configured to determine a correlation value of the Beidou navigation signal
  • An integration circuit for performing coherent integration and non-coherent integration on correlation values, respectively, to obtain a non-coherent integration value
  • a peak finding circuit for obtaining a capture result based on the non-coherent integrated value is provided.
  • the Beibu navigation signal can be secondarily modulated by using the NH code, the correlation of the spreading code is improved, and the signal acquisition success rate is increased.
  • the NH code for the first navigation signal segment and the second navigation signal segment, the problem that the NH code flip affects the capture performance can be solved, the Beidou navigation signal is accurately captured, the symbol bit jump effect is eliminated, the capture performance is improved, and the capture performance can be reduced.
  • the calculation amount of the Beidou navigation signal capture improves the capture speed of the Beidou navigation signal.
  • FIG. 1 is a flowchart of a method for correlating a Beidou navigation signal according to an embodiment of the present invention
  • FIG. 2 is a structural diagram of a related device of a Beidou navigation signal according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of performing correlation operations on intermediate frequency data according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of segmentation of a Beidou navigation signal after a Doppler shift of a preset length according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of secondary coding of a Beidou navigation signal according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for correlating a Beidou navigation signal according to another embodiment of the present invention.
  • FIG. 7 is a structural diagram of a related device of a Beidou navigation signal according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of determining a correlation value of a Beidou navigation signal after a Doppler shift of a preset length according to an embodiment of the present invention
  • FIG. 9 is a structural diagram of a related device for determining a Beidou navigation signal according to an embodiment of the present invention.
  • FIG. 10 is a structural diagram of a dual mode related device according to an embodiment of the present invention.
  • FIG. 11 is a flowchart of a method for capturing a Beidou navigation signal according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of capturing operations on intermediate frequency data according to an embodiment of the present invention.
  • FIG. 13 is a structural diagram of a capture device for a Beidou navigation signal according to an embodiment of the present invention.
  • FIG. 14 is a structural diagram of a dual mode capture device according to an embodiment of the present invention.
  • first, second, third, etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are used to distinguish the same type of information from each other.
  • first information may also be referred to as the second information without departing from the scope of the invention.
  • second information may also be referred to as the first information.
  • word "if” may be interpreted as "when", or "when", or "in response to determination.”
  • a method for acquiring a Beidou navigation signal and a method for capturing a Beidou navigation signal are proposed.
  • the method is used for capturing a Beidou navigation signal, and the method can be implemented by an FPGA (Field Programmable Gate).
  • Array which is a field programmable gate array chip or an ASIC (Application Specific Integrated Circuits) chip.
  • the following relates to the related method of the Beidou navigation signal and the acquisition method of the Beidou navigation signal in detail in combination with several specific embodiments.
  • FIG. 1 is a flowchart of a method for correlating a Beidou navigation signal according to an embodiment of the present invention.
  • the related method of the Beidou navigation signal shown in FIG. 1 can be implemented by a related device of the Beidou navigation signal shown in FIG. 2.
  • the method in this embodiment may include:
  • Step 101 Generate a local pseudo code of a preset length.
  • the related device of the Beidou navigation signal includes a local pseudo code circuit 201, wherein the local pseudo code circuit 201 can generate a local pseudo code of a preset length.
  • the local pseudo code generated by the local pseudo code circuit 201 can be determined according to the number of the satellite in the Beidou navigation system, that is, the local pseudo code generated by the local pseudo code circuit 201 is determined according to the number of the satellite in the Beidou navigation system that is currently captured or tracked.
  • the preset length may correspond to the signal length of the Beidou navigation signal after the Doppler shift in the correlation operation. Optionally, the preset length is 1 millisecond.
  • Step 102 Acquire a Beidou navigation signal after the Doppler frequency shift of the preset length.
  • the radio frequency front end circuit receives the Beidou navigation signal, and processes the Beidou navigation signal to obtain the intermediate frequency data of the Beidou navigation signal, and outputs the intermediate frequency data of the Beidou navigation signal.
  • the digital front end circuit receives the intermediate frequency data output by the RF front end circuit, and processes the intermediate frequency data to obtain a baseband signal, and buffers the baseband signal into the buffer, wherein the buffer can buffer the baseband signal by using a ping-pong buffering strategy.
  • the Doppler shift circuit obtains the baseband signal from the buffer, and processes the baseband signal to obtain the Beidou navigation signal after the Doppler shift, and outputs the Beidou navigation signal after the Doppler shift. .
  • the navigation signal correlation circuit 202 in the related device of the Beidou navigation signal can acquire the Beidou navigation signal of the preset length of the Doppler frequency shift from the Doppler shift circuit.
  • Step 103 Split the Beidou navigation signal into a first navigation signal segment and a second navigation signal segment, that is, the first navigation signal segment and the second navigation signal segment are combined to be the Doppler frequency shift of the preset length. Beidou navigation signal.
  • the navigation signal correlation circuit 202 in the related device of the Beidou navigation signal can split the Beidou navigation signal of the preset length of the Doppler frequency into two segments, that is, the first navigation signal segment and the second navigation. Signal segment.
  • An implementation manner of splitting a predetermined length of the Doppler-shifted Beidou navigation signal into two segments may include: generating a segmentation signal according to a periodic start position or a cycle end position of the local pseudo code. Then, the preset length of the Beidou navigation signal is split into the first navigation signal segment and the second navigation signal segment according to the segmentation signal. Specifically, as shown in FIG. 4, a schematic description is made here with a preset length of 1 ms.
  • the local pseudo code circuit 201 outputs a local pseudo code to the navigation signal correlation circuit 202, and also starts according to the period of the local pseudo code.
  • the segmentation signal is generated, and the local pseudo-code circuit 201 provides the segmentation signal to the navigation signal correlation circuit 202, and the navigation signal correlation circuit 202 can obtain the acquired Doppler frequency-shifted Beidou navigation signal with a preset length.
  • the first navigation signal segment and the second navigation signal segment are split.
  • the navigation signal correlation circuit 202 can receive the preset length of the segmentation signal received by the local pseudo code circuit 201.
  • the Doppler shifting Beidou navigation signal is split into a first navigation signal segment and a second navigation signal segment.
  • a segmentation signal may be generated according to the end position of the local pseudo code, and the navigation signal correlation circuit 202 according to the time node receiving the segmentation signal,
  • the Doppler satellite signal of the preset length of the Doppler shift is divided into a first navigation signal segment and a second navigation signal segment.
  • the Doppler satellite signal of the preset length of the Doppler frequency shift can be split into the first navigation signal segment and the second navigation by using the above manner. Signal segment.
  • the Beidou navigation signal may be split into the first navigation signal segment and the second navigation signal segment in other manners, which is not limited thereto.
  • Step 104 Configure an NH code for the first navigation signal segment and the second navigation signal segment, respectively.
  • the NH code is configured for the first navigation signal segment and the second navigation signal segment, respectively.
  • the NH code configured for the first navigation signal segment does not flip the sign bit of the NH code itself, that is, the first navigation signal segment corresponds to the NH of the symbol bit not changing.
  • the codes are all the same NH code. For example, each bit in the first navigation signal segment corresponds to the NH code “0” or the NH code “1”.
  • the sign bit of the NH code itself does not flip, that is, the corresponding symbol bit of the second navigation signal segment does not change.
  • the NH codes are all the same NH code, and each bit in the second navigation signal segment corresponds to the NH code "0" or the NH code "1".
  • the Beidou navigation signal includes a navigation message, a pseudo random code (ie, a spreading code in FIG. 5), and an NH code, wherein one chip of the navigation message is 20 ms, and within one chip.
  • the NH code of one period is modulated, that is, the period of the NH code is 20 ms, and the chip of one NH code is 1 ms, and a pseudo-random code of one period is modulated on the chip of one NH code, that is, the period of the pseudo-random code is also 1 ms.
  • the sign bit of the NH code in the Beidou navigation signal may be flipped, and at most one flip may occur, and the position of the sign bit is reversed in 1ms. clear. It can be seen from the structure of the Beidou navigation signal shown in FIG. 5 that the sign bit inversion of the NH code occurs at the end of the period of the pseudo random code or at the beginning of the cycle, and in the Beidou navigation signal of 1 ms, the Beidou navigation signal before the inversion occurs. The sign bit of the NH code does not flip, and the sign bit of the NH code of the Beidou navigation signal after the flipping does not reverse.
  • the local pseudo-code circuit 201 can generate a segmentation signal for the end or start position of the local pseudo-code period of each code phase, and the navigation signal correlation circuit 202 will pre-process according to the segmentation signal.
  • the Beidou navigation signal after the Doppler shift of the length splits the first navigation signal segment and the second navigation signal segment, and configures the NH code for the first navigation signal segment and the second navigation signal segment respectively, that is, the Beidou is assumed to be 1 ms.
  • the split position of the navigation signal is the flip position of the NH code, and when the correlation value of the Beidou navigation signal of 1 ms is calculated according to the NH code corresponding to the first navigation signal segment and the second navigation signal segment, when the local pseudo code circuit 201 generates the local When the end period of the pseudo code is aligned with the flip position of the NH code in the Beidou navigation signal of 1 ms, the code phase of the local pseudo code is the code phase of the pseudo random code in the Beidou navigation signal.
  • configuring the NH code for the first navigation signal segment and the second navigation signal segment respectively comprises: respectively, according to each of the code phases in the NH code period, the first navigation signal segment and the first The second navigation signal segment configures the NH code.
  • the corresponding NH code can be configured for the first navigation signal segment and the second navigation signal segment for the 20 code phases of the NH period, respectively.
  • Correlation values of the 20 kinds of NH codes corresponding to the first navigation signal segment and the second navigation signal segment are calculated for the code phase of each local pseudo code.
  • Step 105 Determine a Beidou navigation signal according to the local pseudo code, the first navigation signal segment, the NH code configured for the first navigation signal segment, the second navigation signal segment, and the NH code configured for the second navigation signal segment. Relevant value.
  • the local pseudo code, the first navigation signal segment, the NH code configured for the first navigation signal segment, The second navigation signal segment and the NH code configured for the second navigation signal segment determine a correlation value of the Beidou navigation signal. Further, since there are 20 code phases in the NH code period, for the local pseudo code of each code phase, 20 correlation values of the Doppler shift of the Beidou navigation signal of the preset length can be determined.
  • step 101 may be performed before step 102, step 101 may be performed after step 102, and step 101 may be after step 103. Execution, etc., taking the above execution order as an example.
  • the Beidou signal after the pre-Doppler frequency shift of the preset length into the first navigation signal segment and the second navigation signal frequency, configuring the symbol bits for the first navigation signal segment and the second navigation signal segment respectively.
  • the NH code that does not flip, according to the first navigation signal segment and the NH code configured for it, and the correlation value according to the second navigation signal segment and the NH code configured for it, can complete the search of 20 NH code phases in parallel, The calculation amount of the related calculation is reduced, the problem that the capture of the NH code symbol bit affects the capture performance is solved, and the capture speed of the Beidou navigation signal is improved.
  • Embodiments of the present invention provide a method for correlating a Beidou navigation signal.
  • FIG. 6 is a flowchart of a method for correlating a Beidou navigation signal according to an embodiment of the present invention. As shown in FIG. 6, based on the embodiment described in FIG. 1, in the embodiment Methods can include:
  • Step 601 Generate a local pseudo code of a preset length.
  • the preset length is 1 millisecond.
  • step 601 and step 101 are the same, and are not described here.
  • Step 602 Acquire a Beidou navigation signal after the Doppler frequency shift of the preset length.
  • step 602 and step 102 are the same, and are not described here.
  • Step 603 splitting the Beidou navigation signal into a first navigation signal segment and a second navigation signal segment.
  • step 603 and step 103 are the same, and are not described here.
  • Step 604 configuring an NH code for the first navigation signal segment and the second navigation signal segment, respectively.
  • step 604 and step 104 are the same, and are not described here.
  • Step 605 Determine a first correlation value according to the first navigation signal segment, the local pseudo code, and an NH code configured for the first navigation signal segment; and according to the second navigation signal segment, the local pseudo code, the second The NH code configured by the navigation signal segment determines a second correlation value; and determines a correlation value of the Beidou navigation signal according to the first correlation value and the second correlation value.
  • the navigation signal correlation circuit 202 may split the Beidou navigation signal of the preset length of the Doppler frequency into the first navigation signal segment and the second navigation signal segment according to the segmentation signal. Then, the correlation values corresponding to the first navigation signal segment and the second navigation signal segment may be respectively calculated, that is, the first calculation is performed according to the first navigation signal segment, the local pseudo code, and the NH code configured for the first navigation signal segment. And a first correlation value of the navigation signal segment, and calculating a second correlation value of the second navigation signal segment according to the second navigation signal segment, the local pseudo code, and the NH code configured for the second navigation signal segment.
  • the sum of the first correlation value and the second correlation value may be determined as a correlation value of the Doppler-shifted Beidou navigation signal of the preset length. Since the code phase of each local pseudo code corresponds to 20 code phases in the NH code period, for each code pattern of the local pseudo code, the preset length of the Doppler frequency shifted Beidou navigation signal has 20 related values.
  • the NH code determines a first correlation value, and determining, according to the second navigation signal segment, the local pseudo code, and the NH code configured for the second navigation signal segment, the second correlation value comprises: according to the first Beidou navigation signal segment, the first Determining, by a local pseudo-code segment, an NH code configured for the first Beidou navigation signal segment, according to the second Beidou navigation signal segment, the second local pseudo-code segment, and the second Beidou
  • the NH code configured by the navigation signal segment determines a second correlation value.
  • the local pseudo code circuit 201 sends the generated local pseudo code of the preset length to the navigation signal correlation circuit 202, and at the same time, the local pseudo code circuit 201 ends or starts the local pseudo code period according to the preset length of the local pseudo code.
  • the received local pseudo code of the preset length is split into a first local pseudo code segment and a second local pseudo code segment.
  • the first local pseudo code segment corresponds to the first navigation signal segment, and the first navigation signal segment is determined according to the first local pseudo code segment, the first navigation signal segment, and the NH code configured for the first navigation signal segment.
  • the second local pseudo code segment corresponding to the second navigation signal segment determining the second navigation signal segment according to the second local pseudo code segment, the second navigation signal segment, and the NH code configured for the second navigation signal segment Two related values.
  • the first correlation value is determined according to the first Beidou navigation signal segment, the first local pseudo code segment, and the NH code configured for the first Beidou navigation signal segment
  • the second Beidou navigation Determining the second correlation value by the signal segment, the second local pseudo code segment, and the NH code configured for the second Beidou navigation signal segment includes: determining, according to the first navigation signal segment and the first pseudo code segment, the first pseudo code correlation And determining, according to the first pseudo code correlation value and the NH code configured for the first navigation signal segment, a first correlation value, and determining a second pseudo code correlation value according to the second navigation signal segment and the second pseudo code segment, And determining a second correlation value according to the second pseudo code correlation value and an NH code configured for the second Beidou navigation signal segment.
  • the navigation signal correlation circuit 202 includes a pseudo code correlation circuit 2021 and an NH code correlation circuit 2022, wherein the pseudo code correlation circuit 2021 is configured to: according to the first navigation signal segment and the a pseudo code segment determines a first pseudo code correlation value, and determines a second pseudo code correlation value according to the second navigation signal segment and the second pseudo code segment; the NH code correlation circuit 2022 is configured to: according to the first pseudo code The correlation value and the NH code configured for the first navigation signal segment determine a first correlation value, and the second correlation value is determined according to the second pseudo code correlation value and an NH code configured for the second Beidou navigation signal segment.
  • the pseudo code correlation circuit 2021 can receive the preset pseudo local code output by the local pseudo code circuit 201, and obtain a preset length of the Doppler frequency shifted Beidou navigation signal from the buffer, and preset The Beidou signal after the length of the Doppler shift is split into the first navigation signal segment and the second navigation signal segment, and the local pseudo code of the preset length is split into the first local pseudo code segment and the second local pseudo code. Fragment.
  • the pseudo code correlation circuit 2021 determines a first pseudo code correlation value according to the first navigation signal segment and the first local pseudo code, and the pseudo code correlation circuit 2021 outputs the first pseudo code correlation value to the NH code correlation circuit 2022, and the NH code correlation circuit 2022 And determining a first correlation value according to the NH code configured for the first Beidou navigation signal and the first pseudo code correlation value.
  • the pseudo code correlation circuit 2021 determines the second pseudo code correlation value according to the second navigation signal segment and the second local pseudo code, and the pseudo code correlation circuit 2021 outputs the second pseudo code correlation value to the NH code correlation circuit 2022, which is associated with the NH code.
  • the circuit 2022 determines a second correlation value based on the NH code and the second pseudo code correlation value configured for the second Beidou navigation signal. Further, the navigation signal correlation circuit 202 may further include an accumulator for accumulating the first correlation value and the second correlation value to obtain a correlation value.
  • the local pseudo code for each code phase (ie, the first local pseudo code segment for each code phase and the corresponding second local pseudo code segment) includes 20 codes in the NH code period.
  • the first correlation value includes 20 correlation values
  • the second correlation value also includes 20 correlation values, according to the first correlation value and the second phase
  • the correlation value of the Doppler shift after the Doppler shift of the preset length determined by the threshold value also includes 20 correlation values, wherein each correlation value corresponds to a code phase in one NH code period.
  • the local pseudo code corresponding to the 0th code phase is taken as an example, and the first pseudo code correlation value is a0, the second pseudo code correlation value is b0, and the NH code is 0.
  • the code phase, the NH code configured for the first navigation signal segment is 0, and the NH code configured for the second navigation signal segment is 0, the first correlation value is a0, the second correlation value is b0, and the correlation value is a0+ B0, and so on, can obtain correlation values corresponding to 20 different NH code phases.
  • 20 kinds of NH code phase search can be completed, which greatly reduces the calculation amount, thereby solving the problem that the NH code sign bit has inverted image capturing performance.
  • the first correlation value a and the second correlation value b need only be calculated once, and the rest is the first correlation value a and the second correlation value b.
  • the addition operation and the subtraction operation that is, by adding and subtracting the first correlation value a and the second correlation value b, the correlation values of the 20 NH code phases can be obtained, thereby quickly completing the search of the 20 NH code phases, which greatly
  • the computational complexity is reduced, the problem of the capture performance of the NH code symbol flipping is solved, the influence of the NH code bit hopping is eliminated, the influence of the NH code on the Beidou navigation signal acquisition is overcome, the complexity of the capture operation is reduced, and the hardware resource usage is small. Low power consumption and easy to implement in FPGA and ASIC.
  • Embodiments of the present invention provide a related device for a Beidou navigation signal.
  • FIG. 2 and FIG. 7 are structural diagrams of related devices of a Beidou navigation signal according to an embodiment of the present invention. As shown in FIG. 2 and FIG. 7, the device in this embodiment may include:
  • the local pseudo code circuit 201 is configured to generate a local pseudo code of a preset length
  • Navigation signal correlation circuit 202 for:
  • the NH code configured for the first navigation signal segment does not have its own sign bit inverted
  • the navigation signal correlation circuit 202 is configured according to the local pseudo code, the first navigation signal segment, an NH code configured for the first navigation signal segment, and the second navigation signal segment.
  • the NH code configured by the second navigation signal segment determines the correlation value of the Beidou navigation signal, it is specifically used for:
  • the local pseudo-code circuit 201 is further configured to generate a segmentation signal according to a period start position or a period end position of the local pseudo code;
  • the navigation signal correlation circuit 202 is specifically configured to: according to the segmentation signal, the preset length of the Beidou navigation The signal is split into a first navigation signal segment and a second navigation signal segment.
  • the navigation signal correlation circuit 202 is further configured to: split the local pseudo code of the preset length into the first pseudo code segment and the second pseudo code segment according to the segmentation signal;
  • the navigation signal correlation circuit 202 is specifically configured to: according to the first navigation signal segment, the first pseudo code segment, The NH code configured by the first navigation signal segment determines a first correlation value; and determines a second correlation value according to the second navigation signal segment, the second pseudo code segment, and the NH code configured for the second navigation signal segment.
  • the navigation signal correlation circuit 202 includes a pseudo code correlation circuit 2021 and an NH code correlation circuit 2022;
  • the pseudo code correlation circuit 2021 is configured to:
  • the NH code correlation circuit 2022 is configured to: determine, according to the first pseudo code correlation value and an NH code configured for the first navigation signal segment, a first correlation value; and according to the second pseudo code correlation value and A second correlation value is determined for the NH code configured for the second navigation signal segment.
  • the NH code correlation circuit 2022 is configured to: after receiving the segmentation signal, configure an NH code for the first navigation signal segment and the second navigation signal segment, respectively.
  • the NH code correlation circuit 2022 is configured to separately configure the first navigation signal segment and the second navigation signal segment according to each of the code phases in the NH code period. NH code.
  • the NH code correlation circuit 2022 is specifically configured to: determine a sum of the first correlation value and the second correlation value as a correlation value of the Beidou navigation signal.
  • the preset length is 1 millisecond.
  • the local pseudo code circuit 201 and the navigation signal correlation circuit 202 (the pseudo code correlation circuit 2021, the NH code correlation circuit 2022, the accumulator) in the related device of the Beidou navigation signal, please refer to the foregoing The relevant part will not be described here.
  • the related device of the Beidou navigation signal includes a local pseudo code circuit and a navigation signal related circuit
  • the local pseudo code circuit may include a C/A code generator and a code NCO, wherein the local pseudo code circuit is used to generate The local pseudo code and the segmentation signal, when the local pseudo code circuit transmits the local pseudo code to the navigation signal correlation circuit, when the end or start position of the local pseudo code period is detected, the segment signal is sent to the navigation signal correlation circuit.
  • the navigation signal correlation circuit includes a pseudo code correlation circuit, an NH code correlation circuit, and an accumulator, wherein the pseudo code correlation circuit includes a multiplier, an accumulator, and a timing control circuit.
  • the multiplier receives the local pseudo code, and under the control of the timing control circuit, multiplies the Doppler frequency shifted Beidou navigation signal obtained from the Doppler shift circuit by the local pseudo code, and then the accumulator performs Accumulating, when the timing control circuit receives the segmentation signal, the timing control circuit controls the accumulator to stop accumulating, and outputs the first pseudocode correlation value to the NH code correlation circuit, that is, before the sequential circuit receives the segmentation signal, the multiplier and The accumulator completes a correlation operation between the first navigation signal segment and the first local pseudo code segment to obtain a first pseudo code correlation value.
  • the NH code correlation circuit includes an NH code configuration circuit and a multiplier, wherein the NH code configuration circuit can be an NH code table circuit configured to configure an NH code for the first navigation signal segment and the second navigation signal segment, and the local pseudo code circuit can The segmentation signal is sent to the NH code table circuit. After receiving the segmentation signal, the NH code table circuit configures the NH code for the first navigation signal segment, and the multiplier receives the first pseudo code correlation value and the NH code table circuit as The 20 kinds of NH codes configured by the first navigation signal segment are multiplied to obtain 20 first correlation values, and 20 first correlation values are output to the accumulator.
  • the NH code configuration circuit can be an NH code table circuit configured to configure an NH code for the first navigation signal segment and the second navigation signal segment
  • the local pseudo code circuit can The segmentation signal is sent to the NH code table circuit.
  • the NH code table circuit configures the NH code for the first navigation signal segment
  • the multiplier receives the first pseudo code correlation value and the NH
  • the Beidou navigation signal after the Doppler shift is obtained from the Doppler shift circuit, that is, the second navigation signal segment, in the timing Controlling, by the control circuit, multiplying the second navigation signal segment and the second local pseudo code segment obtained from the Doppler shift circuit, and then accumulating by the accumulator to complete the second navigation signal segment and the second
  • the timing control circuit controls the accumulator to stop accumulating, and outputs the second pseudo code correlation value to the NH code correlation circuit
  • the NH code table circuit configures the NH code for the second navigation signal segment
  • the multiplier receives the The second pseudo code correlation value and the NH code table circuit multiply the 20 NH codes configured for the second navigation signal segment to obtain 20 second correlation values, and output 20 second correlation values to the accumulator.
  • the accumulator accumulates 20 first correlation values and 20 second correlation values correspondingly to obtain 20 correlation values, and outputs the correlation values.
  • Embodiments of the present invention provide a dual mode related device that supports a Beidou navigation signal and a GPS navigation signal.
  • FIG. 10 is a structural diagram of a related device according to an embodiment of the present invention.
  • the related device of this embodiment can support the correlation operation on the Beidou navigation signal and the GPS navigation signal to obtain the correlation value.
  • the dual-mode related device can be set before the correlation operation is performed, when the related device is for GPS
  • the local pseudo code circuit and the selector may be set, so that the local pseudo code circuit generates the local pseudo code of the satellite in the GPS navigation system, so that the selector outputs the correlation value of the GPS navigation signal.
  • the pseudo-code correlation circuit acquires the Doppler-shifted GPS navigation signal from the Doppler shift circuit, and the pseudo-code correlation circuit performs correlation according to the received local pseudo-code and the Doppler-shifted GPS navigation signal.
  • the operation outputs the correlation value to the selector, and the selector outputs the correlation value.
  • the local pseudo code circuit and the selector may be set, so that the local pseudo code circuit generates the local pseudo code of the satellite in the Beidou navigation system, so that the selector controls the Beidou navigation signal. Correlation value output.
  • the specific correlation operation process of the Beidou navigation signal refer to the foregoing part of this document, and no further details are provided here.
  • Embodiments of the present invention provide a method for capturing a Beidou navigation signal.
  • FIG. 11 is a flowchart of a method for capturing a Beidou navigation signal according to an embodiment of the present invention. As shown in FIG. 11, the method in this embodiment may include:
  • Step 1101 Obtain a baseband signal from the buffer, and perform Doppler frequency shift processing on the baseband signal to obtain a Beidou navigation signal after a Doppler frequency shift of a preset length.
  • Step 1102 Determine a correlation value of the Beidou navigation signal after the Doppler frequency shift of the preset length according to a correlation method of the Beidou navigation signal.
  • the related method of the Beidou navigation signal may be the method provided by any of the foregoing embodiments, and details are not described herein.
  • step 1103 coherent integration and non-coherent integration are performed on the correlation values to obtain non-coherent integration values.
  • Step 1104 Acquire a capture result according to the non-coherent integration value.
  • the acquiring the capture result according to the non-coherent integration value may include: determining a maximum value of the non-coherent integration value, and acquiring the capture result when the maximum value is greater than or equal to the preset threshold.
  • the application scenario may include:
  • Step 1 The antenna receives the Beidou navigation signal, and the RF front-end circuit processes the Beidou navigation signal received by the antenna to obtain the intermediate frequency data.
  • Step 2 The digital front end circuit down-converts the intermediate frequency data to obtain a baseband signal.
  • step 3 the digital front end circuit performs anti-aliasing low pass filtering on the baseband signal.
  • step 4 the digital front end circuit performs downsampling processing on the filtered signal to reduce the amount of processed data.
  • step 5 the digital front end circuit quantizes the downsampled signal and stores it in the buffer.
  • Step 6 Select a PRN that needs to be searched.
  • the buffer ie, the quantized signal
  • Step 8 Determine the phase increment of the code NCO according to the assumed Doppler frequency shift, and control the local pseudo code circuit to generate the local pseudo code according to the phase increment, and the related device of the Beidou navigation signal according to the local pseudo code generated by the local pseudo code circuit and The acquired Beidou navigation signal after the Doppler shift is correlated with the Beidou navigation signal after the Doppler shift by the correlation method described above, and the correlation value is obtained.
  • step 9 the integration circuit performs a correlation operation on the correlation values. Specifically, the correlation values are respectively subjected to coherent integration and non-coherent integration, and the coherent integration values are obtained, that is, the values after the non-coherent integration.
  • 20 correlation values can be subjected to coherent integration, non-coherent integration, etc., and the process will not be described again. Finally, 20 non-coherent integration values corresponding to 20 correlation values can be obtained.
  • Step 10 The peak finding circuit determines a maximum value of the non-coherent integrated value, and determines whether the maximum value is greater than or equal to a preset threshold.
  • step 11 If yes, go to step 11. If no, the local pseudocode circuit generates an update fd and proceeds to step 7.
  • step 11 the capture result is obtained, and the capture process is ended.
  • the capture result may be acquired, that is, the phase of the pseudo random code, the NH code phase, and the Doppler shift are captured. And capture the results.
  • FIG. 13 is a structural diagram of a capture device for a Beidou navigation signal according to an embodiment of the present invention. As shown in FIG. 13 , in the premise of the related device of the Beidou navigation signal provided in FIG. 2 and FIG. 7 , the capturing device in this embodiment may include:
  • the Doppler frequency shifting circuit is configured to obtain a baseband signal from the buffer, and perform Doppler frequency shift processing on the baseband signal to obtain a Beidou navigation signal after a Doppler frequency shift of a preset length;
  • the related device of the Beidou navigation signal configured to determine a correlation value of a Beidou navigation signal after a Doppler shift of a preset length;
  • An integration circuit for performing coherent integration and non-coherent integration on correlation values, respectively, to obtain a non-coherent integration value
  • a peak finding circuit for obtaining a capture result based on the non-coherent integrated value is provided.
  • the peak finding circuit is specifically configured to: determine a maximum value in the non-coherent integrated value, and obtain a capturing result when the maximum value is greater than or equal to a preset threshold.
  • an embodiment of the present invention provides a dual mode capture device supporting a BeiDou and a GPS navigation signal.
  • the dual mode capture device includes a Doppler shift circuit, and the dual mode shown in FIG. 10 .
  • Related equipment, integration circuits, and peak finding circuits are included in the pair shown in FIG. 10 .
  • the pair shown in FIG. 10 can be For the setting of the module related equipment, the specific settings and specific working principles of the dual mode related equipment can be found in the previous section.
  • the Doppler shift circuit acquires the baseband signal of the Beidou navigation signal from the buffer, and performs Doppler frequency shift processing on the baseband signal to obtain a preset.
  • the Beidou navigation signal after the length of the Doppler shift.
  • the dual-mode correlation device performs a correlation operation on the Beidou navigation signal after the Doppler shift of the preset length to obtain a correlation value
  • the integration circuit is configured to perform coherent integration and non-coherent integration on the correlation values respectively to obtain the non-coherent integration value.
  • the peak finding circuit is used to acquire the captured result based on the non-coherent integrated value.
  • the Doppler shift circuit acquires the baseband signal of the GPS navigation signal from the buffer, and performs Doppler frequency shift processing on the baseband signal to obtain the preset.
  • the length of the GPS navigation signal after the Doppler shift The dual-mode related device performs correlation operations on the GPS navigation signals of the preset length of the Doppler shift to obtain correlation values
  • the integration circuit is configured to perform coherent integration and non-coherent integration on the correlation values respectively to obtain non-coherent integration values.
  • the peak finding circuit is used to acquire the captured result based on the non-coherent integrated value.
  • the embodiment of the present invention further provides a machine readable storage medium, which can be applied to a related device of a Beidou navigation signal, where the computer readable storage medium stores a plurality of computer instructions, the computer instruction When executed, proceed as follows:
  • the NH code configured for the first navigation signal segment does not have its own sign bit inverted; the NH code configured for the second navigation signal segment does not flip its own sign bit.
  • the computer instruction is further processed as follows: according to the first navigation signal segment, the local pseudo code, and the first navigation signal segment configured The NH code determines a first correlation value; determining a second correlation value according to the second navigation signal segment, the local pseudo code, and the NH code configured for the second navigation signal segment; according to the first correlation value and The second correlation value determines the correlation value of the Beidou navigation signal.
  • the computer instruction is further processed to: split the local pseudo code of the preset length into the first pseudo code segment and the second pseudo code segment according to the segmentation signal; and according to the first navigation signal segment
  • the local pseudocode The NH code configured by the first navigation signal segment determines a first correlation value; and when determining the second correlation value according to the second navigation signal segment, the local pseudo code, and the NH code configured for the second navigation signal segment
  • processing determining, according to the first navigation signal segment, the first pseudo code segment, and the NH code configured for the first navigation signal segment, a first correlation value;
  • the second navigation signal segment, the second pseudo code segment, and the NH code configured for the second navigation signal segment determine a second correlation value.
  • the computer instruction is further processed to: determine, according to the first navigation signal segment and the first pseudo code segment, a first pseudo code correlation value; according to the second navigation signal segment and the second a pseudo code segment, determining a second pseudo code correlation value; determining a first correlation value according to the first pseudo code correlation value and an NH code configured for the first navigation signal segment; and according to the second pseudo code correlation value And determining, by the NH code configured for the second navigation signal segment, a second correlation value.
  • the computer instructions are further processed as follows: the first navigation signal segment and the second navigation signal segment are respectively according to each of the code phases in the NH code period Configure the NH code.
  • the computer instructions are further processed to determine a sum of the first correlation value and the second correlation value as a correlation value of a Beidou navigation signal.
  • the embodiment of the present invention further provides a machine readable storage medium, which can be applied to a capture device of a Beidou navigation signal, where the computer readable storage medium stores a plurality of computer instructions. When executed, proceed as follows:
  • Coherent integration and non-coherent integration are respectively performed on the correlation values to obtain non-coherent integration values
  • the capture result is obtained based on the non-coherent integration value.
  • the computer instruction is executed as follows: determining a maximum value in the non-coherent integrated value, and acquiring a capture result when the maximum value is greater than or equal to a preset threshold.
  • the system, apparatus, module or unit set forth in the above embodiments may be implemented by a computer chip or an entity, or by A product with a certain function is implemented.
  • a typical implementation device is a computer, and the specific form of the computer may be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver, and a game control.
  • embodiments of the invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, embodiments of the invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • these computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the instruction means implements the functions specified in one or more blocks of the flowchart or in a flow or block diagram of the flowchart.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

一种北斗导航信号的相关、捕获方法及其设备，该相关方法包括：生成预设长度的本地伪码（101）；获取预设长度的去多普勒频移后的北斗导航信号（102）；将该北斗导航信号拆分成第一导航信号片段和第二导航信号片段（103）；分别为第一导航信号片段和第二导航信号片段配置NH码（104）；根据该本地伪码、第一导航信号片段、为该第一导航信号片段配置的NH码、该第二导航信号片段、为该第二导航信号片段配置的NH码确定北斗导航信号的相关值（105）。通过为第一导航信号片段和第二导航信号片段配置NH码，可以解决NH码翻转影响捕获性能的问题，准确对北斗导航信号进行捕获，消除符号位跳变影响，提高捕获性能。

Description

北斗导航信号的相关、捕获方法及其设备 技术领域
本发明涉及信号处理领域，尤其是北斗导航信号的相关、捕获方法及其设备。
背景技术
信号捕获是导航系统的关键的信号处理过程，是定位和导航的前提。在北斗卫星导航系统中，北斗信号中NH(Neumann-Hoffman)码的二次调制，可以改善扩频码的相关性。然而，NH码也增大了在信号捕获过程中出现码元跳变的可能性，码元的跳变会减小相关峰值，从而影响捕获结果的判断，为了提高捕获性能，特别在弱信号捕获时，只能延长相干积分时间，这样会增大信号捕获的运算量，降低信号捕获的速度。
发明内容
本发明提供北斗导航信号的相关、捕获方法及其设备，以降低北斗导航信号捕获的运算量，提高北斗导航信号的捕获速度。
本发明第一方面，提供一种北斗导航信号的相关方法，所述方法包括：
生成预设长度的本地伪码；
获取预设长度的去多普勒频移后的北斗导航信号；
将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段；
分别为所述第一导航信号片段和所述第二导航信号片段配置NH码；
根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值。
本发明第二方面，提供一种北斗导航信号的捕获方法，所述方法包括：
对射频前端电路输出的北斗导航信号的中频数据进行处理，以获取预设长度的去多普勒频移后的北斗导航信号；
根据上述相关方法确定所述北斗导航信号的相关值；
分别对相关值进行相干积分和非相干积分，以获取非相干积分值；
根据非相干积分值，获取捕获结果。
本发明第三方面，提供一种北斗导航信号的相关设备，包括：
本地伪码电路，用于生成预设长度的本地伪码；
导航信号相关电路，用于：
获取预设长度的去多普勒频移后的北斗导航信号；
将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段；
分别为所述第一导航信号片段和所述第二导航信号片段配置NH码；
根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值。
本发明第四方面，提供一种北斗导航信号的捕获设备，包括：
数字前端电路，用于对射频前端电路输出的北斗导航信号的中频数据进行处理，以获取预设长度的去多普勒频移后的北斗导航信号；
上述相关设备，用于确定所述北斗导航信号的相关值；
积分电路，用于分别对相关值进行相干积分和非相干积分，以获取非相干积分值；
峰值查找电路，用于根据非相干积分值，获取捕获结果。
基于上述方案，可以使用NH码对北斗导航信号进行二次调制，改善扩频码的相关性，增加信号捕获成功率。通过为第一导航信号片段和第二导航信号片段配置NH码，可以解决NH码翻转影响捕获性能的问题，准确对北斗导航信号进行捕获，消除符号位跳变影响，提高捕获性能，并可以降低北斗导航信号捕获的运算量，提高北斗导航信号的捕获速度。
附图说明
为了更加清楚地说明本发明实施例或者现有技术中的技术方案，下面将对本发明实施例或者现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据本发明实施例的这些附图获得其它的附图。
图1是本发明实施例提供的北斗导航信号的相关方法的流程图；
图2是本发明实施例提供的北斗导航信号的相关设备的结构图；
图3是本发明实施例提供的对中频数据进行相关运算的示意图；
图4是本发明实施例提供的对预设长度的去多普勒频移后的北斗导航信号分段的示意图；
图5是本发明实施例提供的北斗导航信号的二次编码的示意图；
图6是本发明另一实施例提供的北斗导航信号的相关方法的流程图；
图7是本发明实施例提供的北斗导航信号的相关设备的结构图；
图8是本发明实施例提供的确定预设长度的去多普勒频移后的北斗导航信号的相关值的示意图；
图9是本发明实施例提供的确定北斗导航信号的相关设备的结构图；
图10是本发明实施例提供的双模相关设备的结构图；
图11是本发明实施例提供的北斗导航信号的捕获方法的流程图；
图12是本发明实施例提供的对中频数据进行捕获运算的示意图；
图13是本发明实施例提供的北斗导航信号的捕获设备的结构图；
图14是本发明实施例提供的双模捕获设备的结构图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。另外，在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明使用的术语仅仅是出于描述特定实施例的目的，而非限制本发明。本发明和权利要求书所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其它含义。应当理解，本文中使用的术语“和/或”是指包含一个或多个相关联的列出项目的任何或所有可能组合。
尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，此外，所使用的词语“如果”可以被解释成为“在……时”，或者“当……时”，或者“响应于确定”。
本发明实施例中提出了一种北斗导航信号的相关方法和北斗导航信号的捕获方法，该方法用于实现北斗导航信号的捕获，该方法可以通过FPGA(Field Programmable Gate  Array，即现场可编程门阵列)芯片或者ASIC(Application Specific Integrated Circuits，专用集成电路)芯片实现。以下结合几个具体实施例，对北斗导航信号的相关方法和北斗导航信号的捕获方法进行详细说明。
本发明实施例提供一种北斗导航信号的相关方法。图1为本发明实施例提供的北斗导航信号的相关方法的流程图，其中，图1所示的北斗导航信号的相关方法可以由图2所示的北斗导航信号的相关设备实现。如图1所示，本实施例中的方法，可以包括：
步骤101，生成预设长度的本地伪码。
具体地，如图2所示，北斗导航信号的相关设备中包括本地伪码电路201，其中，本地伪码电路201可以生成预设长度的本地伪码。其中，本地伪码电路201产生的本地伪码可以根据北斗导航系统中卫星的编号确定，即本地伪码电路201产生的本地伪码根据当前需要捕获或跟踪的北斗导航系统中卫星的编号确定。其中，预设长度可以与相关运算中去多普勒频移后的北斗导航信号的信号长度相对应。可选地，预设长度为1毫秒。
步骤102，获取该预设长度的去多普勒频移后的北斗导航信号。
具体的，如图3所示，射频前端电路(未示出)接收北斗导航信号，并对北斗导航信号进行处理，得到北斗导航信号的中频数据，并输出北斗导航信号的中频数据。
数字前端电路接收射频前端电路输出的中频数据，并对中频数据进行相应处理，以获取基带信号，并将基带信号缓存到缓存器中，其中，缓存器可以使用乒乓缓存策略对基带信号进行缓存。去多普勒频移电路从缓存器中获取基带信号，并对基带信号进行处理，以获取去多普勒频移后的北斗导航信号，并将去多普勒频移后的北斗导航信号输出。
北斗导航信号的相关设备中的导航信号相关电路202可以从去多普勒频移电路中获取到预设长度的去多普勒频移后的北斗导航信号。
步骤103，将该北斗导航信号拆分成第一导航信号片段和第二导航信号片段，即第一导航信号片段和第二导航信号片段组合起来是该预设长度的去多普勒频移后的北斗导航信号。
具体的，北斗导航信号的相关设备中的导航信号相关电路202可以将预设长度的去多普勒频移后的北斗导航信号拆分成两个片段，即第一导航信号片段和第二导航信号片段。
将预设长度的去多普勒频移后的北斗导航信号拆分成两个片段的一种可实现方式可以包括：根据本地伪码的周期起始位置或者周期结束位置生成分段信号。然后，根据该分段信号将预设长度的北斗导航信号拆分成第一导航信号片段和第二导航信号片段。具体地，如图4所示，这里以预设长度为1ms来进行示意性说明，本地伪码电路201在向导航信号相关电路202输出本地伪码的同时，还根据本地伪码的周期起始位置或者周期结束位 置生成分段信号，本地伪码电路201将所述分段信号提供给导航信号相关电路202，导航信号相关电路202可以将获取到的预设长度的去多普勒频移后的北斗导航信号拆分成第一导航信号片段和第二导航信号片段，进一步地，导航信号相关电路202可以以接收到本地伪码电路201发送的分段信号的时间节点，将获取到的预设长度的去多普勒频移后的北斗导航信号拆分成第一导航信号片段和第二导航信号片段。例如，针对本地伪码电路201产生的第0个码相位的本地伪码，可以根据该本地伪码的结束位置产生一个分段信号，导航信号相关电路202根据接收到分段信号的时间节点，将预设长度的去多普勒频移后的北斗卫星信号分成第一导航信号片段和第二导航信号片段。进一步，可以针对第1、2….N个码相位的本地伪码，采用上述方式将预设长度的去多普勒频移后的北斗卫星信号拆分成第一导航信号片段和第二导航信号片段。
需要说明的是，在实际应用中，也可以采用其他的方式将北斗导航信号拆分成第一导航信号片段和第二导航信号片段，对此不做限制。
步骤104，分别为第一导航信号片段和第二导航信号片段配置NH码。
具体地，继续参考图4，将预设长度的去多普勒频移后的北斗导航信号进行拆分后，分别为第一导航信号片段和第二导航信号片段配置NH码。
其中，为第一导航信号片段配置的NH码(如图4所示的NH1)，该NH码自身的符号位不发生翻转，也就是说，第一导航信号片段对应符号位不发生变化的NH码，都是同一个NH码，如第一导航信号片段中的每一位均对应NH码“0”或者NH码“1”。
同理，为第二导航信号片段配置的NH码(如图4所示的NH2)，该NH码自身的符号位不发生翻转，也就是说，第二导航信号片段对应符号位不发生变化的NH码，都是同一个NH码，如第二导航信号片段中的每一位均对应NH码“0”或者NH码“1”。
如图5所示，北斗导航信号中包括导航电文、伪随机码(即图5中的扩频码)和NH码，其中，所述导航电文的一个码片是20ms，在这一个码片内调制了一个周期的NH码，即NH码的周期为20ms，一个NH码的码片是1ms，在一个NH码的码片上调制一个周期的伪随机码，即伪随机码的周期也为1ms。由此可知，在长度为1ms的北斗导航信号，北斗导航信号中的NH码的符号位可能会发生翻转，而且最多只能发生一次翻转，且符号位的翻转发生在1ms中的哪个位置并不清楚。从图5所示的北斗导航信号的结构可知，NH码的符号位翻转发生在伪随机码的周期结束或周期开始的位置，且在1ms的北斗导航信号内，发生翻转前的北斗导航信号的NH码的符号位不发生翻转，发生翻转后的北斗导航信号的NH码的符号位不发生翻转。因此，本地伪码电路201可以针对每一种码相位的本地伪码周期的结束或开始位置产生分段信号，导航信号相关电路202根据所述分段信号将预 设长度的去多普勒频移后的北斗导航信号拆分第一导航信号片段和第二导航信号片段，分别为第一导航信号片段和第二导航信号片段配置NH码，即假定1ms的北斗导航信号的拆分位置为NH码的翻转位置，则根据第一导航信号片段和第二导航信号片段对应的NH码计算1ms的北斗导航信号的相关值时，当本地伪码电路201产生的本地伪码的结束周期与1ms的北斗导航信号中NH码的翻转位置对齐时，则本地伪码的码相位即为北斗导航信号中的伪随机码的码相位。
进一步地，分别为第一导航信号片段和第二导航信号片段配置NH码包括：根据NH码周期中的所有码相位中的每一个码相位，分别为所述第一导航信号片段和所述第二导航信号片段配置NH码。具体地，继续参考图5可知，NH码周期中存在20种码相位，其中并不知道1ms的北斗导航信号对应的是哪种码相位。因此，可以针对NH周期的20种码相位分别为第一导航信号片段和第二导航信号片段配置对应的NH码。针对每一种本地伪码的码相位，来计算第一导航信号片段和第二导航信号片段对应的20种NH码的相关值。
步骤105，根据该本地伪码、该第一导航信号片段、为该第一导航信号片段配置的NH码、该第二导航信号片段、为该第二导航信号片段配置的NH码确定北斗导航信号的相关值。
具体地，在为第一导航信号片段和第二导航信号片段配置相应的NH码后，即可以根据该本地伪码、该第一导航信号片段、为该第一导航信号片段配置的NH码、该第二导航信号片段、为该第二导航信号片段配置的NH码确定北斗导航信号的相关值。进一步地，由于NH码周期中存在20种码相位，则针对每一种码相位的本地伪码，可以确定预设长度的去多普勒频移的北斗导航信号的20个相关值。
需要说明的是，上述执行顺序只是本发明的一个示例，对此执行顺序不做限制，例如，步骤101可以在步骤102之前执行，步骤101可以在步骤102之后执行，步骤101可以在步骤103之后执行等等，以上述执行顺序为例。
基于上述方案，通过将预设长度的去多普勒频移后的北斗信号分为第一导航信号片段和第二导航信号频，分别为第一导航信号片段和第二导航信号片段配置符号位不发生翻转的NH码，根据第一导航信号片段和为其配置的NH码、根据第二导航信号片段和为其配置的NH码确定相关值，可以并行完成20种NH码相位的搜索，大大降低了相关计算的运算量，解决了NH码符号位发生翻转影响捕获性能的问题，提高北斗导航信号的捕获速度。
本发明实施例提供一种北斗导航信号的相关方法。图6为本发明实施例提供的北斗导航信号的相关方法的流程图。如图6所示，在图1所述的实施例中的基础上，本实施例中的 方法，可以包括：
步骤601，生成预设长度的本地伪码。其中，预设长度为1毫秒。
步骤601和步骤101的具体方法和原理一致，此处不再赘述。
步骤602，获取该预设长度的去多普勒频移后的北斗导航信号。
步骤602和步骤102的具体方法和原理一致，此处不再赘述。
步骤603，将该北斗导航信号拆分成第一导航信号片段和第二导航信号片段。
步骤603和步骤103的具体方法和原理一致，此处不再赘述。
步骤604，分别为第一导航信号片段和第二导航信号片段配置NH码。
步骤604和步骤104的具体方法和原理一致，此处不再赘述。
步骤605，根据该第一导航信号片段、该本地伪码、为该第一导航信号片段配置的NH码确定第一相关值；根据该第二导航信号片段、该本地伪码、为该第二导航信号片段配置的NH码确定第二相关值；根据第一相关值和第二相关值确定北斗导航信号的相关值。
具体地，导航信号相关电路202可以根据分段信号将预设长度的去多普勒频移后的北斗导航信号拆分成第一导航信号片段和第二导航信号片段。然后，可以分别计算第一导航信号片段和第二导航信号片段对应的相关值，即根据该第一导航信号片段、该本地伪码、为该第一导航信号片段配置的NH码，计算第一导航信号片段的第一相关值，根据该第二导航信号片段、该本地伪码、为该第二导航信号片段配置的NH码，计算第二导航信号片段的第二相关值。
在确定了第一相关值和第二相关值后，即可以将第一相关值和第二相关值之和确定为预设长度的去多普勒频移后的北斗导航信号的相关值。由于每一种本地伪码的码相位对应NH码周期中的20种码相位，因此，针对每一种本地伪码的码相位，预设长度的去多普勒频移后的北斗导航信号有20种相关值。
进一步地，根据分段信号将预设长度的本地伪码拆分成第一伪码片段和第二伪码片段；所述根据第一导航信号片段、本地伪码、为第一导航信号片段配置的NH码确定第一相关值，根据第二导航信号片段、本地伪码、为第二导航信号片段配置的NH码确定第二相关值包括：根据所述第一北斗导航信号片段、所述第一本地伪码段、为所述第一北斗导航信号片段配置的NH码确定第一相关值，根据所述第二北斗导航信号片段、所述第二本地伪码段、为所述第二北斗导航信号片段配置的NH码确定第二相关值。
具体地，本地伪码电路201将生成的预设长度的本地伪码发送给导航信号相关电路202，同时，本地伪码电路201根据预设长度的本地伪码的本地伪码周期结束或开始位置，将分段信号发送给导航信号相关电路202，导航信号相关电路202根据所述分段信号将接 收到的预设长度的本地伪码拆分成第一本地伪码片段和第二本地伪码片段。
其中，第一本地伪码片段与第一导航信号片段相对应，根据第一本地伪码片段、第一导航信号片段和为第一导航信号片段配置的NH码确定第一导航信号片段的第一相关值；第二本地伪码片段与第二导航信号片段相对应，根据第二本地伪码片段、第二导航信号片段和为第二导航信号片段配置的NH码确定第二导航信号片段的第二相关值。
进一步地，所述根据所述第一北斗导航信号片段、所述第一本地伪码段、为所述第一北斗导航信号片段配置的NH码确定第一相关值，根据所述第二北斗导航信号片段、所述第二本地伪码段、为所述第二北斗导航信号片段配置的NH码确定第二相关值包括：根据第一导航信号片段和第一伪码片段确定第一伪码相关值，根据所述第一伪码相关值和为所述第一导航信号片段配置的NH码确定第一相关值；根据第二导航信号片段和第二伪码片段确定第二伪码相关值，根据所述第二伪码相关值和为所述第二北斗导航信号片段配置的NH码确定第二相关值。
具体地，如图7所示，所述导航信号相关电路202包括伪码相关电路2021和NH码相关电路2022，其中，所述伪码相关电路2021，用于：根据第一导航信号片段和第一伪码片段确定第一伪码相关值，根据第二导航信号片段和第二伪码片段确定第二伪码相关值；所述NH码相关电路2022，用于：根据所述第一伪码相关值和为所述第一导航信号片段配置的NH码确定第一相关值，根据所述第二伪码相关值和为所述第二北斗导航信号片段配置的NH码确定第二相关值。进一步地，伪码相关电路2021可以接收本地伪码电路201输出的预设长度的本地伪码，并从缓存器中获取预设长度的去多普勒频移后的北斗导航信号，将预设长度的去多普勒频移后的北斗信号拆分成第一导航信号片段和第二导航信号片段，将预设长度的本地伪码拆分成第一本地伪码片段和第二本地伪码片段。伪码相关电路2021根据第一导航信号片段和第一本地伪码确定第一伪码相关值，伪码相关电路2021将第一伪码相关值输出给NH码相关电路2022，NH码相关电路2022根据为第一北斗导航信号配置的NH码和第一伪码相关值确定第一相关值。另外，伪码相关电路2021根据第二导航信号片段和第二本地伪码确定第二伪码相关值，伪码相关电路2021将第二伪码相关值输出给NH码相关电路2022，NH码相关电路2022根据为第二北斗导航信号配置的NH码和第二伪码相关值确定第二相关值。此外，导航信号相关电路202还可以包括累加器，所述累加器用于将第一相关值和第二相关值累加得到相关值。
需要说明的是，针对每一种码相位的本地伪码(即针对每一种码相位的第一本地伪码片段和对应的第二本地伪码片段)，由于NH码周期中包括20种码相位，因此，第一相关值包括20个相关值，对应地第二相关值也包括20个相关值，则根据第一相关值和第二相 关值确定的预设长度的去多普勒频移后的北斗导航信号的相关值也包括20个相关值，其中，每一个相关值对应一个NH码周期中的码相位。
具体地，如图5和图8所示，以本地伪码对应第0个码相位为例，假设第一伪码相关值为a0，第二伪码相关值为b0，针对NH码的第0个码相位，为第一导航信号片段配置的NH码为0，为第二导航信号片段配置的NH码为0，则第一相关值为a0，第二相关值为b0，相关值为a0+b0，依次类推，可以获取20种不同的NH码相位对应的相关值。通过这种方式，可以完成20种NH码相位的搜索，大大降低了计算量，从而解决了NH码符号位发生翻转影像捕获性能的问题。
在采用上述技术方案后，针对得到20个相关值的过程，第一相关值a和第二相关值b均只需要计算一次，剩下的就是对第一相关值a和第二相关值b的加法运算、减法运算，即通过对第一相关值a和第二相关值b进行加减法运算，就可以获得20个NH码相位的相关值，从而快速完成20个NH码相位的搜索，大大降低了计算复杂度，解决NH码码元翻转影响捕获性能的问题，消除NH码比特跳变的影响，克服NH码对北斗导航信号捕获的影响，降低捕获运算的复杂度，硬件资源用量少，功耗低，易于在FPGA、ASIC中实现。
本发明实施例提供一种北斗导航信号的相关设备。图2和图7为本发明实施例提供的北斗导航信号的相关设备的结构图。如图2和图7所示，本实施例中的设备，可以包括：
本地伪码电路201，用于生成预设长度的本地伪码；
导航信号相关电路202，用于：
获取预设长度的去多普勒频移后的北斗导航信号；
将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段；
分别为所述第一导航信号片段和所述第二导航信号片段配置NH码；
根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值。
可选地，为所述第一导航信号片段配置的NH码，自身的符号位不发生翻转；
为所述第二导航信号片段配置的NH码，自身的符号位不发生翻转。
可选地，所述导航信号相关电路202根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值时，具体用于：
根据所述第一导航信号片段、所述本地伪码、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述本地伪码、为所述第二导航信号片段 配置的NH码确定第二相关值；
根据所述第一相关值和所述第二相关值确定北斗导航信号的相关值。
可选地，所述本地伪码电路201，还用于根据所述本地伪码的周期起始位置或者周期结束位置生成分段信号；
在将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段时，所述导航信号相关电路202，具体用于：根据所述分段信号将预设长度的所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段。
可选地，所述导航信号相关电路202，还用于：根据所述分段信号将预设长度的本地伪码拆分成第一伪码片段和第二伪码片段；
在根据所述第一导航信号片段、所述本地伪码、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述本地伪码、为所述第二导航信号片段配置的NH码确定第二相关值时，所述导航信号相关电路202，具体用于：根据所述第一导航信号片段、所述第一伪码片段、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述第二伪码片段、为所述第二导航信号片段配置的NH码确定第二相关值。
可选地，所述导航信号相关电路202包括伪码相关电路2021和NH码相关电路2022；
所述伪码相关电路2021，用于：
根据所述第一导航信号片段和所述第一伪码片段，确定第一伪码相关值；
根据所述第二导航信号片段和所述第二伪码片段，确定第二伪码相关值；
所述NH码相关电路2022，用于：根据所述第一伪码相关值和为所述第一导航信号片段配置的NH码，确定第一相关值；根据所述第二伪码相关值和为所述第二导航信号片段配置的NH码，确定第二相关值。
可选地，所述NH码相关电路2022，具体用于：在接收到所述分段信号后，分别为所述第一导航信号片段和所述第二导航信号片段配置NH码。
可选地，所述NH码相关电路2022，具体用于：根据NH码周期中的所有码相位中的每一个码相位，分别为所述第一导航信号片段和所述第二导航信号片段配置NH码。
可选地，所述NH码相关电路2022，具体用于：将所述第一相关值与所述第二相关值之和确定为所述北斗导航信号的相关值。
可选地，所述预设长度为1毫秒。
其中，北斗导航信号的相关设备中本地伪码电路201、导航信号相关电路202(伪码相关电路2021、NH码相关电路2022、累加器)中的具体原理和解释，请参见本文前述的 相关部分，此处不再赘述。
下面将详细介绍本发明实施例提供的北斗导航的相关设备的一种具体实现方式。
如图9所示，北斗导航信号的相关设备包括本地伪码电路和导航信号相关电路，本地伪码电路可以包括C/A码产生器和码NCO，其中，所述本地伪码电路用于生成本地伪码和分段信号，本地伪码电路在向导航信号相关电路发送本地伪码时，在探测到本地伪码周期的结束或开始位置时，向导航信号相关电路发送分段信号。
导航信号相关电路包括伪码相关电路、NH码相关电路和累加器，其中，伪码相关电路包括乘法器、累加器、时序控制电路。乘法器接收本地伪码，在时序控制电路的控制下，将从去多普勒频移电路中获取的去多普勒频移后的北斗导航信号和本地伪码相乘，然后由累加器进行累加，当时序控制电路接收到分段信号时，时序控制电路控制累加器停止累加，将第一伪码相关值输出给NH码相关电路，即在时序电路接收到分段信号前，乘法器和累加器完成第一导航信号片段和第一本地伪码片段的相关运算，以得到第一伪码相关值。
NH码相关电路中包括NH码配置电路和乘法器，其中NH码配置电路可以为NH码表电路，用于为第一导航信号片段和第二导航信号片段配置NH码，本地伪码电路可以将分段信号发送给NH码表电路，NH码表电路在接收到分段信号后，为第一导航信号片段配置NH码，乘法器将接收到的第一伪码相关值和NH码表电路为第一导航信号片段配置的20种NH码相乘，得到20个第一相关值，并将20个第一相关值输出到累加器。
伪码相关电路将第一伪码相关值输出到NH相关电路后，继续从去多普勒频移电路中获取去多普勒频移后的北斗导航信号，即第二导航信号片段，在时序控制电路的控制下，将从去多普勒频移电路中获取的第二导航信号片段和第二本地伪码片段相乘，然后由累加器进行累加，在完成第二导航信号片段和第二本地伪码片段的相关运算后，时序控制电路控制累加器停止累加，将第二伪码相关值输出给NH码相关电路，NH码表电路为第二导航信号片段配置NH码，乘法器将接收到的第二伪码相关值和NH码表电路为第二导航信号片段配置的20种NH码相乘得到20个第二相关值，并将20个第二相关值输出到累加器。累加器将20个第一相关值和20个第二相关值对应累加得到20个相关值，并将相关值输出。
本发明实施例提供一种支持北斗导航信号和GPS导航信号的双模相关设备。图10为本发明实施例提供的相关设备的结构图。在前述的北斗导航信号相关设备的基础上，本实施例的相关设备可以支持对北斗导航信号和GPS导航信号的相关运算以获取相关值。
具体地，在进行相关运算之前，可以对双模相关设备进行设置，当相关设备是对GPS 导航信号进行相关运算时，即可以对本地伪码电路和选择器进行设置，使本地伪码电路产生GPS导航系统中卫星的本地伪码，使选择器对GPS导航信号的相关值输出。伪码相关电路从去多普勒频移电路中获取去多普勒频移后的GPS导航信号，伪码相关电路根据接收到本地伪码和去多普勒频移后的GPS导航信号进行相关运算，并将相关值输出到选择器，选择器将相关值输出。当相关设备是对北斗导航信号进行相关运算时，即可以对本地伪码电路和选择器进行设置，使本地伪码电路产生北斗导航系统中卫星的本地伪码，使选择器对北斗导航信号的相关值输出。其中对北斗导航信号的具体相关运算过程可以参见本文前述部分，此处不再赘述。
本发明实施例提供一种北斗导航信号的捕获方法。图11为本发明实施例提供的北斗导航信号的捕获方法的流程图。如图11所示，在图1和图6提供的北斗导航信号相关方法的前提下，本实施例中的方法，可以包括：
步骤1101，从缓存器中获取基带信号，对基带信号进行去多普勒频移处理以获取预设长度的去多普勒频移后的北斗导航信号。
步骤1102，根据北斗导航信号的相关方法确定预设长度的去多普勒频移后的北斗导航信号的相关值。
其中，所述北斗导航信号的相关方法可以为前述任一实施例所提供的方法，不再赘述。
步骤1103，分别对相关值进行相干积分和非相干积分，获取非相干积分值。
步骤1104，根据非相干积分值，获取捕获结果。
可选地，所述根据非相干积分值，获取捕获结果可以包括：确定非相干积分值中的最大值，当最大值大于或等于预设阈值时，获取捕获结果。
以下结合具体应用场景，对上述方案进行说明，如图12所示，本应用场景可以包括：
步骤1，天线接收北斗导航信号，射频前端电路对天线接收到的北斗导航信号进行处理以获取中频数据。
步骤2：数字前端电路对中频数据进行下变频处理，得到基带信号。
步骤3，数字前端电路对基带信号进行抗混叠的低通滤波处理。
步骤4，数字前端电路对滤波处理后的信号进行下采样处理，以减少处理的数据量。
步骤5，数字前端电路对下采样后的信号进行量化处理，并存储到缓存器中。
步骤6，选取一个需要搜索的PRN。
步骤7，从fd＝0HZ开始，以步长为△f，上下搜索得到当前的多普勒频移fd，根据搜索到的多普勒频移fd计算出载波NCO的相位增量，并获得与该相位增量对应载波的正弦和 余弦值，与缓存器中的信号(即量化处理后的信号)相乘，得到去多普勒频移之后的北斗导航信号。
步骤8，根据假定的多普勒频移确定码NCO的相位增量，根据相位增量控制本地伪码电路产生本地伪码，北斗导航信号的相关设备根据本地伪码电路产生的本地伪码和获取的去多普勒频移后的北斗导航信号，采用本文前述的相关方法对去多普勒频移后的北斗导航信号进行相关运算，获取相关值。
步骤9，积分电路对相关值进行相关运算，具体地，分别对相关值进行相干积分和非相干积分，获取相干积分值，即为非相干积分后的值。
例如，可以对20个相关值进行相干积分、非相干积分等处理，对此处理过程不再赘述，最终，可以得到20个相关值分别对应的20个非相干积分值。
步骤10，峰值查找电路确定非相干积分值中的最大值，判断该最大值是否大于或等于预设阈值。
如果是，则执行步骤11。如果否，则本地伪码电路产生更新fd，转到步骤7。
步骤11，获取捕获结果，结束捕获过程。
具体地，若所述最大值大于或等于预设阈值时，即可以获取捕获结果，即捕获伪随机码的相位、NH码相位和多普勒频移。并将捕获结果输出。
本发明实施例提供一种北斗导航信号的捕获设备。图13为本发明实施例提供的北斗导航信号的捕获设备的结构图。如图13所示，在图2和图7提供的北斗导航信号的相关设备的前提下，本实施例中的捕获设备，可以包括：
去多普勒频移电路，用于从缓存器中获取基带信号，对基带信号进行去多普勒频移处理，以获取预设长度的去多普勒频移后的北斗导航信号；
如前述实施例中任一项所述的北斗导航信号的相关设备，用于确定预设长度的去多普勒频移后的北斗导航信号的相关值；
积分电路，用于分别对相关值进行相干积分和非相干积分，以获取非相干积分值；
峰值查找电路，用于根据非相干积分值，获取捕获结果。
在一个例子中，所述峰值查找电路，具体用于：确定非相干积分值中的最大值，当所述最大值大于或等于预设阈值时，获取捕获结果。
其中，所述捕获设备的各个功能电路的具体解释请参见前述相关部分，在此不再赘述。
另外，本发明实施例提供一种支持北斗和GPS导航信号的双模捕获设备，如图14所示，所述双模捕获设备包括去多普勒频移电路、如图10所示的双模相关设备、积分电路和峰值查找电路。具体地，在所述双模捕获设备对信号捕获之前，可以对图10所示的双 模相关设备进行设置，双模相关设备的具体设置和具体工作原理请参见前述部分。
当所述双模捕获设备对北斗导航信号进行捕获时，去多普勒频移电路从缓存器中获取北斗导航信号的基带信号，对基带信号进行去多普勒频移处理，以获取预设长度的去多普勒频移后的北斗导航信号。双模相关设备对预设长度的去多普勒频移后的北斗导航信号进行相关运算获取相关值，积分电路用于分别对相关值进行相干积分和非相干积分，以获取非相干积分值，峰值查找电路用于根据非相干积分值，获取捕获结果。
当所述双模捕获设备对GPS导航信号进行捕获时，去多普勒频移电路从缓存器中获取GPS导航信号的基带信号，对基带信号进行去多普勒频移处理，以获取预设长度的去多普勒频移后的GPS导航信号。双模相关设备对预设长度的去多普勒频移后的GPS导航信号进行相关运算获取相关值，积分电路用于分别对相关值进行相干积分和非相干积分，以获取非相干积分值，峰值查找电路用于根据非相干积分值，获取捕获结果。
基于与上述方法同样的构思，本发明实施例还提供一种机器可读存储介质，可以应用于北斗导航信号的相关设备，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：
生成预设长度的本地伪码；
获取预设长度的去多普勒频移后的北斗导航信号；
将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段；
分别为所述第一导航信号片段和所述第二导航信号片段配置NH码；
根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值。
其中，为所述第一导航信号片段配置的NH码，自身的符号位不发生翻转；为所述第二导航信号片段配置的NH码，自身的符号位不发生翻转。
在一个例子中，在根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值时，所述计算机指令被执行时还进行如下处理：根据所述第一导航信号片段、所述本地伪码、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述本地伪码、为所述第二导航信号片段配置的NH码确定第二相关值；根据所述第一相关值和所述第二相关值确定北斗导航信号的相关值。
所述计算机指令被执行时还进行如下处理：根据所述分段信号将预设长度的本地伪码拆分成第一伪码片段和第二伪码片段；在根据所述第一导航信号片段、所述本地伪码、为 所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述本地伪码、为所述第二导航信号片段配置的NH码确定第二相关值时，所述计算机指令被执行时还进行如下处理：根据所述第一导航信号片段、所述第一伪码片段、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述第二伪码片段、为所述第二导航信号片段配置的NH码确定第二相关值。
所述计算机指令被执行时还进行如下处理：根据所述第一导航信号片段和所述第一伪码片段，确定第一伪码相关值；根据所述第二导航信号片段和所述第二伪码片段，确定第二伪码相关值；根据所述第一伪码相关值和为所述第一导航信号片段配置的NH码，确定第一相关值；根据所述第二伪码相关值和为所述第二导航信号片段配置的NH码，确定第二相关值。
在一个例子中，所述计算机指令被执行时还进行如下处理：根据NH码周期中的所有码相位中的每一个码相位，分别为所述第一导航信号片段和所述第二导航信号片段配置NH码。
在一个例子中，所述计算机指令被执行时还进行如下处理：将所述第一相关值与第二相关值之和确定为北斗导航信号的相关值。
基于与上述方法同样的构思，本发明实施例还提供一种机器可读存储介质，可以应用于北斗导航信号的捕获设备，所述机器可读存储介质上存储有若干计算机指令，所述计算机指令被执行时进行如下处理：
从缓存器中获取基带信号，对基带信号进行去多普勒频移处理以获取预设长度的去多普勒频移后的北斗导航信号；
根据前述实施例中任一实施例提供的相关方法确定预设长度的去多普勒频移后的北斗导航信号的相关值；
分别为第一导航信号片段和第二导航信号片段配置NH码；
根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值；
分别对相关值进行相干积分和非相干积分，以获取非相干积分值；
根据非相干积分值，获取捕获结果。
在获取捕获结果时，所述计算机指令被执行时进行如下处理：确定非相干积分值中的最大值，当所述最大值大于或等于预设阈值时，获取捕获结果。
上述实施例阐明的系统、装置、模块或单元，可以由计算机芯片或实体实现，或者由 具有某种功能的产品来实现。一种典型的实现设备为计算机，计算机的具体形式可以是个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件收发设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任意几种设备的组合。
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本发明时可以把各单元的功能在同一个或多个软件和/或硬件中实现。
本领域内的技术人员应明白，本发明实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可以由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其它可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其它可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
而且，这些计算机程序指令也可以存储在能引导计算机或其它可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或者多个流程和/或方框图一个方框或者多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其它可编程数据处理设备，使得在计算机或者其它可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其它可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述仅为本发明实施例而已，并不用于限制本发明。对于本领域技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原理之内所作的任何修改、等同替换、改进，均应包含在本发明的权利要求范围之内。

Claims (24)

  1. 一种北斗导航信号的相关方法，其特征在于，所述方法包括：
    生成预设长度的本地伪码；
    获取预设长度的去多普勒频移后的北斗导航信号；
    将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段；
    分别为所述第一导航信号片段和所述第二导航信号片段配置NH码；
    根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    为所述第一导航信号片段配置的NH码，自身的符号位不发生翻转；
    为所述第二导航信号片段配置的NH码，自身的符号位不发生翻转。
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值，包括：
    根据所述第一导航信号片段、所述本地伪码、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述本地伪码、为所述第二导航信号片段配置的NH码确定第二相关值；
    根据所述第一相关值和所述第二相关值确定北斗导航信号的相关值。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述方法还包括：根据所述本地伪码的周期起始位置或者周期结束位置生成分段信号；
    所述将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段，包括：根据所述分段信号将预设长度的所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段。
  5. 根据权利要求4所述的方法，其特征在于，所述方法还包括：根据所述分段信号将预设长度的本地伪码拆分成第一伪码片段和第二伪码片段；
    所述根据所述第一导航信号片段、所述本地伪码、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述本地伪码、为所述第二导航信号片段配置的NH码确定第二相关值，包括：
    根据所述第一导航信号片段、所述第一伪码片段、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述第二伪码片段、为所述第二导航信 号片段配置的NH码确定第二相关值。
  6. 根据权利要求5所述的方法，其特征在于，
    所述根据所述第一导航信号片段、所述第一伪码片段、为所述第一导航信号片段配置的NH码确定第一相关值，包括：根据所述第一导航信号片段和所述第一伪码片段，确定第一伪码相关值；根据所述第一伪码相关值和为所述第一导航信号片段配置的NH码，确定第一相关值；
    所述根据所述第二导航信号片段、所述第二伪码片段、为所述第二导航信号片段配置的NH码确定第二相关值，包括：根据所述第二导航信号片段和所述第二伪码片段，确定第二伪码相关值；根据所述第二伪码相关值和为所述第二导航信号片段配置的NH码，确定第二相关值。
  7. 根据权利要求6项所述的方法，其特征在于，所述分别为所述第一导航信号片段和所述第二导航信号片段配置NH码，包括：
    在接收到所述分段信号后，分别为所述第一导航信号片段和所述第二导航信号片段配置NH码。
  8. 根据权利要求7所述的方法，其特征在于，所述分别为所述第一导航信号片段和所述第二导航信号片段配置NH码，包括：
    根据NH码周期中的所有码相位中的每一个码相位，分别为所述第一导航信号片段和所述第二导航信号片段配置NH码。
  9. 根据权利要求3所述的方法，其特征在于，所述根据所述第一相关值和所述第二相关值确定北斗导航信号的相关值，包括：
    将所述第一相关值与第二相关值之和确定为北斗导航信号的相关值。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，
    所述预设长度为1毫秒。
  11. 一种北斗导航信号的捕获方法，其特征在于，所述方法包括：
    从缓存器中获取基带信号，对基带信号进行去多普勒频移处理以获取预设长度的去多普勒频移后的北斗导航信号；
    根据权利要求1-9任一所述的相关方法确定预设长度的去多普勒频移后的北斗导航信号的相关值；
    分别对相关值进行相干积分和非相干积分，以获取非相干积分值；
    根据非相干积分值，获取捕获结果。
  12. 根据权利要求11所述的方法，其特征在于，
    所述根据非相干积分值，获取捕获结果，包括：
    确定非相干积分值中的最大值，当所述最大值大于或等于预设阈值时，获取捕获结果。
  13. 一种北斗导航信号的相关设备，其特征在于，包括：
    本地伪码电路，用于生成预设长度的本地伪码；
    导航信号相关电路，用于：
    获取预设长度的去多普勒频移后的北斗导航信号；
    将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段；
    分别为所述第一导航信号片段和所述第二导航信号片段配置NH码；
    根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值。
  14. 根据权利要求13所述的设备，其特征在于，
    为所述第一导航信号片段配置的NH码，自身的符号位不发生翻转；
    为所述第二导航信号片段配置的NH码，自身的符号位不发生翻转。
  15. 根据权利要求13所述的设备，其特征在于，
    在根据所述本地伪码、所述第一导航信号片段、为所述第一导航信号片段配置的NH码、所述第二导航信号片段、为所述第二导航信号片段配置的NH码确定北斗导航信号的相关值时，所述导航信号相关电路，具体用于：
    根据所述第一导航信号片段、所述本地伪码、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述本地伪码、为所述第二导航信号片段配置的NH码确定第二相关值；
    根据所述第一相关值和所述第二相关值确定北斗导航信号的相关值。
  16. 根据权利要求13-15任一项所述的设备，其特征在于，
    所述本地伪码电路，还用于根据所述本地伪码的周期起始位置或者周期结束位置生成分段信号；
    在将所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段时，所述导航信号相关电路，具体用于：根据所述分段信号将预设长度的所述北斗导航信号拆分成第一导航信号片段和第二导航信号片段。
  17. 根据权利要求16所述的设备，其特征在于，
    所述导航信号相关电路，还用于：根据所述分段信号将预设长度的本地伪码拆分成第一伪码片段和第二伪码片段；
    在根据所述第一导航信号片段、所述本地伪码、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述本地伪码、为所述第二导航信号片段配置的NH码确定第二相关值时，所述导航信号相关电路，具体用于：根据所述第一导航信号片段、所述第一伪码片段、为所述第一导航信号片段配置的NH码确定第一相关值；根据所述第二导航信号片段、所述第二伪码片段、为所述第二导航信号片段配置的NH码确定第二相关值。
  18. 根据权利要求17所述的设备，其特征在于，
    所述导航信号相关电路包括伪码相关电路和NH码相关电路；
    所述伪码相关电路，用于：
    根据所述第一导航信号片段和所述第一伪码片段，确定第一伪码相关值；
    根据所述第二导航信号片段和所述第二伪码片段，确定第二伪码相关值；
    所述NH码相关电路，用于：根据所述第一伪码相关值和为所述第一导航信号片段配置的NH码，确定第一相关值；根据所述第二伪码相关值和为所述第二导航信号片段配置的NH码，确定第二相关值。
  19. 根据权利要求18所述的设备，其特征在于，
    所述NH码相关电路，具体用于：在接收到所述分段信号后，分别为所述第一导航信号片段和所述第二导航信号片段配置NH码。
  20. 根据权利要求19所述的设备，其特征在于，所述NH码相关电路，具体用于：根据NH码周期中的所有码相位中的每一个码相位，分别为所述第一导航信号片段和所述第二导航信号片段配置NH码。
  21. 根据权利要求15所述的设备，其特征在于，
    所述NH码相关电路，具体用于：将所述第一相关值与所述第二相关值之和确定为所述北斗导航信号的相关值。
  22. 根据权利要求13-21任一项所述的设备，其特征在于，
    所述预设长度为1毫秒。
  23. 一种北斗导航信号的捕获设备，其特征在于，包括：
    去多普勒频移电路，用于从缓存器中获取基带信号，对基带信号进行去多普勒频移处理以获取预设长度的去多普勒频移后的北斗导航信号；
    如权利要求13-22任一项所述的相关设备，用于确定预设长度的去多普勒频移后的北斗导航信号的相关值；
    积分电路，用于分别对相关值进行相干积分和非相干积分，以获取非相干积分值；
    峰值查找电路，用于根据非相干积分值，获取捕获结果。
  24. 根据权利要求23所述的设备，其特征在于，
    所述峰值查找电路，具体用于：确定非相干积分值中的最大值，当所述最大值大于或等于预设阈值时，获取捕获结果。
PCT/CN2017/094055 2017-07-24 2017-07-24 北斗导航信号的相关、捕获方法及其设备 Ceased WO2019018979A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780005461.XA CN108513622B (zh) 2017-07-24 2017-07-24 北斗导航信号的相关、捕获方法及其设备
PCT/CN2017/094055 WO2019018979A1 (zh) 2017-07-24 2017-07-24 北斗导航信号的相关、捕获方法及其设备

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/094055 WO2019018979A1 (zh) 2017-07-24 2017-07-24 北斗导航信号的相关、捕获方法及其设备

Publications (1)

Publication Number Publication Date
WO2019018979A1 true WO2019018979A1 (zh) 2019-01-31

Family

ID=63375244

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/094055 Ceased WO2019018979A1 (zh) 2017-07-24 2017-07-24 北斗导航信号的相关、捕获方法及其设备

Country Status (2)

Country Link
CN (1) CN108513622B (zh)
WO (1) WO2019018979A1 (zh)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102928853A (zh) * 2012-10-25 2013-02-13 西安华迅微电子有限公司 一种捕获北斗d1卫星导航系统弱信号的方法
CN103901444A (zh) * 2014-03-20 2014-07-02 南京航空航天大学 一种北斗卫星导航接收机位同步方法
CN104280749A (zh) * 2014-06-09 2015-01-14 重庆大学 基于soc的北斗导航系统接收机抗攻击系统及其抗攻击方法
CN104459734A (zh) * 2015-01-08 2015-03-25 东南大学 基于nh码元跳变检测的北斗卫星导航信号捕获方法
CN104765048A (zh) * 2015-04-02 2015-07-08 西安电子科技大学 一种高灵敏度北斗卫星b1i信号捕获方法
CN105717522A (zh) * 2016-02-23 2016-06-29 电子科技大学 “北斗二代”b1频段弱信号捕获方法
CN106338749A (zh) * 2015-12-30 2017-01-18 深圳艾科创新微电子有限公司 北斗卫星导航接收机及其nh码剥离、自相关方法及装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102928853A (zh) * 2012-10-25 2013-02-13 西安华迅微电子有限公司 一种捕获北斗d1卫星导航系统弱信号的方法
CN103901444A (zh) * 2014-03-20 2014-07-02 南京航空航天大学 一种北斗卫星导航接收机位同步方法
CN104280749A (zh) * 2014-06-09 2015-01-14 重庆大学 基于soc的北斗导航系统接收机抗攻击系统及其抗攻击方法
CN104459734A (zh) * 2015-01-08 2015-03-25 东南大学 基于nh码元跳变检测的北斗卫星导航信号捕获方法
CN104765048A (zh) * 2015-04-02 2015-07-08 西安电子科技大学 一种高灵敏度北斗卫星b1i信号捕获方法
CN106338749A (zh) * 2015-12-30 2017-01-18 深圳艾科创新微电子有限公司 北斗卫星导航接收机及其nh码剥离、自相关方法及装置
CN105717522A (zh) * 2016-02-23 2016-06-29 电子科技大学 “北斗二代”b1频段弱信号捕获方法

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
DING, JICHENG: "Beidou Signal Acquisition Method Overcoming NH Code Modulation", JOURNAL OF TELEMETRY, TRACKING AND COMMAND, vol. 36, no. 1, 15 January 2015 (2015-01-15), pages 58 - 62 *
MENG, QIAN ET AL.: "BeiDou Neumann-Hoffman Code Evasion and Acquisition Method", THE 6TH CHINA SATELLITE NAVIGATION CONFERENCE, 13 May 2015 (2015-05-13) *
XIA, CHANGFENG: "Research on NH Code Processing Method of BDS Signal", JOURNAL OF NAVIGATION AND POSITIONING, vol. 2, no. 3, 20 September 2014 (2014-09-20), pages 25 - 29 *
YAN, KUNLUN: "Effects of NH Code for BeiDou Signal Acquisition and Tracking", GEOMATICS AND INFORMATION SCIENCE OF WUHAN UNIVERSITY, vol. 40, no. 5, May 2014 (2014-05-01), pages 682 - 686 *

Also Published As

Publication number Publication date
CN108513622B (zh) 2020-03-31
CN108513622A (zh) 2018-09-07

Similar Documents

Publication Publication Date Title
CN110114696B (zh) 用于卫星导航系统的信号捕获方法及接收机
CN104833988B (zh) 大多普勒动态下高数据速率直扩信号的捕获系统及方法
CN110045397B (zh) 一种基于fpga的l5信号捕获方法及装置
WO2016050055A1 (zh) 一种信号捕获方法、装置及计算机存储介质
JP2011506919A5 (zh)
CN112703426A (zh) 一种卫星信号处理方法及装置
WO2024212369A1 (zh) 卫星信号捕获方法和装置
US9977131B2 (en) Fast fix using perfect reference in a satellite-based positioning system
CN113671547A (zh) 一种改进的高动态捕获方法、装置、设备及存储介质
CN101320084A (zh) 卫星定位信号的实时处理方法
JP5974487B2 (ja) 衛星信号捕捉方法及び衛星信号捕捉装置
CN105242287A (zh) 基于gpu和imu的卫星导航软件接收机及其导航方法
WO2024148778A1 (zh) 融合室内外卫星的定位方法、装置、终端设备及存储介质
WO2019018979A1 (zh) 北斗导航信号的相关、捕获方法及其设备
KR101838406B1 (ko) Boc 신호를 추적하는 방법 및 boc 신호 추적 장치
CN107422341A (zh) 一种实现信号捕获的方法和装置
CN120652502A (zh) 信号跟踪方法、装置、计算机存储介质及终端
CN112764063A (zh) 一种实现捕获处理的方法及接收机
CN111796308B (zh) 卫星信号的捕获方法、装置、存储介质和电子设备
US9612338B2 (en) Method to improve satellite signal detection
CN105842714B (zh) 卫星信号捕获方法及装置
CN110646818B (zh) 一种高灵敏度的卫星导航精捕方法
CN106646547A (zh) 一种多普勒补偿方法、系统及并行相关捕获引擎
KR101812323B1 (ko) 사인 위상 boc 신호를 추적하는 방법 및 사인 위상 boc 신호 추적 장치
KR101869223B1 (ko) AltBOC(15,10) 신호를 추적하는 방법 및 AltBOC(15,10) 신호 추적 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17918889

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17918889

Country of ref document: EP

Kind code of ref document: A1