CN102073056B - Beidou/GPS dual-system timing receiver - Google Patents
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Abstract
The invention discloses a Beidou/GPS dual-system timing receiver. The Beidou/global position system (GPS) dual-system timing receiver comprises a dual-system radio frequency receiving unit, a GPS receiving and processing unit, a Beidou receiving unit, a dual-system fusion unit and a clock unit. By adoption of the technical scheme, the Beidou/GPS dual-system timing receiver adopts a local crystal clock, an intelligent control algorithm and a highly integrated field programmable gata array (FPGA) time frequency processing method to solve the problem of the Beidou/GPS dual-system timing fusion and realize the modularized Beidou/GPS timing. Furthermore, the Beidou/GPS dual-system timing receiver receives satellite signals integrally through a Beidou/GPS dual-mode receiving antenna, thereby simplifying the overall structure and reducing the size. Moreover, a direct digital synthesis (DDS) mode instead of a voltage control method is used for the control on local time frequency signals, and the DDS function is realized inside the FPGA without a DDS chip. In order to ensure the precision of timing, the intelligent control algorithm is adopted; and the phase does not change suddenly when Beidou is traced or GPS signals switch over.
Description
Technical field
The invention belongs to a kind of time service device, specifically relate to a kind of Big Dipper signal and gps signal merged, and the Timing Receiver that can back up each other.
Background technology
Current GPS system Timing Receiver is at the application dominate of each relevant industries of China; But the control of gps signal is grasped at US military; To the safety generation very big hidden danger of China's utilization with the GPS Timing Receiver; Progressively perfect along with China's triones navigation system, the design of dipper system time service type receiver is also progressively ripe, but the widespread use of gps system Timing Receiver; Consider miniaturization, compatibility, high reliability, high stability that product is used, the appearance of the Big Dipper/GPS dual mode receiver is very necessary.
Application number is 200810020283.0; Denomination of invention is the patented claim of " satellite navigation system and GPS bimodule time service device "; Adopt the Big Dipper, the independent two cover antenna feeder connected modes of GPS; The external that provides based on Big Dipper time service module, the independent receiver module of GPS time service module two covers switches fusing device, can not satisfy the needs that device miniaturization and field engineering are installed.
Summary of the invention
The present invention will solve be the present Big Dipper/GPS time service product incompatible, can not mutually redundant defective; A kind of Big Dipper and gps system time signal function that backups each other that has is provided, automatically switches to the Big Dipper/GPS dual system Timing Receiver of another time dissemination system when therein a time dissemination system is broken down.
For realizing above-mentioned purpose, the present invention adopts following technical scheme: it comprises:
The dual system rf receiver unit, it comprises the Big Dipper/gps signal merit parallel circuit and coupled Big Dipper radio frequency order unit and the GPS rf receiver unit that connects, described dual system rf receiver unit can receive Big Dipper satellite signal and gps satellite signal simultaneously;
GPS receives processing unit, and it is connected with the dual system rf receiver unit; It is the GPS receiver module with at least 8 signal receiving cables that described GPS receives processing unit, finally obtains the markers and the textual information of gps signal;
Big Dipper receiving element, it is connected with the dual system rf receiver unit; Described Big Dipper receiving element has at least two signal receiving cables, and the Big Dipper signal that receives is carried out down coversion one time, finally obtains the markers and the textual information of Big Dipper signal;
Dual system integrated unit, its input end receive processing unit with GPS respectively and are connected with Big Dipper receiving element; Described dual system integrated unit is according to the markers of the gps signal that receives and the markers and the textual information of textual information and Big Dipper signal; The characteristic of integrated local clock; Time signal to two systems merges, and the time signal of receiver is automaticallyed switch between two systems according to qualifications;
Clock unit, its output terminal receive processing unit with dual system rf receiver unit, GPS respectively, Big Dipper receiving element is connected with the dual system integrated unit, and described clock unit provides the local clock signal.
Specifically, above-mentioned dual system integrated unit comprises:
Big Dipper text processing module, it to markers and status information in each signal receiving cable textual information compare, fault-tolerant, obtain markers and status information accurately; Simultaneously, obtain time delay information, and time delay information is carried out filtering, according to qualifications and process of fitting treatment, obtain the markers time delay adjustment information after the correction according to textual information;
Big Dipper markers synthesis module, it is connected with Big Dipper text processing module; Target phase demodulation unit when described Big Dipper markers synthesis module comprises local markers generation unit and the local markers and the Big Dipper; Described local markers generation unit generates local markers according to the Big Dipper markers of obtaining from Big Dipper receiving element through DDS; Target phase demodulation unit when the said local markers and the Big Dipper at the rising edge of each Big Dipper timing signal, latchs the phase-accumulated value of DDS, and branch frame number and the satellite-signal propagation delay corresponding according to timing signal calculate the phase demodulation value;
High precision phase demodulation module, it comprises Big Dipper phase demodulation unit and GPS phase demodulation unit; The gate pulse that local markers that described Big Dipper phase demodulation unit basis is obtained and Big Dipper markers are formed for measure phase difference is counted target phase differential in the time of can reflecting the local markers and the Big Dipper to the signal that falls into gate pulse; The gate pulse that local markers that described GPS phase demodulation unit basis is obtained and GPS markers are formed for measure phase difference is counted target phase differential in the time of can reflecting local markers and GPS to the signal that falls into gate pulse;
The control algolithm module; It is connected with high precision phase demodulation module; It carries out Filtering Processing to the local markers obtained and Big Dipper markers phase differential and local markers and GPS markers phase differential, and utilizing then with the pid control algorithm is the expert control system on basis, judges the performance quality of the Big Dipper and GPS timing signal; Generate control word, carry out the automatic switchover of tracing source;
Local time frequency signal synthesis module, it is connected with the control algolithm module, and it utilizes the DDS frequency to generate the 10MHz signal according to the control word of obtaining, and then the 10MHz signal is carried out frequency division and obtains the local zone time pulse signal.
In local time frequency signal synthesis module, the said technology of utilizing DDS to generate the local zone time pulse signal realizes in FPGA inside.
Above-mentioned high precision phase demodulation module comprises Big Dipper phase demodulation unit and GPS phase demodulation unit; Described Big Dipper phase demodulation unit comprises that the gate pulse that is connected successively forms device I and data latches I; Described GPS phase demodulation unit comprises that the gate pulse that is connected successively forms device II and data latches II, and the output terminal of data latches I and data latches II all is connected with data interface unit.
In the Big Dipper radio frequency order unit of dual system rf receiver unit, be provided with BPF.; Described BPF. is the inductance of high-frequency and high-Q-value and the BPF. that electric capacity is formed; Wherein, the quality factor q value of inductance is at least 16, and the quality factor q value of electric capacity is at least 1 * 10
4
The above-mentioned Big Dipper/GPS time service type bimodulus receiving antenna is connected with merit parallel circuit on single feeder line mode and the receiver card.
The output terminal of above-mentioned BPF. is connected with automatic gain control circuit.
Adopt the present invention of technique scheme, adopt local crystal clock, intelligent control algorithm, highly integrated FPGA time-frequency disposal route has solved the fusion of the Big Dipper/GPS dual system time service, has realized the modularization of the Big Dipper/GPS time service.In addition, the present invention adopts the Big Dipper/integrated receiving satellite signal of GPS bimodulus receiving antenna, has simplified one-piece construction, and volume is little.In addition, the control of local time frequency signal is adopted the DDS mode but not voltage-controlled method, and its DDS function realizes in that FPGA is inner, but not adopt the DDS chip method; For guaranteeing time service precision, adopted intelligent control algolithm, and when following the tracks of the Big Dipper or gps signal and switch, this phase place is not undergone mutation.
Description of drawings
Fig. 1 is an one-piece construction block diagram of the present invention;
Fig. 2 is the structural principle block diagram of dual system integrated unit among the present invention;
Fig. 3 is the theory diagram of high precision phase demodulation module in the dual system integrated unit of the present invention;
Fig. 4 is a control flow chart of the present invention;
Fig. 5 is the theory diagram of local markers synthesis module among the present invention.
Embodiment
As shown in Figure 1; The present invention receives processing unit, Big Dipper receiving element and dual system integrated unit by dual system rf receiver unit, GPS and forms; Can receive three-channel Big Dipper satellite signal and multichannel gps satellite signal, export high-precision local time signal.
1) dual system rf receiver unit
It comprises the Big Dipper/gps signal merit parallel circuit and coupled Big Dipper radio frequency order unit and the GPS rf receiver unit that connects, and it can receive Big Dipper signal and gps signal simultaneously, and through merit parallel circuit on the plate Big Dipper and gps signal is divided into two-way.This merit parallel circuit has not only been realized separating of Big Dipper signal and gps signal, but also has guaranteed the isolation of the Big Dipper and gps signal.Big Dipper rf receiver unit carries out down coversion one time to Big Dipper signal; After getting into intermediate frequency; High performance LC BPF. is partly adopted in its filtering, and its BPF. is made up of the inductance and the electric capacity of high-frequency and high-Q-value, wherein; The quality factor q value of inductance is at least greater than 16, generally adopts 16 or 18 or 20 or 26 or the like; The quality factor q value of electric capacity is at least greater than 1 * 10
4, generally can adopt 1 * 10
4Or 2 * 10
4Or 6 * 10
4Or 1 * 10
5Or the like, to compare with traditional SAW filter like this, time delay is very little with temperature variation.In addition, increase automatic gain control circuit in the Big Dipper rf receiver unit, can enlarge the dynamic range of RF receiving circuit like this, made signal in the power level range of broad, all be operated in the range of linearity.The GPS rf receiver unit adopts single-chip down coversion pattern, uses GPS down coversion chip to realize the miniaturization of whole rf receiver unit.
In a word; It is 200910064713.3 that the dual system rf receiver unit adopts application number; Denomination of invention is a disclosed technology in " Big Dipper/gps signal power splitter and manufacturing approach thereof and dual system Receiver Module ", and it is " channel select filter " in 200910064713.3 patented claims that the BPF. in the patented claim wherein of the present invention is application number.
2) GPS receives processing unit
GPS receives processing unit and is connected with the dual system rf receiver unit; It adopts high-performance GPS receiver module, and has hyperchannel reception processing power, finally obtains the markers and the textual information of gps signal, and above-mentioned textual information comprises state, time, satnav information or the like, and delivers to dual system fusion treatment unit.In the present invention, can select different GPS modules for use, so that different GPS modules has the different received passage, but the quantity of receiving cable is at least 8 passages.GPS receives processing unit and also should have the high characteristics of receiving sensitivity height and time service precision in addition, under position maintenance pattern, can accurately time service under the situation of single satellites in view, and can eliminate the time service error that causes because of positioning error.
3) Big Dipper receiving element
Big Dipper receiving element is connected with the dual system rf receiver unit, and it has at least two signal receiving cables, finally obtains Big Dipper timing signal and textual information, and above-mentioned Big Dipper signal textual information comprises time, co-ordinates of satellite, time delay information etc.In the present invention, the dipper system usable satellite number that can reach according to actual needs of Big Dipper receiving element is set, and can be merely two, also can be three, four or even reach six.In the present embodiment, Big Dipper signal receiving unit receives three-channel Big Dipper satellite signal, adopts unidirectional Service of Timing and a down coversion radio frequency reception technique.An above-mentioned lower frequency changer circuit is compared with the zero intermediate frequency circuit, and simple in structure, the uniform stability of time delay is better.Through behind lower frequency changer circuit; Signal becomes intermediate-freuqncy signal; Improve Data Receiving dynamic range through high-order AD quick sampling this moment; Adopt large-scale programmable logic array, accomplish the course of work of Big Dipper receiving element, that is: AD sample-catch-follows the tracks of-demodulation-synchronous-obtain satellite message and markers signal.
4) dual system integrated unit
The dual system integrated unit comprises 5 modules such as Big Dipper text processing module, Big Dipper markers synthesis module, high precision phase demodulation module, control algolithm module, local time frequency signal synthesis module.Its input end receives processing unit with GPS respectively and is connected with Big Dipper receiving element; Described dual system integrated unit is according to the gps signal textual information and the Big Dipper signal textual information that receive; The characteristic of integrated local clock; Time signal to two systems merges; The time signal of receiver is automaticallyed switch between two systems according to qualifications, make time message information keep correctness and continuity simultaneously, the principle of system's integrated unit is as shown in Figure 2.
I, Big Dipper text processing module
Big Dipper text processing module comprises the processing procedure of three parts:
Processing to the single channel textual information: to the Big Dipper textual information of receiving carry out VTB decoding, CRC check, textual information redundancy ratio to, divide the frame information combination; Through comparison and reorganization, improved the availability and the fault-tolerance of text to greatest extent to rebroadcast information.
Processing to the hyperchannel textual information: after multichannel textual information collects, markers and status information in each passage text are compared, and adopt the method for majority vote to carry out fault-tolerant processing, obtain correct time message and status information.
Processing to the time delay relevant information: the time delay relevant information of indication of the present invention is obtained from Big Dipper text; These time delay relevant informations comprise uplink time delay, ionosphere parameter, co-ordinates of satellite; According to ionosphere parameter, co-ordinates of satellite and the known local coordinate of receiver, and ionosphere and relativistic correction model.Can this calculate ionospheric delay; The time delays that descending time delay, satellite spin cause etc. are carried out least squares filtering to these time delay relevant informations; The rejecting abnormalities point; Make data and curves more level and smooth, finally obtain the markers time delay adjustment information after the correction, above-mentioned ionosphere and relativistic correction model are peculiar correction model of navigational system of the Big Dipper; Be the technology that those of ordinary skill in the national triones navigation system field is known, markers time delay adjustment information is the synthetic basis of high precision Big Dipper markers accurately.
Ii, Big Dipper markers synthesis module
Big Dipper markers synthesis module is connected with Big Dipper text processing module, target phase demodulation unit when it comprises local markers generation unit and the local markers and the Big Dipper.Wherein, local markers generation unit according to from Big Dipper receiving element through catch, tracking, synchronizing circuit recover the Big Dipper markers that obtains from satellite-signal, generate local markers through DDS; Promptly in FPGA; The DDS phase accumulator of high-bit width is in each cycle of system clock, and the value of the correspondent frequency that adds up control word is when phase accumulator is counted greater than its maximal value; Output pulse signal, this pulse signal is local markers.From the above, target generates main target phase differential during according to the local markers and the Big Dipper when local, and local timing signal and dipper system markers are synchronous.And target phase demodulation unit when the local markers and the Big Dipper at the rising edge of each Big Dipper timing signal, latchs the phase-accumulated value of DDS, and branch frame number and the satellite-signal propagation delay corresponding according to timing signal calculate the phase demodulation value.
Iii, high precision phase demodulation module
High precision phase demodulation module comprises Big Dipper phase demodulation unit and GPS phase demodulation unit, and the signal that its input end connects has Big Dipper timing signal, GPS timing signal and local timing signal.Wherein, the gate pulse that local markers that Big Dipper phase demodulation unit basis is obtained and Big Dipper markers are formed for measure phase difference is counted target phase differential in the time of can reflecting the local markers and the Big Dipper to the signal that falls into gate pulse.And the gate pulse that local markers that GPS phase demodulation unit basis is obtained and GPS markers are formed for measure phase difference is counted target phase differential in the time of can reflecting local markers and GPS to the signal that falls into gate pulse.Like this, just can make processor realize each road signal is carried out historical analysis, arbitration selection.In the present invention, the count pulse reference source of phase demodulation module adopts the local clock source with high stable frequency, and temporal resolution can reach 0.5ns like this, and its concrete theory diagram is as shown in Figure 3, and it comprises Big Dipper phase demodulation unit and GPS phase demodulation unit.Wherein, Big Dipper phase demodulation unit comprises that the gate pulse that is connected successively forms device I and data latches I; GPS phase demodulation unit comprises that the gate pulse that is connected successively forms device II and data latches II, and the output terminal of data latches I and data latches II all is connected with data interface unit.
Iv, control algolithm module
Like Fig. 2, shown in Figure 4, the control algolithm module is connected with high precision phase demodulation module, and it carries out digital filtering to the local markers obtained and Big Dipper markers phase differential and local markers and GPS markers phase differential and handles.Owing in the phase difference data, have various uncertain factors, for satellite-signal; Because error code that the time delay error of the unhealthy introducing of ephemeris, the sending allowance of Radio Link, multipath effect, external interference are introduced and time delay shake; These uncertain factors have caused false phase data, and therefore in the present invention, digital filtering algorithm is through the status information and the historical data in signal reference source; Falseness differed cushion, judgement, weighting, rejecting; And predict differing accurately, through above-mentioned digital filtering method, can be reflected local signal and reference source signal phase information accurately.
Utilizing then with the pid control algorithm is the expert control system on basis, judges that the performance of the Big Dipper and GPS timing signal is good and bad, generates control word, carries out the automatic switchover of tracing source.Above-mentioned expert control system; Characteristic and stored historical characteristic information with each signal reference source are knowledge base; According to control input quantities such as phase differential and status informations; Adopt control models such as strong coupling tracking, weak coupling tracking, abnormal conditions identification, historical data recursion, make output quantity possess higher stable degree and accuracy.Strong coupling that preceding text are said is followed the tracks of and is meant and adopts less control ratio of damping, when making local markers and tracing source the target phase place all the time one more among a small circle in, speed system response time; Weak coupling is followed the tracks of and is meant the control ratio of damping that employing is bigger, target stability when guaranteeing this locality; The abnormal conditions identification is meant, according to aging characteristics, the satellite orbit characteristics of local clock in the knowledge base, picks out satellite and transfers rail, signal to disturb the abnormal conditions that cause phase differential; The historical data recursion is under the effect of abnormal conditions identification, when tracing source is unusual, adopts the controlled quentity controlled variable of historical controlled quentity controlled variable, aging characteristics, orbital characteristics recurrence system.The present invention adopts different control parameters and control model, makes control procedure dexterously handle changeable uncertain factor, thereby makes output quantity possess higher high stability and accuracy.
Need to prove that this control algolithm module also can receive external command, carries out the switching of tracing source.Its outside instruction can come from outside serial port setting, and in the process of switching, poor according to BD and GPS timing signal adopted the strategy that takes over seamlessly, and avoids the timing signal of local output that big shake is arranged.
V, local time frequency signal synthesis module
As shown in Figure 5; Local time frequency signal synthesis module is connected with the control algolithm module; It is according to the control word of obtaining; Utilize FPGA to realize that the DDS of high-bit width generates the 10MHz signal, wherein the DDS of high-bit width can guarantee the high precision and the big codomain of output frequency adjustment, and the signal to 10MHz carries out frequency division acquisition local zone time pulse signal then.In this process; The control algolithm module is handled through the phase demodulation value to phase detector; Thereby obtain control amount frequency control word, the frequency signal that DDS is synthetic is adjusted, thereby adjustment timing signal; Make local timing signal and satellite timing signal synchronous, possess the steady characteristic of length of satellite-signal and the steady characteristic of weak point of local clock simultaneously.
5) clock unit
As shown in Figure 1, the output terminal of clock unit receives processing unit with dual system rf receiver unit, GPS respectively, Big Dipper receiving element is connected with the dual system integrated unit, and the local clock signal is provided.
Can find out that to sum up the present invention divides and bandwidth-limited circuit through the merit of radio-frequency module through behind the BD/GPS dual-mode antenna receiving satellite signal, the GPS receiving element recovers the gps system time pulse signal; Big Dipper receiver module recovers text, synchronizing signal, handles and the synthetic time pulse signal of exporting dipper system of time-frequency through text; Big Dipper time pulse signal and gps time pulse signal obtain the phase demodulation value through phase detector, and the dual system Fusion Module obtains the local zone time pulse signal according to phase demodulation value and system status information.
Claims (6)
1. the Big Dipper/GPS dual system Timing Receiver is characterized in that it comprises:
The dual system rf receiver unit, it comprises the Big Dipper/gps signal merit parallel circuit and coupled Big Dipper rf receiver unit that connects and GPS rf receiver unit, described dual system rf receiver unit can receive Big Dipper satellite signal and gps satellite signal simultaneously;
GPS receives processing unit, and it is connected with the dual system rf receiver unit; It is the GPS receiver module with at least 8 signal receiving cables that described GPS receives processing unit, finally obtains the markers and the textual information of gps signal;
Big Dipper receiving element, it is connected with the dual system rf receiver unit; Described Big Dipper receiving element has at least two signal receiving cables, and the Big Dipper signal that receives is carried out down coversion one time, finally obtains the markers and the textual information of Big Dipper signal;
Dual system integrated unit, its input end receive processing unit with GPS respectively and are connected with Big Dipper receiving element; Described dual system integrated unit is according to the markers of the gps signal that receives and the markers and the textual information of textual information and Big Dipper signal; The characteristic of integrated local clock; Time signal to two systems merges, and the time signal of receiver is automaticallyed switch between two systems according to qualifications; Described dual system integrated unit comprises: a, Big Dipper text processing module, it to markers and status information in each signal receiving cable textual information compare, fault-tolerant, obtain markers and status information accurately; Simultaneously, obtain time delay information, and time delay information is carried out filtering, according to qualifications and process of fitting treatment, obtain the markers time delay adjustment information after the correction according to textual information; B, Big Dipper markers synthesis module, it is connected with Big Dipper text processing module; Target phase demodulation unit when described Big Dipper markers synthesis module comprises local markers generation unit and the local markers and the Big Dipper; Described local markers generation unit generates local markers according to the Big Dipper markers of obtaining from Big Dipper receiving element through DDS; Target phase demodulation unit when the said local markers and the Big Dipper at the rising edge of each Big Dipper timing signal, latchs the phase-accumulated value of DDS, and branch frame number and the satellite-signal propagation delay corresponding according to timing signal calculate the phase demodulation value; C, high precision phase demodulation module, it comprises Big Dipper phase demodulation unit and GPS phase demodulation unit; The gate pulse that local markers that described Big Dipper phase demodulation unit basis is obtained and Big Dipper markers are formed for measure phase difference is counted target phase differential in the time of can reflecting the local markers and the Big Dipper to the signal that falls into gate pulse; The gate pulse that local markers that described GPS phase demodulation unit basis is obtained and GPS markers are formed for measure phase difference is counted target phase differential in the time of can reflecting local markers and GPS to the signal that falls into gate pulse; D, control algolithm module; It is connected with high precision phase demodulation module; It carries out Filtering Processing to the local markers obtained and Big Dipper markers phase differential and local markers and GPS markers phase differential, and utilizing then with the pid control algorithm is the expert control system on basis, judges the performance quality of the Big Dipper and GPS timing signal; Generate control word, carry out the automatic switchover of tracing source; E, local time frequency signal synthesis module, it is connected with the control algolithm module, and it utilizes the DDS frequency to generate the 10MHz signal according to the control word of obtaining, and then the 10MHz signal is carried out frequency division and obtain the local zone time pulse signal,
Clock unit, its output terminal receive processing unit with dual system rf receiver unit, GPS respectively, Big Dipper receiving element is connected with the dual system integrated unit, and described clock unit provides the local clock signal.
2. the Big Dipper according to claim 1/GPS dual system Timing Receiver is characterized in that: in local time frequency signal synthesis module, the said technology of utilizing DDS to generate the local zone time pulse signal realizes in FPGA inside.
3. the Big Dipper according to claim 1/GPS dual system Timing Receiver is characterized in that: described high precision phase demodulation module comprises Big Dipper phase demodulation unit and GPS phase demodulation unit; Described Big Dipper phase demodulation unit comprises that the gate pulse that is connected successively forms device I and data latches I; Described GPS phase demodulation unit comprises that the gate pulse that is connected successively forms device II and data latches II, and the output terminal of data latches I and data latches II all is connected with data interface unit.
4. the Big Dipper according to claim 1/GPS dual system Timing Receiver; It is characterized in that: in the Big Dipper rf receiver unit of dual system rf receiver unit, be provided with BPF.; Described BPF. is the inductance of high-frequency and high-Q-value and the BPF. that electric capacity is formed; Wherein, the quality factor q value of inductance is at least 16, and the quality factor q value of electric capacity is at least 1 * 10
4
5. the Big Dipper according to claim 4/GPS dual system Timing Receiver is characterized in that: the receiving antenna of the described Big Dipper/GPS dual system Timing Receiver is connected with merit parallel circuit on single feeder line mode and the receiver card.
6. the Big Dipper according to claim 5/GPS dual system Timing Receiver, it is characterized in that: the output terminal of said BPF. is connected with automatic gain control circuit.
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