CN104765054A - GNSS pseudo-random code capturing method and device - Google Patents
GNSS pseudo-random code capturing method and device Download PDFInfo
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- CN104765054A CN104765054A CN201510189191.5A CN201510189191A CN104765054A CN 104765054 A CN104765054 A CN 104765054A CN 201510189191 A CN201510189191 A CN 201510189191A CN 104765054 A CN104765054 A CN 104765054A
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- 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
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Abstract
The invention discloses a GNSS pseudo-random code capturing method and device. The method includes the steps that a pseudo-random code sequence and a sampling point sequence are obtained and stored through a receiver; the stored pseudo-random code sequence is segmented according to the first preset value so as to obtain sub pseudo-random code sequences; correlation operation is conducted on all the segmented sub pseudo-random code sequences and the stored sampling point sequence, and correlation values corresponding to all code phases are obtained; the correlation values corresponding to all the computed code phases are judged, and the captured code phases are determined. By means of the technical scheme, the pseudo-random code capturing time is lowered, the pseudo-random code capturing sensitivity is improved, and capturing of long-periodic codes is achieved.
Description
Technical field
The present invention relates to the navigation neceiver technology of GPS (Global Position System), the catching method of the middle pseudo-random code of espespecially a kind of GPS (Global Position System) (GNSS, Global Navigation Satellite System) and device.
Background technology
Spread spectrum communication system, owing to having anti-interference, low probability of intercept, can realize the feature such as CDMA and anti-multipath effect, is used widely all in civilian, commercial and military field.
The despreading of spread spectrum system is the prerequisite of data demodulates, and it is consistent with the spread spectrum code sequence phase place received to realize the local spread spectrum code sequence that despreading just must make receiver, pseudo-code that Here it is synchronous, is called catching of pseudo-code or catching of code phase.
GNSS signal is spread-spectrum signal, has two kinds at present to the common method of catching at the beginning of pseudo-random code in GNSS: sliding correlation method and matching matrix.Wherein, the advantage of sliding correlation method realizes simply, and spent resource is less, but when local pseudo-code and reception pseudo-code phase difference are larger, sliding correlation method needs the search time that experience is very long, realizes fast Acquisition comparatively difficult.The remarkable advantage of matching matrix is that speed is fast, and capture time is short, easily realizes fast Acquisition; Shortcoming is that the resource spent by design is larger when pseudo-code is long code.
The acquisition procedure of traditional sliding correlation method is divided into four steps, the first step, storage Pseudo random code sequence, input sample point; Second step, often inputs a sampled point, carries out a related operation; 3rd step, preserves each correlated results, and the number of correlated results is the number needing the code phase of catching; 4th step, adjudicates the correlation preserved, obtains the code phase of catching.
Wherein, the sampled point (data modulated by frequency expansion sequence namely received) of input is designated as s
0, s
1..., s
m, local pseudo-random code sequence is c
0, c
1..., c
n.Then the most basic related operation is as shown in formula (1):
In formula (1), x
kbe called integrated value or correlation, the size of n is called integral time or persistence length, and related operation process is above called that a period of time is the integration of n or is correlated with.When corresponding to the correlation x of phase place k
kreach judgement when requiring, think phase acquisition success.
There are following 2 problems in the catching method of above-mentioned sliding correlation method: one is, owing to not preserving sampled point to local, can not segmentation calculate, therefore a related operation calculated amount is large, uses resource many; Two are, capture ability is restricted, and can not complete catching of short period code and long period code simultaneously.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides catching method and the device of pseudo-random code in a kind of GNSS, the time of pseudo-random code catching can be reduced, to realize catching of long period code, improve the acquisition sensitivity of pseudo-random code.
In order to reach the object of the invention, the invention provides the catching method of pseudo-random code in a kind of GNSS, comprising:
Receiver obtains and preserves pseudo-random code sequence and sampled point sequence;
According to the first preset value, segmentation is carried out, to obtain sub-pseudo-random code sequence to the pseudo-random code sequence preserved;
Related operation is carried out to the sampled point sequence of each sub-pseudo-random code sequence after segmentation and preservation, obtains the correlation corresponding with each code phase;
The correlation corresponding with each code phase calculated is adjudicated, determines the code phase of catching gained.
Further, also comprise before the method: according to acquisition sensitivity and the resource restriction of above-mentioned receiver, determine the integration lengths of above-mentioned related operation.
Further, above-mentionedly carry out related operation, obtain the correlation corresponding with each code phase, comprising:
By above-mentioned sampled point sequence of having preserved respectively with above-mentioned segmentation after the code phase alignment of each sub-pseudo-random code sequence that obtains;
The correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence is calculated respectively according to the integration lengths of related operation.
Further, the above-mentioned correlation calculating the sampled point sequence after alignment and each sub-pseudo-random code sequence respectively according to the integration lengths of related operation, comprising:
According to the second preset value, segmentation is carried out to the integration lengths of above-mentioned related operation, obtain each sub-integration lengths;
Sampled point sequence after dividing length computation to align according to each subproduct after segmentation respectively and the sub-correlation of each sub-pseudo-random code sequence;
Sub-correlation identical for code phase is added, obtains the correlation corresponding with each code phase.
Further, above-mentionedly determine that the code phase of catching gained comprises:
The correlation corresponding with each code phase calculated is compared with decision threshold respectively;
When the correlation that code phase is corresponding is greater than above-mentioned decision threshold, then this code phase is the code phase of catching gained.
Further, in above-mentioned sampled point sequence, the number of sampled point is the integration lengths of above-mentioned related operation and above-mentioned preset value sum.
Present invention also offers the acquisition equipment of pseudo-random code in a kind of GNSS, comprising: preserve module, segmentation module, computing module and the first determination module; Wherein,
Preserve module, for obtaining and preserving pseudo-random code sequence and sampled point sequence;
Segmentation module, for carrying out segmentation, to obtain sub-pseudo-random code sequence according to the first preset value to the pseudo-random code sequence preserved;
Computing module, for carrying out related operation to the sampled point sequence of each sub-pseudo-random code sequence after segmentation and preservation, obtains the correlation that each code phase is corresponding;
First determination module, for adjudicating the correlation corresponding with each code phase calculated, determines the code phase of catching gained.
Further, this device also comprises: the second determination module, for: according to acquisition sensitivity and the resource restriction of above-mentioned receiver, determine the integration lengths of above-mentioned related operation.
Further, above-mentioned computing module, specifically for:
By above-mentioned sampled point sequence of having preserved respectively with above-mentioned segmentation after the code phase alignment of each sub-pseudo-random code sequence that obtains;
The sub-correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence is calculated respectively according to the integration lengths of related operation.
Further, above-mentioned computing module, calculates the sub-correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence respectively, comprising according to the integration lengths of the related operation determined:
According to the second preset value, segmentation is carried out to the integration lengths of above-mentioned related operation, obtain each sub-integration lengths;
Sampled point sequence after dividing length computation to align according to each subproduct after segmentation respectively and the sub-correlation of each sub-pseudo-random code sequence;
Sub-correlation identical for code phase is added, obtains the correlation corresponding with each code phase.
Further, above-mentioned first determination module, specifically for:
The correlation corresponding with each code phase calculated is compared with decision threshold respectively;
When the correlation that code phase is corresponding is greater than above-mentioned decision threshold, then this code phase is the code phase of catching gained.
Technical solution of the present invention comprises: receiver obtains and preserves pseudo-random code sequence and sampled point sequence; According to the first preset value, segmentation is carried out, to obtain sub-pseudo-random code sequence to the pseudo-random code sequence preserved; Related operation is carried out to the sampled point sequence of each sub-pseudo-random code sequence after segmentation and preservation, obtains the correlation corresponding with each code phase; The correlation corresponding with each code phase calculated is adjudicated, determines the code phase of catching gained.Technical solution of the present invention reduces the time of pseudo-random code catching, achieves catching of long period code, improves the acquisition sensitivity of pseudo-random code.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the process flow diagram of the catching method of pseudo-random code in GNSS of the present invention;
Fig. 2 is the structural representation of the acquisition equipment of pseudo-random code in GNSS of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, hereinafter will be described in detail to embodiments of the invention by reference to the accompanying drawings.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combination in any mutually.
According to above-mentioned formula (1), can see, by keeping pseudo-random code constant, the phase place changing sampled point is correlated with; Also by keeping the phase invariant of sampled point, pseudo-random code phases can be changed and is correlated with.May Data Modulation be comprised in GNSS signal due to input, so in related operation, should avoid in integral time because modulating data upset causes energy loss.So integration period should always from PN-code capture initial, the terminal to PN-code capture terminates.In general, only have first method just can ensure this point, this is because in a PN-code capture, the data of sampled point can not be modulated.In addition, inventor, by above-mentioned formula (1), finds that integral time is longer, the x obtained
kvalue will be larger, corresponding acquisition sensitivity higher (under normal circumstances, acquisition sensitivity is more high better), but due to the restriction of resource, integration lengths can be limited, so the length of integration should meet the requirement of acquisition sensitivity, and is no more than resource restriction.The improvement that the present invention carries out just on this basis.
Fig. 1 is the process flow diagram of the catching method of pseudo-random code in GNSS of the present invention, as shown in Figure 1, comprises the following steps:
Step 101: receiver obtains and preserves pseudo-random code sequence and sampled point sequence.
Further, also comprise before the method: according to acquisition sensitivity and the resource restriction of receiver, determine the integration lengths of related operation.
It should be noted that, preserve sampled point sequence in step 101, is to reduce total capture time, thus solves the limited problem of capture ability.About the integration lengths how determining related operation, belong to common practise well-known to those skilled in the art, be not used for limiting the present invention, do not repeat them here.
Step 102: segmentation is carried out, to obtain sub-pseudo-random code sequence to the pseudo-random code sequence preserved according to the first preset value.
It should be noted that, carry out segmentation in this step to the pseudo-random code sequence preserved, is to solve the large problem of correlation computations amount and can realizing catching of short period code and long period code.
Further, before step 102, the method also comprises: judge whether the local pseudo-random code sequence stored is long pseudo-random code sequence, when the pseudo-random code sequence stored is long pseudo-random code sequence, proceeds to step 102 when this locality; When the pseudo-random code sequence stored when this locality is short pseudo-random code sequence, according to the 3rd preset value, segmentation is carried out to the integration lengths of described related operation, obtain each sub-integration lengths;
The sub-correlation of length computation sampled point sequence and pseudo-random code sequence is divided respectively according to each subproduct after segmentation;
Sub-correlation identical for code phase is added, obtains the correlation corresponding with each code phase.Afterwards, step 104 is proceeded to.
Step 103: related operation is carried out to the sampled point sequence of each sub-pseudo-random code sequence after segmentation and preservation, obtains the correlation corresponding with each code phase.
Wherein, carry out related operation, obtain the sub-correlation corresponding with code phase, comprising:
By the sampled point sequence of having preserved respectively with segmentation after the code phase alignment of each sub-pseudo-random code sequence that obtains;
The correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence is calculated respectively according to the integration lengths of related operation.
Wherein, calculate the correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence respectively according to the integration lengths of related operation, comprising:
According to the second preset value, segmentation is carried out to the integration lengths of described related operation, obtain each sub-integration lengths;
Sampled point sequence after dividing length computation to align according to each subproduct after segmentation respectively and the sub-correlation of each sub-pseudo-random code sequence;
Sub-correlation identical for code phase is added, obtains the correlation corresponding with each code phase.
Step 104: the correlation corresponding with each code phase calculated is adjudicated, determines the code phase of catching gained.Specifically comprise:
The correlation corresponding with each code phase calculated is compared with decision threshold respectively;
When the correlation that code phase is corresponding is greater than decision threshold, then this code phase is the code phase of catching gained.
Further, in sampled point sequence, the number of sampled point is integration lengths and the preset value sum of related operation.It should be noted that, in a step 101, the length of the sampled point sequence of preserving can be determined according to the integration lengths of related operation and preset value.In the present invention, said sampled point sequence is continuous print sampled point sequence, and centre does not have breakpoint.
Illustrate why the inventive method can improve the acquisition sensitivity of pseudo-random code and realize catching of short period code and long period code below.Phase acquisition is generally divided into two kinds of situations, is a kind ofly more than or equal to the length of the pseudo-random code sequence that needs are caught for integration lengths; A kind ofly be less than the length of the pseudo-random sequence that needs are caught for integration lengths.For the first situation, suppose to need the pseudo random sequence length of catching to be N (N is by the restriction of storage resources), integral time is 2*N.Then can know (if N number of code phase will be calculated according to formula (1) above, just need the sampling number certificate of 3*N), storage length is needed to be the pseudo-random code sequence of N, length is the sampling number certificate of 3*N, and guarantee has carried out related operation to all code phases that length is N.Sampled point and pseudo-random sequence are saved in after in internal memory, can start to carry out related operation to it.Due to the restriction of implementation complexity and resource, the related operation that integration lengths is 2*N can not be completed in a correlation computations, but first complete the related operation that integration lengths is N, and then complete the related operation that integration lengths is N, the correlation of twice is added, as total correlation, can greatly reduce related operation amount.For the second situation, suppose to need the pseudo random sequence length of catching to be 3*N (N is by the restriction of storage resources), integral time is N.Then can know according to formula (1) above, need storage length to be the pseudo-random code sequence of 3*N, length is the sampling number certificate of 2*N, and guarantee has carried out related operation to all code phases that length is 3*N.Sampled point and pseudo-random code sequence can start to carry out related operation to it, particularly, pseudo-random code sequence are divided into the sub-pseudo-random code sequence that 3 segment length are N, then 3 cross-talk pseudo-random code sequences be carried out respectively to the calculating of the first situation after preserving.Can see, for the second situation, only employing one group of length is the correlator of N, just completes the search that length is the code phase of 3*N.
In the inventive method, by preserving the sampled point sequence needed, reduce the time of acquiring pseudo code; After segmentation is carried out to the pseudo-random code sequence preserved, calculate correlation, achieve catching long period code, by the segmentation to integration lengths, then calculate correlation, improve the acquisition sensitivity of pseudo-random code.
Fig. 2 is the structural representation of the acquisition equipment of pseudo-random code in GNSS of the present invention, as shown in Figure 2, comprising: preserve module, segmentation module, computing module and the first determination module.Wherein,
Preserve module, for obtaining and preserving pseudo-random code sequence and sampled point sequence.
Segmentation module, for carrying out segmentation, to obtain sub-pseudo-random code sequence according to the first preset value to the pseudo-random code sequence preserved.
Computing module, for carrying out related operation to the sampled point sequence of each sub-pseudo-random code sequence after segmentation and preservation, obtains the correlation corresponding with each code phase.
Wherein, computing module, specifically for:
By the sampled point sequence of having preserved respectively with segmentation after the code phase alignment of each sub-pseudo-random code sequence that obtains;
The sub-correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence is calculated respectively according to the integration lengths of related operation.
Wherein, computing module, calculates the sub-correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence respectively, comprising according to the integration lengths of the related operation determined:
According to the second preset value, segmentation is carried out to the integration lengths of described related operation, obtain each sub-integration lengths;
Sampled point sequence after dividing length computation to align according to each subproduct after segmentation respectively and the sub-correlation of each sub-pseudo-random code sequence;
Sub-correlation identical for code phase is added, obtains the correlation corresponding with each code phase.
First determination module, for adjudicating the correlation corresponding with each code phase calculated, determines the code phase of catching gained.
Wherein, the first determination module, specifically for:
The correlation corresponding with each code phase calculated is compared with decision threshold respectively;
When the correlation that code phase is corresponding is greater than decision threshold, then this code phase is the code phase of catching gained.
Further, this device also comprises: the second determination module, for: according to acquisition sensitivity and the resource restriction of receiver, determine the integration lengths of related operation.
Further, the second determination module, also for determining the number of sampled point in sampled point sequence, wherein in sampled point sequence, the number of sampled point is integration lengths and the preset value sum of related operation.
The all or part of step that one of ordinary skill in the art will appreciate that in said method is carried out instruction related hardware by program and is completed, and described program can be stored in computer-readable recording medium, as ROM (read-only memory), disk or CD etc.Alternatively, all or part of step of above-described embodiment also can use one or more integrated circuit to realize.Correspondingly, each module/unit in above-described embodiment can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.The application is not restricted to the combination of the hardware and software of any particular form.
Although the embodiment disclosed by the present invention is as above, the embodiment that described content only adopts for ease of understanding the present invention, and be not used to limit the present invention.Those of skill in the art belonging to any the present invention; under the prerequisite not departing from the spirit and scope disclosed by the present invention; any amendment and change can be carried out in the form implemented and details; but scope of patent protection of the present invention, the scope that still must define with appending claims is as the criterion.
Claims (11)
1. the catching method of pseudo-random code in GPS (Global Position System) GNSS, is characterized in that, comprising:
Receiver obtains and preserves pseudo-random code sequence and sampled point sequence;
According to the first preset value, segmentation is carried out, to obtain sub-pseudo-random code sequence to the pseudo-random code sequence preserved;
Related operation is carried out to the sampled point sequence of each sub-pseudo-random code sequence after segmentation and preservation, obtains the correlation corresponding with each code phase;
The correlation corresponding with each code phase calculated is adjudicated, determines the code phase of catching gained.
2. catching method according to claim 1, is characterized in that, also comprises before the method: according to acquisition sensitivity and the resource restriction of described receiver, determine the integration lengths of described related operation.
3. catching method according to claim 2, is characterized in that, described in carry out related operation, obtain the correlation corresponding with each code phase, comprising:
By described sampled point sequence of having preserved respectively with described segmentation after the code phase alignment of each sub-pseudo-random code sequence that obtains;
The correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence is calculated respectively according to the integration lengths of related operation.
4. catching method according to claim 3, is characterized in that, the described correlation calculating the sampled point sequence after alignment and each sub-pseudo-random code sequence respectively according to the integration lengths of related operation, comprising:
According to the second preset value, segmentation is carried out to the integration lengths of described related operation, obtain each sub-integration lengths;
Sampled point sequence after dividing length computation to align according to each subproduct after segmentation respectively and the sub-correlation of each sub-pseudo-random code sequence;
Sub-correlation identical for code phase is added, obtains the correlation corresponding with each code phase.
5. the catching method according to claim 1 or 4, is characterized in that, describedly determines that the code phase of catching gained comprises:
The correlation corresponding with each code phase calculated is compared with decision threshold respectively;
When the correlation that code phase is corresponding is greater than described decision threshold, then this code phase is the code phase of catching gained.
6. the catching method according to claim 2-5 any one, is characterized in that, in described sampled point sequence, the number of sampled point is the integration lengths of described related operation and described preset value sum.
7. the acquisition equipment of pseudo-random code in GPS (Global Position System) GNSS, is characterized in that, comprising: preserve module, segmentation module, computing module and the first determination module; Wherein,
Preserve module, for obtaining and preserving pseudo-random code sequence and sampled point sequence;
Segmentation module, for carrying out segmentation, to obtain sub-pseudo-random code sequence according to the first preset value to the pseudo-random code sequence preserved;
Computing module, for carrying out related operation to the sampled point sequence of each sub-pseudo-random code sequence after segmentation and preservation, obtains the correlation that each code phase is corresponding;
First determination module, for adjudicating the correlation corresponding with each code phase calculated, determines the code phase of catching gained.
8. acquisition equipment according to claim 7, is characterized in that, this device also comprises: the second determination module, for: according to acquisition sensitivity and the resource restriction of described receiver, determine the integration lengths of described related operation.
9. acquisition equipment according to claim 8, is characterized in that, described computing module, specifically for:
By described sampled point sequence of having preserved respectively with described segmentation after the code phase alignment of each sub-pseudo-random code sequence that obtains;
The sub-correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence is calculated respectively according to the integration lengths of related operation.
10. acquisition equipment according to claim 9, is characterized in that, described computing module, calculates the sub-correlation of the sampled point sequence after alignment and each sub-pseudo-random code sequence respectively, comprising according to the integration lengths of the related operation determined:
According to the second preset value, segmentation is carried out to the integration lengths of described related operation, obtain each sub-integration lengths;
Sampled point sequence after dividing length computation to align according to each subproduct after segmentation respectively and the sub-correlation of each sub-pseudo-random code sequence;
Sub-correlation identical for code phase is added, obtains the correlation corresponding with each code phase.
11. acquisition equipments according to claim 7 or 10, is characterized in that, described first determination module, specifically for:
The correlation corresponding with each code phase calculated is compared with decision threshold respectively;
When the correlation that code phase is corresponding is greater than described decision threshold, then this code phase is the code phase of catching gained.
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