CN103033828A - High-sensitivity compass-assisted time servicing device, time service receiver and time service method - Google Patents
High-sensitivity compass-assisted time servicing device, time service receiver and time service method Download PDFInfo
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Abstract
The invention discloses a high-sensitivity compass-assisted time servicing device, a time service receiver and a time service method. Under bad signal conditions, even only one satellite is tracked, under the situation that positioning resolve cannot be finished, synchronization on beidou system time can still be finished based on circumferential time information extracted from received homing signal, and high-sensitivity time service is provided. The high-sensitivity compass-assisted time servicing device comprises a frame header searching correlator, a frame header searching threshold decision module, a circumferential time extraction correlator and a circumferential time threshold decision module, wherein the frame header searching correlator, the frame header searching threshold decision module, the circumferential time extraction correlator and the circumferential time threshold decision module are sequentially connected, and an output end of the frame header searching threshold decision module is connected with an output end of the circumferential time threshold decision module and also with an input end of the frame header searching correlator. The frame header searching correlator comprises a frame header phase-coherent accumulation module and a frame header non-coherent accumulation module which are connected with each other. The circumferential time extraction correlator comprises a circumferential time phase-coherent accumulation module and a circumferential time non-coherent accumulation module which are connected with each other.
Description
Technical field
The present invention relates to the satellite navigation time service technical field, particularly relate to the auxiliary time service device of a kind of high sensitivity Big Dipper and be embedded with high sensitivity Big Dipper navigation Timing Receiver and the time service method that described high sensitivity is assisted time service device.
Background technology
The basic meaning of time service is exactly by the interface of standard or customization and agreement, for other equipment or system provide temporal information.Initial time service substantially all relies on the observation to celestial body regular motion such as the sun and fixed stars to realize, is called astronomical time service.What astronomical time determination relied on is earth rotation, and the unevenness of earth rotation is so that (universal time) precision of resulting time of astronomical technique can't satisfy the demand of twentieth century middle period social economy's each side.A kind of more accurate and stable time standard is arisen at the historic moment, and Here it is " atomic clock ".Countries in the world are all adopted atomic clock to produce and are maintained the standard the time at present, and Here it is " time reference ", then, by various means and medium time signal sent to the user, and these means comprise: shortwave, long wave, telephone network, internet, satellite etc.This whole operation just is called " time dissemination system ".
The basic skills of shortwave time service is that the user receives time signal with radio receiver by wireless station's broadcast time signal (abbreviation time signal), then carry out this locality to the time.Long-wave time service utilizes long wave (low frequency) to carry out temporal frequency transmission and calibration, is that a kind of covering power is stronger than shortwave, the time service method that the accuracy of calibration is higher.Time calibration in network and telephone time service adopt the user's query mode to provide time reference signal to the user.Satellite time transfer can be realized the large-area covering of broadcast signals, and compared with front two kinds of time service methods, its precision is higher.According to satellite role satellite time transfer in time service be divided into active and in rotatable.Active satellite has precision interval clock, but the broadcast time reference signal; In rotatable only the forwarding by the ground elapsed time benchmark time reference signal sent here of land station via satellite.The ultimate principle of satellite navigation location is to measure the satellite of known location to the distance between the receiver user, and then the data of comprehensive multi-satellite are just known the particular location of receiver.Reach this purpose, the position of satellite can be found in satellite ephemeris according to the time that spaceborne clock records, and the user then propagates into the time that the user experiences by the record satellite-signal to the distance of satellite, again it be multiply by the light velocity and obtains.Because satellite orbital error, the ionospheric interference of atmospheric envelope, the reason such as asynchronous of star clock and local clock, this is apart from being not actual distance between user and the satellite, but pseudorange.When satellite works, the pseudo-random code emission navigation message that can constantly form with 1 and 0 binary element.Navigation message comprises the information such as satellite ephemeris, working condition, clock correction, ionospheric delay correction, refraction correction.The user receives navigation message, extract satellite time and its clock with oneself is done the distance that contrast just can be learnt satellite and user, the present position when satellite almanac data in the recycling navigation message is extrapolated the satellite launch text, the information such as position and speed of user in earth coordinates just can be learnt.
The effect of navigational system satellite portion is exactly constantly to launch navigation message, satellite navigation message includes system time, clock corrects parameter, ionosphere delay model parameter, satellite ephemeris and satellite health condition information etc., this is for the result datas such as time, position coordinates, speed being provided to the user, processing for information about and be used for navigation satellite signal.Yet, because clock and satellite carried clock life period that receiver user uses are poor, be called clock correction, so except user's three-dimensional coordinate x, y, z, also to introduce a Δ t and be mistiming between satellite and the receiver as unknown number, then use 4 equations with these 4 unknown number solutions out.So, if wonder the residing position of receiver, want to receive at least the signal of 4 satellites.Mistiming Δ t when the local receiver clock that utilization calculates and satellite navigation system can realize the synchronous of satellite navigation receiver local clock and the navigational system time take atomic clock as the basis.Therefore, each satellite navigation receiver that is in the positioning calculation success status is a high-precision clock.
Current, satellite navigation time service is used and has been developed into global new high-tech industry, and along with Beidou satellite navigation system reaches its maturity, uses the concern that also more and more obtains people based on the time service of this system.Beidou satellite navigation system is voluntarily global positioning satellite and the communication system of development of China, it is the satellite navigation system of the 3rd maturation after GPS (GPS) continue the U.S. and the Muscovite GLONASS, can be in the world round-the-clock, round-the-clock provides high precision, highly reliable location, navigation, time service service for all types of user, and have the short message communication capacity concurrently, end in May, 2,012 12 of satellite in orbit, tentatively possessed area navigation, location and time service ability.Beidou satellite navigation system will form the Global coverage ability at the year two thousand twenty.Along with the development of Chinese Beidou satellite system, the expansion of coverage, the clock of portable terminal inside can obtain the strong auxiliary of Big Dipper satellite signal.But because at present a large amount of mobile phone users is all lived in the urban environment, portable terminal is under the environment that seriously blocks, possibly can't guarantee to the continuous tracking of satellite that the signal of any satellite all may off and on, consequently can't guarantee to receive 4 complete satellite-signals.In the weak situation with blocking of satellite-signal intensity, the time service service sensitivity of Beidou satellite navigation system is had higher requirement.
Summary of the invention
The invention discloses the auxiliary time service device of a kind of high sensitivity Big Dipper and be embedded with high sensitivity Big Dipper navigation Timing Receiver and the time service method that described high sensitivity is assisted time service device, abominable signal block with damp condition under, even if only trace into a satellite, can not the completing place, in speed and the positioning calculation situation of time, information in the time of in the week that dependence is extracted from the navigation signal that receives, still can finish to the dipper system time synchronously, highly sensitive time service service is provided.
Technical scheme of the present invention is:
A kind of high sensitivity Big Dipper is assisted time service device, it is characterized in that, comprise in turn the frame head search correlator that connects, frame head search threshold judgement module, extract correlator in week the time and threshold judgement module in week the time, the output terminal of described frame head search threshold judgement module and the input end connection that the output terminal of threshold judgement module also is connected correlator with frame head when interior of be connected; Described frame head search correlator comprises interconnective frame head coherent accumulation module and the non-coherent accumulation of frame head module, the baseband signal fragment S that intercepting is received
r(n+m) and local reproduction signal S
l(m) carry out first coherent accumulation and carry out again non-coherent accumulation, the non-coherent accumulating value that obtains is calculated by frame head search threshold judgement module and compare, determine the subframe frame head present position of Big Dipper navigation message Frame; Non-coherent accumulation module when coherent accumulation module and week were interior when the extraction correlator comprised in interconnective week in the time of in described week is after receiving definite frame head position signalling, with the segment base band signal S on the fixed position of intercepting
r(m) and local reproduction signal S
n(m) carry out first the coherent accumulation and carry out again non-coherent accumulation, the non-coherent accumulating value that obtains threshold judgement module by in week the time is calculated and compared, information when extracting in week of navigation message, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.
A kind of low-cost type high sensitivity Big Dipper navigation Timing Receiver, it is characterized in that, comprise the auxiliary time service device of the radio-frequency module, signal capture module, signal trace module and the described high sensitivity that are connected with antenna, described radio-frequency module connects respectively the input end of signal capture module and signal trace module, the output terminal of signal capture module connects the input end of signal trace module, and the output terminal of described signal trace module connects the auxiliary time service device of described high sensitivity; When the signal capture module is only caught one or when being less than four satellite-signals, from the satellite-signal that receives, extracts week of navigation message information when interior by the auxiliary time service device of described high sensitivity, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.
A kind of standard form high sensitivity Big Dipper navigation Timing Receiver, it is characterized in that, comprise the radio-frequency module that is connected with antenna, the signal capture module, the signal trace module, the auxiliary time service device of location time service module and described high sensitivity and time service mode selection module, described radio-frequency module connects respectively the input end of signal capture module and signal trace module, the output terminal of signal capture module connects the input end of signal trace module, the output terminal of described signal trace module connects respectively location time service module and the auxiliary time service device of described high sensitivity, and time service module in location is connected the output terminal of time service device to connect respectively the time service mode selection module with high sensitivity; When the signal capture module is caught four or four above satellite-signals, finish positioning calculation by location time service module, by time service mode selection module output positioning result and 1PPS pps pulse per second signal; When the signal capture module is only caught one or when being less than four satellite-signals, from the satellite-signal that receives, extracts week of navigation message information when interior by the auxiliary time service device of described high sensitivity, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.
A kind of time service method based on the auxiliary time service device of described high sensitivity is characterized in that, may further comprise the steps:
1) on the basis of catching and following the tracks of of finishing Big Dipper satellite signal, according at least one that catches and trace into Big Dipper satellite signal, obtains PRN code phase and Doppler frequency information; The baseband signal fragment S that intercepting receives
r(n+m), with this locality reproduction signal S
l(m) carry out dot-product operation, carry out the coherent accumulation, more described dot-product operation result is taken absolute value, carry out non-coherent accumulation, described non-coherent accumulating value
Search for the position at non-coherent accumulation maximal value place, find the subframe frame head present position of Big Dipper navigation message Frame; Wherein, L represents the length of frame head, and n is the reference position of search.
2) position of field in determined week time the according to the frame head position, the segment base band signal S on the intercepting fixed position
r(m), with this locality reproduction signal S
n(m) carry out first the coherent accumulation and carry out again non-coherent accumulation, described non-coherent accumulating value
Search for non-coherent accumulation maximal value, information in the time of in the week of extraction navigation message is obtained the dipper system time; Wherein, L represents to store the bit number that the time takies in week, and Sn is corresponding to time series in n possible week.
Described step 2) in, for not about the first extraction of time priori, asks for all possible binary sequence S
n(m) corresponding non-coherent accumulating value is searched for non-coherent accumulation maximal value, the extraction when finishing in first week; Extract first for having obtained the non-of priori, estimate first the hunting zone of non-coherent accumulating value, in the hunting zone of the non-coherent accumulating value of estimating, ask for all possible binary sequence S
n(m) corresponding non-coherent accumulating value is searched for non-coherent accumulation maximal value, the extraction when finishing in week.
In the described step 1), described non-coherent accumulating value is calculated as follows:
In the described step 1), described non-coherent accumulating value is that the corresponding non-coherent accumulating value of a plurality of subframes carries out the cumulative final statistic that obtains of secondary, Acc2nd (n)=Acc (n)+Acc (n+P
Sf), P
SfIt is subframe lengths or cycle.
Described step 2) in, described non-coherent accumulating value is calculated as follows:
Described step 2) in, described non-coherent accumulating value is that the corresponding non-coherent accumulating value of a plurality of subframes carries out the cumulative final statistic that obtains of secondary,
Technique effect of the present invention:
The invention provides the auxiliary time service device of a kind of high sensitivity Big Dipper, the signal capture passage can only be caught one or be less than four Navsats, abominable signal block or damp condition under, even if only trace into a satellite, can not the completing place, in the positioning calculation situation of speed and time, information in the time of in the week that dependence is extracted from the navigation signal that receives, still can finish to the dipper system time synchronously, the satellite-signal that can adapt to standard time service method cisco unity malfunction is seriously decayed, the abominable signal environment such as visible satellite lazy weight provides highly sensitive time service service.
The time service method of the auxiliary time service device of the high sensitivity Big Dipper of the present invention, adopt the structure of Frame to transmit according to navigation message, Frame is made of a plurality of subframes, the beginning of each subframe is the frame head of a fixed pattern, all characteristics of information when interior have been comprised in the data subsequently, on the basis of catching and following the tracks of of finishing Big Dipper satellite signal, Big Dipper satellite signal according at least one that catches and trace into, at first search for the frame head position, behind the frame head location positioning, in the time of can extracting in Big Dipper week, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.Needn't carry out PVT and resolve, the outstanding advantage of method when only extracting in week is to resolve with standard P VT to compare the greatly computational load of reduction.
The present invention also provides the high sensitivity Big Dipper navigation that is embedded with the auxiliary time service device of above-mentioned high sensitivity Big Dipper Timing Receiver, comprises low-cost type high sensitivity Big Dipper navigation Timing Receiver and standard form high sensitivity Big Dipper navigation Timing Receiver two schemes.Low-cost type high sensitivity Big Dipper navigation Timing Receiver comprises the radio-frequency module that is connected with antenna, the signal capture module, signal trace module and described high sensitivity are assisted time service device, its advantage is that the signal capture passage can only be caught one or be less than four Navsats, needn't realize that PVT resolves, all be blocked so long as not all satellite-signals, then the time service service just can not interrupted, still provide relative precise time in the time of in week in the satellite-signal, this is so that the clock of satellite navigation receiver still can be regarded as a desirable accurate reference time in situation about can't locate.Standard form high sensitivity Big Dipper navigation Timing Receiver comprises the radio-frequency module that is connected with antenna, the signal capture module, the signal trace module, the auxiliary time service device of location time service module and described high sensitivity and time service mode selection module, its advantage is can be on the basis that the standard time service method that resolves based on PVT is provided, also has the function that high sensitivity time service service is provided, seriously decay at satellite-signal, under the abominable signal environment such as visible satellite lazy weight, during standard time service method cisco unity malfunction, still can obtain the dipper system time, the time service service is provided.
Description of drawings
Fig. 1 is the structural representation of the auxiliary time service device of the high sensitivity Big Dipper of the present invention.
Fig. 2 is the structural representation of low-cost type high sensitivity Big Dipper navigation Timing Receiver of the present invention.
Fig. 3 is the structural representation of standard form high sensitivity Big Dipper navigation Timing Receiver of the present invention.
Fig. 4 is the time service method process flow diagram that the present invention is based on the auxiliary time service device of the high sensitivity Big Dipper.
Fig. 5 is Big Dipper navigation message structure.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are described in further detail.
As shown in Figure 1, a kind of high sensitivity Big Dipper is assisted time service device, comprise in turn the frame head search correlator that connects, frame head search threshold judgement module, extract correlator in week the time and threshold judgement module in week the time, the output terminal of frame head search threshold judgement module and the input end connection that the output terminal of threshold judgement module also is connected correlator with frame head when interior of be connected; Frame head search correlator comprises interconnective frame head coherent accumulation module and the non-coherent accumulation of frame head module, the baseband signal fragment S that the input end input intercepting of frame head coherent accumulation module receives
r(n+m) and local reproduction signal S
l(m), carry out first the coherent accumulation and carry out again non-coherent accumulation, with the non-coherent accumulating value input frame head search threshold judgement module that obtains, calculating and comparison by frame head search threshold judgement module, determine whether to find the position of the subframe frame head of Big Dipper navigation message, if do not find frame head, repeat said process, if find frame head, extract correlator when inputing to the frame head position signalling in week; Non-coherent accumulation module when coherent accumulation module and week were interior when the extraction correlator comprised in interconnective week in the time of in week is after receiving definite frame head position signalling, with the segment base band signal S on the fixed position of intercepting
r(m) and local reproduction signal S
nExtract correlator when (m) inputing in week, carry out first the coherent accumulation and carry out again non-coherent accumulation, calculating and the comparison of threshold judgement module when the non-coherent accumulating value that obtains is interior by week, information in the time of in the week of extraction navigation message, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.Wherein, S
r(n+m) r in represents received, namely receives the meaning of signal, S
l(m) l in represents local, i.e. the meaning of local signal.
As shown in Figure 2, describe the present invention and be embedded with basic composition, structure and the signal flow direction that the above-mentioned high sensitivity Big Dipper is assisted the low-cost type high sensitivity Big Dipper navigation Timing Receiver of time service device.Comprise the auxiliary time service device of the radio-frequency module, signal capture module, signal trace module and the described high sensitivity that are connected with antenna, radio-frequency module connects respectively the input end of signal capture module and signal trace module, the output terminal of signal capture module connects the input end of signal trace module, and the output terminal of signal trace module connects the auxiliary time service device of described high sensitivity; Wherein, antenna mainly is responsible for the reception of signal; Radio-frequency module is responsible for the down coversion of signal, also comprises the A/D conversion in current Digital Receiver, and it is the basis of all back-end processing, and the quality of its signal directly affects the performance of receiver; Signal capture module and signal trace module are the base band signal process part of receiver, mainly are responsible for catching, follow the tracks of and locking of signal, comprise the output of various raw data and measurement data; When the signal capture module is only caught one or when being less than four satellite-signals, from the satellite-signal that receives, extracts week of navigation message information when interior by the auxiliary time service device of described high sensitivity, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.
In low-cost implementation, can select low-qualityer clock source.Its shortcoming is possible prolong the satellite signal acquisition task to finish the required time.If for the first positioning time of Navsat auxiliary clock system, namely the TTFF index is not done high requirement, then can consider low-cost clock scheme.Angle when obtaining in week, the signal capture passage can only be caught (or being less than four a) Navsat, and this is because needn't realize that PVT resolves, and also just need not to catch the signal of multi-satellite.The outstanding advantage of design when therefore, only extracting in week is to resolve with standard P VT to compare the greatly computational load of reduction.
As shown in Figure 3, describe the present invention and be embedded with basic composition, structure and the signal flow direction that the above-mentioned high sensitivity Big Dipper is assisted the standard form high sensitivity Big Dipper navigation Timing Receiver of time service device.Comprise the auxiliary time service device of radio-frequency module, signal capture module, signal trace module, location time service module and described high sensitivity and the time service mode selection module that are connected with antenna, radio-frequency module connects respectively the input end of signal capture module and signal trace module, the output terminal of signal capture module connects the input end of signal trace module, the output terminal of signal trace module connects respectively location time service module and the auxiliary time service device of described high sensitivity, and time service module in location is connected the output terminal of time service device to connect respectively the time service mode selection module with high sensitivity; When the signal capture module is caught four or four above satellite-signals, finish positioning calculation by location time service module, by time service mode selection module output positioning result and 1PPS signal; When the signal capture module is only caught one or when being less than four satellite-signals, from the satellite-signal that receives, extracts week of navigation message information when interior by the auxiliary time service device of described high sensitivity, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.
A kind of time service method based on the auxiliary time service device of described high sensitivity may further comprise the steps:
1) on the basis of catching and following the tracks of of finishing Big Dipper satellite signal, according at least one that catches and trace into Big Dipper satellite signal, obtains PRN code phase and Doppler frequency information; The baseband signal fragment S that intercepting receives
r(n+m), with this locality reproduction signal S
l(m) carry out dot-product operation, carry out the coherent accumulation, more described dot-product operation result is taken absolute value, carry out non-coherent accumulation, described non-coherent accumulating value
Search for the position at non-coherent accumulation maximal value place, find the subframe frame head present position of Big Dipper navigation message Frame; Wherein, L represents the length of frame head, and n is the reference position of search.
2) position of field in determined week time the according to the frame head position, the segment base band signal S on the fixed position of intercepting
r(m), with this locality reproduction signal S
n(m) carry out first the coherent accumulation and carry out again non-coherent accumulation, described non-coherent accumulating value
Search for non-coherent accumulation maximal value, the information when week of extraction navigation message is interior is obtained the dipper system time, and wherein, L represents to store the bit number that the time takies in week, and Sn is corresponding to interior time series of individual possible week of n.
Wherein, step 2) in, for not about the first extraction of time priori, ask for all possible binary sequence S
n(m) corresponding non-coherent accumulating value is searched for non-coherent accumulation maximal value, the extraction when finishing in first week; Extract first for having obtained the non-of priori, estimate first the hunting zone of non-coherent accumulating value, in the hunting zone of the non-coherent accumulating value of estimating, ask for all possible binary sequence S
n(m) corresponding non-coherent accumulating value is searched for non-coherent accumulation maximal value, the extraction when finishing in week.
As shown in Figure 4, for the present invention is based on the time service method process flow diagram of the auxiliary time service device of the high sensitivity Big Dipper.On the basis of catching and following the tracks of of finishing Big Dipper satellite signal, obtain PRN code phase and Doppler frequency information, then carry out coherent accumulation and the accumulation of non-coherent, and search for the position at non-coherent accumulation maximal value place, determine the frame head position; After the frame head location positioning, in the time of namely can extracting in Big Dipper week, when extracting in week before, must at first clearly have or not the priori about the time, if without the time priori, the calculating of the non-coherent accumulating value of full combination and search element when carrying out in week; If free priori, then estimate first the hunting zone of non-coherent accumulating value, reduce as far as possible operand, in the hunting zone of the non-coherent accumulating value of estimating, carry out the week in the time non-coherent accumulating value calculating and search element, search for non-coherent accumulation maximal value, the extraction when finishing in the Big Dipper navigation message week.
Satellite navigation message includes system time, clock corrects parameter, ionosphere delay model parameter, satellite ephemeris and satellite health condition information etc.This is for the result datas such as time, position coordinates, speed being provided to the user, processing for information about and be used for navigation satellite signal.Navigation message is broadcast to the user with the form of binary code equally, therefore is again numeric data code, or claims the D code.Text adopts the structure of Frame to transmit, and Frame is made of a plurality of subframes.The beginning of each subframe is the frame head of a fixed pattern, has comprised all interior time in the data subsequently, i.e. the x time of next subframe.
The frame head of fixed pattern can repeat the beginning in each subframe.In one implementation, the auxiliary time service device of the high sensitivity Big Dipper continues each subframe of search, uses non-coherent accumulation to determine the position of frame head.More particularly, the frame head of each subframe will be detected with non-coherent accumulation.In one implementation, the accumulation of non-coherent will be determined the satellite-signal (S that receives
r(m)) with local sequence (S
l(m)), such as frame head, between related function.
The satellite-signal that receives form with bit stream after phase-locking and coherent accumulation is kept in the memory unit of receiver baseband signal processing section, and each bit can be expressed as a plural A
rD (m) e
I θWherein, A
rBe the amplitude an of the unknown, θ is unknown phase place, and D (m) is the text sequence.The satellite-signal segment S that the sliding window intercepting that to set a width be L receives
r(n+m), calculate this fragment and local sequence S
l(m) absolute value of dot product (the again summation of multiplying each other) can obtain non-coherent accumulating value.The square journey of concrete computing method (1):
L is signal fragment or target sequence length.If text sequence to be detected is 0b0011110, then local target text sequence is complex sequences:
The satellite-signal that receives also is a complex sequences
S
r(m)=[A,A,-A,-A,-A,-A,A]e
iθ+N （3）
Wherein, N is multiple noise sequence.Corresponding element multiplies each other (complex multiplication) in each sequence, then with real part and the respectively addition of imaginary part of product, asks at last absolute value.Obviously, when input signal sequence coupling that target sequence and sliding window are truncated to, non-coherent accumulation obtains maximal value; And the non-coherent accumulating value that sequence obtains when not mating is less.Non-coherent accumulation also can be calculated as follows in another is realized:
Two kinds of Square legal effects are similarly, but the angle from realizing, second algorithm can be avoided the larger square root of operand, more saves the software/hardware expense.Change the value of sliding window position/n, calculating and more non-coherent accumulating value can determine to receive the residing position of frame head in the signal.The hunting zone, i.e. the variation range of n depends on the length of Big Dipper text subframe.In one implementation, calculate the non-coherent accumulating value of the subsequence that each element place begins in subframe of receiving sequence, the position at maximal value place is frame head.Under weak signal or very noisy condition, only Non-coherent Detection being carried out in the position of single frame head possibly can't obtain correct result.Solution is to calculate extra non-coherent accumulating value with first related operation regular length (subframe lengths) position that is separated by.Fig. 5 has showed the structure of navigation message and the relation of aforementioned a plurality of non-coherent accumulating values.Carry out related operation in the first subframe and obtain the first non-coherent accumulating value, carry out related operation in the second subframe and obtain the second non-coherent accumulating value, the 3rd subframe is carried out related operation and is obtained the 3rd non-coherent accumulating value.Only draw 3 subframes among the figure, in fact can obtain the 4th non-coherent accumulating value, the 5th non-coherent accumulating value with same thinking, by that analogy.Because frame head can constantly repeat on the same position of subsequent subframe, these non-coherent accumulating value additions that obtain in the corresponding position are obtained final detection statistic.Described non-coherent accumulating value is that the corresponding non-coherent accumulating value of a plurality of subframes carries out the cumulative final statistic that obtains of secondary, Acc2nd (n)=Acc (n)+Acc (n+P
Sf), P
SfIt is subframe lengths or cycle.The corresponding non-coherent accumulating value that forms final detection statistic is more, more helps the noise in the level and smooth detection statistic, improves detection sensitivity.
Similar thinking is followed in extraction in the time of in week, accumulates to realize with non-coherent equally.But concrete step is different, and reason is to have determined the frame head position according to the navigation message structure by aforementioned preamble detecting, and the position of field is also just clear and definite in the time of in week, thereby does not re-use sliding window but a segment base band signal on the intercepting fixed position.Be different from frame head, a second field changes always/increases progressively in week, does not repeat and is unknown at the beginning in adjacent sub-frame.
Extract minute without priori/extract first in the time of in week and have priori to extract.Extract owing to there is not priori first, must ask for all possible binary combination S
n(m) corresponding non-coherent accumulating value, the search maximal value thinks that maximum non-coherent accumulating value appears at the binary combination place of mating with actual time.Time service is used and may only be concerned about take 24 hours Hour Minute Seconds as mould, thereby reduces the hunting zone.The hunting zone, namely the variation range of n depends on the sum that time encoding makes up in the Big Dipper text week.In the weak signal situation, can use the way of accumulating again with the similar non-coherent accumulating value of preamble detecting to suppress noise, increase detection probability.Described non-coherent accumulating value is that the corresponding non-coherent accumulating value of a plurality of subframes carries out the cumulative final statistic that obtains of secondary,
The characteristic that field increases progressively when considering in adjacent sub-frame week, the local sequence that produces the non-coherent accumulating value from adjacent week time that participates in again accumulation should have definite corresponding relation.
In case extract when having a satellite to be successfully completed in first week, terminal has namely obtained the priori about the time.The auxiliary quantity that will greatly reduce binary combination to be searched of this priori alleviates the workload of extracting when this satellite and other satellite are in week.Portable terminal possibly can't guarantee that the signal of any satellite all may be off and on to the continuous tracking of satellite under the environment that seriously blocks.But all be blocked so long as not all satellite-signals, then the time service service can not interrupted, because terminal may alternately be extracted the interior time in the week of different satellites.
Compare with the standard time service method that resolves based on PVT, the clock correction correction frequency of this method is lower.The correction frequency of standard method depends on the frequency that PVT resolves, and usually above 1Hz, some Beidou receiver can reach 20Hz or higher.The clock correction of this method is proofreaied and correct and is equated that with the transmission frequency of subframe the duration of a Big Dipper signal subframe is usually in level second, so the clock correction correction frequency of this method is less than 1Hz.Because clock is gradually drift in time, the time is longer, and clock floats larger.Clock correction correction frequency is higher, and the clock of clock floats less.Therefore, the time service precision of this method is lower than with PVT and resolves standard time service method into the basis, but the abominable signal environments such as the satellite-signal that can adapt to standard time service method cisco unity malfunction is seriously decayed, visible satellite lazy weight.
Should be pointed out that the above embodiment can make the invention of those skilled in the art's comprehend, but do not limit the present invention in any way creation.Therefore, although this instructions and embodiment have been described in detail to the invention,, it will be appreciated by those skilled in the art that still and can make amendment or be equal to replacement the invention; And all do not break away from technical scheme and the improvement thereof of the spirit and scope of the invention, and it all is encompassed in the middle of the protection domain of the invention patent.
Claims (9)
1. a high sensitivity Big Dipper is assisted time service device, it is characterized in that, comprise in turn the frame head search correlator that connects, frame head search threshold judgement module, extract correlator in week the time and threshold judgement module in week the time, the output terminal of described frame head search threshold judgement module and the input end connection that the output terminal of threshold judgement module also is connected correlator with frame head when interior of be connected; Described frame head search correlator comprises interconnective frame head coherent accumulation module and the non-coherent accumulation of frame head module, the baseband signal fragment S that intercepting is received
r(n+m) and local reproduction signal S
l(m) carry out first coherent accumulation and carry out again non-coherent accumulation, the non-coherent accumulating value that obtains is calculated by frame head search threshold judgement module and compare, determine the subframe frame head present position of Big Dipper navigation message Frame; Non-coherent accumulation module when coherent accumulation module and week were interior when the extraction correlator comprised in interconnective week in the time of in described week is after receiving definite frame head position signalling, with the segment base band signal S on the fixed position of intercepting
r(m) and local reproduction signal S
n(m) carry out first the coherent accumulation and carry out again non-coherent accumulation, the non-coherent accumulating value that obtains threshold judgement module by in week the time is calculated and compared, information when extracting in week of navigation message, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.
2. low-cost type high sensitivity Big Dipper navigation Timing Receiver, it is characterized in that, comprise the auxiliary time service device of the radio-frequency module, signal capture module, signal trace module and the described high sensitivity that are connected with antenna, described radio-frequency module connects respectively the input end of signal capture module and signal trace module, the output terminal of signal capture module connects the input end of signal trace module, and the output terminal of described signal trace module connects the auxiliary time service device of described high sensitivity; When the signal capture module is only caught one or when being less than four satellite-signals, from the satellite-signal that receives, extracts week of navigation message information when interior by the auxiliary time service device of described high sensitivity, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.
3. standard form high sensitivity Big Dipper navigation Timing Receiver, it is characterized in that, comprise the radio-frequency module that is connected with antenna, the signal capture module, the signal trace module, the auxiliary time service device of location time service module and described high sensitivity and time service mode selection module, described radio-frequency module connects respectively the input end of signal capture module and signal trace module, the output terminal of signal capture module connects the input end of signal trace module, the output terminal of described signal trace module connects respectively location time service module and the auxiliary time service device of described high sensitivity, and time service module in location is connected the output terminal of time service device to connect respectively the time service mode selection module with high sensitivity; When the signal capture module is caught four or four above satellite-signals, finish positioning calculation by location time service module, by time service mode selection module output positioning result and 1PPS pps pulse per second signal; When the signal capture module is only caught one or when being less than four satellite-signals, from the satellite-signal that receives, extracts week of navigation message information when interior by the auxiliary time service device of described high sensitivity, output 1PPS pps pulse per second signal, finish to the dipper system time synchronously.
4. the time service method based on the auxiliary time service device of described high sensitivity is characterized in that, may further comprise the steps:
1) on the basis of catching and following the tracks of of finishing Big Dipper satellite signal, according at least one that catches and trace into Big Dipper satellite signal, obtains PRN code phase and Doppler frequency information; The baseband signal fragment S that intercepting receives
r(n+m), with this locality reproduction signal S
l(m) carry out dot-product operation, carry out the coherent accumulation, more described dot-product operation result is taken absolute value, carry out non-coherent accumulation, described non-coherent accumulating value
Search for the position at non-coherent accumulation maximal value place, find the subframe frame head present position of Big Dipper navigation message Frame; Wherein, L represents the length of frame head, and n is the reference position of search.
2) position of field in determined week time the according to the frame head position, the segment base band signal S on the intercepting fixed position
r(m), with this locality reproduction signal S
n(m) carry out first the coherent accumulation and carry out again non-coherent accumulation, described non-coherent accumulating value
Search for non-coherent accumulation maximal value, information in the time of in the week of extraction navigation message is obtained the dipper system time; Wherein, L represents to store the bit number that the time takies in week, and Sn is corresponding to time series in n possible week.
5. the time service method based on the auxiliary time service device of described high sensitivity according to claim 4 is characterized in that described step 2) in, for not about the first extraction of time priori, ask for all possible binary sequence S
n(m) corresponding non-coherent accumulating value is searched for non-coherent accumulation maximal value, the extraction when finishing in first week; Extract first for having obtained the non-of priori, estimate first the hunting zone of non-coherent accumulating value, in the hunting zone of the non-coherent accumulating value of estimating, ask for all possible binary sequence S
n(m) corresponding non-coherent accumulating value is searched for non-coherent accumulation maximal value, the extraction when finishing in week.
6. the time service method based on the auxiliary time service device of described high sensitivity according to claim 4 is characterized in that in the described step 1), described non-coherent accumulating value is calculated as follows:
7. according to claim 4 or 6 described time service methods based on the auxiliary time service device of described high sensitivity, it is characterized in that, in the described step 1), described non-coherent accumulating value is that the corresponding non-coherent accumulating value of a plurality of subframes carries out the cumulative final statistic that obtains of secondary, Acc2nd (n)=Acc (n)+Acc (n+P
Sf), P
SfIt is subframe lengths or cycle.
8. the time service method based on the auxiliary time service device of described high sensitivity according to claim 4 is characterized in that described step 2) in, described non-coherent accumulating value is calculated as follows:
9. according to claim 4 or 8 described time service methods based on the auxiliary time service device of described high sensitivity, it is characterized in that, described step 2) in, described non-coherent accumulating value is that the corresponding non-coherent accumulating value of a plurality of subframes carries out the cumulative final statistic that obtains of secondary
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