CN105607088A - Rapid guiding tracking device for satellite navigation multifrequency receiver signals - Google Patents

Rapid guiding tracking device for satellite navigation multifrequency receiver signals Download PDF

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Publication number
CN105607088A
CN105607088A CN201610088090.3A CN201610088090A CN105607088A CN 105607088 A CN105607088 A CN 105607088A CN 201610088090 A CN201610088090 A CN 201610088090A CN 105607088 A CN105607088 A CN 105607088A
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CN
China
Prior art keywords
frequency
signal
module
satellite
doppler
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610088090.3A
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Chinese (zh)
Inventor
杨丽莎
郑彬
向为
彭果
朱增贤
张华�
易文鑫
王帅
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HUNAN BEIYUN TECHNOLOGY Co Ltd
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HUNAN BEIYUN TECHNOLOGY Co Ltd
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Priority to CN201610088090.3A priority Critical patent/CN105607088A/en
Publication of CN105607088A publication Critical patent/CN105607088A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/243—Demodulation of navigation message
    • 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
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a rapid guiding tracking device for satellite navigation multifrequency receiver signals. Only one frequency point signal of multiple frequency point signals of one satellite is captured, other frequency point signals are not captured, guide tracking is directly carried out, so the signal capture time and realization complexity of a capture module can be reduced. At the tracking stage, text analysis on the only one frequency point signal is carried out by the same satellite, the other frequency point signals are only tracked but not decoded, the most pseudo range time is acquired through estimation, and thereby realization complexity of a text analysis module is reduced.

Description

A kind of satellite navigation multifrequency receiver signal guides tracking means fast
Technical field
The present invention relates to satellite navigation multifrequency receiver, particularly a kind of satellite navigation multifrequency receivesMachine signal guides tracking means fast.
Background technology
At present, the generally multiple frequency signal lists to same satellite of satellite navigation multifrequency receiverSolely catch, tracking and text decoding. Because trapping module is work in series, sameMultiple frequency signal demands of satellite take in turn trapping module and carry out signal capture, cause placeThe reason time is longer, and the compatible multiple frequencies of trapping module needs, and implementation complexity is higher.
In addition, the navigation message information content of multiple frequency signal modulation of same satellite has beenComplete identical, therefore all frequencies all being carried out to text parsing, also to have increased the realization of receiver multipleAssorted degree.
Summary of the invention
Technical problem to be solved by this invention is, for prior art deficiency, to provide one to defendStar navigation multifrequency receiver signal guides tracking means fast.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of satellite is ledBoat multifrequency receiver signal guides tracking means fast, comprising:
Antenna: for receiving the satellite-signal of space radiation;
Radio-frequency module: for by satellite-signal from rf conversion to intermediate frequency;
Trapping module: for the satellite numbering and the frequency point information pair that arrange according to positioning calculation moduleThe intermediate-freuqncy signal of radio-frequency channel output is caught, and output is caught result to bootstrap module; DescribedCatch result and comprise code phase and Doppler;
Bootstrap module: for according to the code phase of an intermediate-freuqncy signal and Doppler, calculate identicalCode phase and the Doppler of other frequency signals of satellite;
Tracking module: for according to the code phase of bootstrap module output and Doppler to each frequencySignal is followed the tracks of respectively, obtains the pseudorange decimal time;
Text parsing module: for arbitrary intermediate-freuqncy signal is wherein carried out to text decoding, ledBoat textual information, and from navigation message information, obtain large several time of pseudorange;
Positioning calculation module: for satellite numbering and the frequency point information that need to catch are set, andPosition and resolve according to navigation message information, large several time of pseudorange and pseudorange decimal time,Only obtain the intermediate-freuqncy signal of pseudorange decimal time for not carrying out text parsing, carry out puppet simultaneouslyApart from the estimation of large number time.
Pass between the Doppler of same satellite different frequent points signal is:
d 2 = d 1 f 2 f 1 ;
d 3 = d 1 f 3 f 1 ;
Wherein, d2Represent the Doppler of second frequency signal, d3Represent the 3rd frequency signalDoppler, d1Represent the Doppler that described trapping module Direct Acquisition obtains, f2Represent secondThe carrier radio frequency frequency of individual frequency signal, f3Represent the carrier radio frequency frequency of the 3rd frequency signal,f1Represent the corresponding carrier radio frequency frequency of intermediate-freuqncy signal of described trapping module Direct Acquisition; By upperThe Doppler of the intermediate-freuqncy signal of formula and Direct Acquisition calculates other intermediate-freuqncy signals of same satelliteDoppler.
The pass of the code phase of same satellite different frequent points signal is:p1+2＞p2＞p1-2; Wherein, p2Represent the code phase of second frequency signal, p1TableShow the code phase of the intermediate-freuqncy signal of Direct Acquisition.
Utilize same the satellite different frequent points signal code phase of code phase guiding of a signal captureThe process of position is: get p2＝p1, every half-chip arranges a correlation position, chip modelEnclosing is 4 chips, 8 correlation positions is set altogether, by p2Be arranged on 8 correlation positionsZhi center; Carry out the Parallel correlation computing of 8 code phases, and the maximum of looking for 8 correlationsValue, maximum value position is the accurate code phase location of intermediate-freuqncy signal.
The large several time t of pseudorangeeComputing formula be:
t e = [ t 0 - ( x u - x s ) c - t m s ] ;
Wherein, t0For local whole second time of receiver, XuFor receiver general location, XsFor defendingChampionship is put, and c is the light velocity, tmsFor the known pseudorange decimal time, [] is for rounding symbol.
Compared with prior art, the beneficial effect that the present invention has is: the present invention is at sameIn multiple frequency signals of satellite, only catch a frequency signal, other frequency signals are not caught,Directly guide tracking, thereby reduce the implementation complexity of signal capture time and trapping module.At tracking phase, same satellite only carries out text parsing to a frequency signal, other frequenciesSignal is only followed the tracks of not decoding, and large several time of pseudorange obtains by estimation, thereby reduces text solutionAnalyse the implementation complexity of module.
Brief description of the drawings
Fig. 1 is one embodiment of the invention structured flowchart.
Detailed description of the invention
Apparatus structure of the present invention is as shown in Figure 1:
Whole device comprises: antenna, radio-frequency channel, trapping module, bootstrap module, tracking mouldPiece, text parsing module, positioning calculation module. Antenna is connected with radio-frequency channel, radio-frequency channelBe connected with trapping module, trapping module is connected with bootstrap module, and bootstrap module and tracking module connectConnect, tracking module is connected with text parsing module and location Calculation module, text parsing module withPositioning calculation module connects, and positioning calculation module is connected with trapping module.
The operation principle of apparatus of the present invention is:
The satellite-signal of antenna reception space radiation, inputs to radio-frequency channel by signal. At radio frequencyIn passage, carry out down coversion, radiofrequency signal is transformed to intermediate-freuqncy signal. Positioning calculation module is to catchingObtain satellite numbering and frequency point information that module setting need to be caught, trapping module is according to positioning solutionCalculate the information of module setting and carry out signal capture. Catch the signal code phase place and the Doppler that obtainInformation is given bootstrap module. In bootstrap module, believe according to catching the code phase and the Doppler that obtainBreath calculates code phase and the Doppler of other frequency signals of same satellite. Tracking module basis is notCode phase and Doppler with frequency carry out respectively the tracking of different frequent points signal, obtain pseudorangeThe decimal time (following time of millisecond), export to positioning calculation module. Text parsing module pairThe signal of one of them frequency carries out text decoding, obtains navigation message information and the large number of pseudorangeTime (above time of millisecond), export to positioning calculation module. Other frequency signals do not carry outThe processing of text parsing module. Positioning calculation module according to navigation message, large several time of pseudorange withAnd the pseudorange decimal time position and resolve, obtain receiver location information. For not carrying out electricityThe frequency signal that literary composition is resolved, positioning calculation module can only obtain its pseudorange decimal time, and pseudorange is largeThe number time will obtain by the method for estimating.
The principle of the quick guiding and tracking method of multiple-frequency signal that the present invention proposes is:
1, in bootstrap module, catch code phase place and the Doppler according to a frequency calculates otherThe code phase of frequency and Doppler.
Speed of related movement between satellite and receiver is identical for different frequent points signal,Just, due to the carrier frequency difference of different frequent points signal, cause its signal Doppler difference, because ofBetween the Doppler of this same satellite different frequent points signal, exist certainty as follows to closeSystem:
d 2 = d 1 f 2 f 1 ;
d 3 = d 1 f 3 f 1 ;
Wherein, d2Represent the Doppler of second frequency signal, d3Represent the 3rd frequency signalDoppler, d1Represent the Doppler that described trapping module Direct Acquisition obtains, f2Represent secondThe carrier radio frequency frequency of individual frequency signal, f3Represent the carrier radio frequency frequency of the 3rd frequency signal,f1Represent the corresponding carrier radio frequency frequency of intermediate-freuqncy signal of described trapping module Direct Acquisition; By upperThe Doppler of the intermediate-freuqncy signal of formula and Direct Acquisition calculates other intermediate-freuqncy signals of same satelliteDoppler.
The signal of different carrier frequencies, by the space transmission delay of bringing in various degree, causes catchingCode phase difference. According to the lag characteristic of different frequent points, the deviation of code phase is less than 2 chips.Therefore there is following relation:
p1+2＞p2＞p1-2
Wherein, p2Represent the code phase of second frequency signal, p1Expression Direct Acquisition signalCode phase. Here first get p2＝p1, and determine actual chip deviation by following method.
Every half-chip arranges a correlation position, and chip range is 4 chips, Yi GongshePut 8 correlation positions, by p2Be arranged on the center of 8 correlation positions. Carry out 8 codesThe Parallel correlation computing of phase place, and the maximum of looking for 8 correlations, maximum value position is veryThe code phase location of real signal. Adopt said method to realize and only catch a frequency signal,Thereby the signal capture time is reduced to original 1/n (n is signal frequency point sum). Meanwhile,Trapping module only need be realized single-frequency and catch, and no longer needs compatible multiple frequency, has significantly reduced and has caughtObtain the implementation complexity of module.
2, in positioning calculation module, estimate large several time of pseudorange
In text parsing module, only a frequency signal is carried out to text decoding, therefore only haveThe signal of this frequency can directly obtain large several time of pseudorange, and other frequency signals must enterThe large several time Estimates of row pseudorange. Method of estimation is as follows:
t e = [ t 0 - ( x u - x s ) c - t m s ]
Wherein, teFor large several time of pseudorange, t0For the local whole second time of receiver (observation moment),XuFor receiver general location, XsFor satellite position, c is the light velocity, tmsFor known pseudorange littleThe number time, [] is for rounding symbol. Can estimate large several time of pseudorange according to above-mentioned formula,Can recover full pseudoranges in conjunction with the pseudorange decimal time directly obtaining, and then position solutionCalculate. Only can realize in this way a frequency signal is carried out to text decoding, thereby fallThe low implementation complexity of text decoding module.
The invention provides the apparatus and method that a kind of multiple-frequency signal guides tracking fast, not only canWith the reduction signal capture time, and can significantly reduce receiver implementation complexity.

Claims (5)

1. satellite navigation multifrequency receiver signal guides a tracking means fast, and its feature existsIn, comprising:
Antenna: for receiving the satellite-signal of space radiation;
Radio-frequency module: for by satellite-signal from rf conversion to intermediate frequency;
Trapping module: for the satellite numbering and the frequency point information pair that arrange according to positioning calculation moduleThe intermediate-freuqncy signal of radio-frequency channel output is caught, and output is caught result to bootstrap module; DescribedCatch result and comprise code phase and Doppler;
Bootstrap module: for according to the code phase of an intermediate-freuqncy signal and Doppler, calculate identicalCode phase and the Doppler of other frequency signals of satellite;
Tracking module: for according to the code phase of bootstrap module output and Doppler to each frequencySignal is followed the tracks of respectively, obtains the pseudorange decimal time;
Text parsing module: for arbitrary intermediate-freuqncy signal is wherein carried out to text decoding, ledBoat textual information, and from navigation message information, obtain large several time of pseudorange;
Positioning calculation module: for satellite numbering and the frequency point information that need to catch are set, andPosition and resolve according to navigation message information, large several time of pseudorange and pseudorange decimal time,Only obtain the intermediate-freuqncy signal of pseudorange decimal time for not carrying out text parsing, carry out puppet simultaneouslyApart from the estimation of large number time.
2. device according to claim 1, is characterized in that, same satellite differencePass between the Doppler of frequency signal is:
d 2 = d 1 f 2 f 1 ;
d 3 = d 1 f 3 f 1 ;
Wherein, d2Represent the Doppler of second frequency signal, d3Represent the 3rd frequency signalDoppler, d1Represent the Doppler that described trapping module Direct Acquisition obtains, f2Represent secondThe carrier radio frequency frequency of individual frequency signal, f3Represent the carrier radio frequency frequency of the 3rd frequency signal,f1Represent the corresponding carrier radio frequency frequency of intermediate-freuqncy signal of described trapping module Direct Acquisition; By upperThe Doppler of the intermediate-freuqncy signal of formula and Direct Acquisition calculates other intermediate-freuqncy signals of same satelliteDoppler.
3. device according to claim 1, is characterized in that, same satellite differenceThe pass of the code phase of frequency signal is: p1+2＞p2＞p1-2; Wherein, p2Represent theThe code phase of two frequency signals, p1Represent the code phase of the intermediate-freuqncy signal of Direct Acquisition.
4. device according to claim 3, is characterized in that, utilizes a signal to catchThe process of same the satellite different frequent points signal code phase place of code phase guiding obtaining is: getp2＝p1, every half-chip arranges a correlation position, and chip range is 4 chips,8 correlation positions are set altogether, by p2Be arranged on the center of 8 correlation positions; Carry outThe Parallel correlation computing of 8 code phases, and the maximum of looking for 8 correlations, maximum value positionBe the accurate code phase location of intermediate-freuqncy signal.
5. device according to claim 3, is characterized in that, the large several time t of pseudorangee'sComputing formula is:
t e = [ t 0 - ( X u - X s ) c - t m s ] ;
Wherein, t0For local whole second time of receiver, XuFor receiver general location, XsFor defendingChampionship is put, and c is the light velocity, tmsFor the known pseudorange decimal time, [] is for rounding symbol.
CN201610088090.3A 2016-02-17 2016-02-17 Rapid guiding tracking device for satellite navigation multifrequency receiver signals Pending CN105607088A (en)

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Cited By (7)

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CN106772470A (en) * 2016-12-23 2017-05-31 湖南北云科技有限公司 Satellite navigation multifrequency receiver multifrequency point time delay detection and bearing calibration, device
CN106802424A (en) * 2016-12-23 2017-06-06 湖南北云科技有限公司 A kind of quick guiding and tracking method of multifrequency satellite navigation neceiver and device
CN110716216A (en) * 2019-08-30 2020-01-21 和芯星通科技(北京)有限公司 B1C signal tracking method and device
CN110907957A (en) * 2019-10-23 2020-03-24 深圳华大北斗科技有限公司 Signal demodulation method, signal demodulation device, computer equipment and storage medium
CN112505731A (en) * 2020-11-25 2021-03-16 中国电子科技集团公司第五十四研究所 Satellite navigation signal wide-range code phase rapid traction method
CN113093233A (en) * 2021-04-12 2021-07-09 湖南国科微电子股份有限公司 Synchronous decoding method, device, equipment and medium for L6 frequency band satellite signals
CN116774256A (en) * 2023-08-18 2023-09-19 长沙金维信息技术有限公司 Signal frequency point capturing method, system, electronic device and storage medium

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CN103698773A (en) * 2014-01-13 2014-04-02 北京北斗星通导航技术股份有限公司 Big dipper multi-frequency-point satellite navigation receiver and board card thereof
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JP4869022B2 (en) * 2006-10-30 2012-02-01 日本無線株式会社 Satellite signal tracking device and satellite signal receiver including the same
CN101907715A (en) * 2010-08-05 2010-12-08 中国人民解放军国防科学技术大学 Precise delay implementation method for satellite navigation digital baseband signal
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CN103698773A (en) * 2014-01-13 2014-04-02 北京北斗星通导航技术股份有限公司 Big dipper multi-frequency-point satellite navigation receiver and board card thereof
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CN106802424A (en) * 2016-12-23 2017-06-06 湖南北云科技有限公司 A kind of quick guiding and tracking method of multifrequency satellite navigation neceiver and device
CN106772470B (en) * 2016-12-23 2019-06-18 湖南北云科技有限公司 Satellite navigation multifrequency receiver multifrequency point time delay detection and bearing calibration, device
CN106772470A (en) * 2016-12-23 2017-05-31 湖南北云科技有限公司 Satellite navigation multifrequency receiver multifrequency point time delay detection and bearing calibration, device
CN110716216B (en) * 2019-08-30 2022-02-25 和芯星通科技(北京)有限公司 B1C signal tracking method and device
CN110716216A (en) * 2019-08-30 2020-01-21 和芯星通科技(北京)有限公司 B1C signal tracking method and device
CN110907957A (en) * 2019-10-23 2020-03-24 深圳华大北斗科技有限公司 Signal demodulation method, signal demodulation device, computer equipment and storage medium
CN110907957B (en) * 2019-10-23 2022-04-01 深圳华大北斗科技股份有限公司 Signal demodulation method, signal demodulation device, computer equipment and storage medium
CN112505731B (en) * 2020-11-25 2022-05-06 中国电子科技集团公司第五十四研究所 Satellite navigation signal wide-range code phase rapid traction method
CN112505731A (en) * 2020-11-25 2021-03-16 中国电子科技集团公司第五十四研究所 Satellite navigation signal wide-range code phase rapid traction method
CN113093233A (en) * 2021-04-12 2021-07-09 湖南国科微电子股份有限公司 Synchronous decoding method, device, equipment and medium for L6 frequency band satellite signals
CN113093233B (en) * 2021-04-12 2024-04-12 湖南国科微电子股份有限公司 Synchronous decoding method, device, equipment and medium for L6 frequency band satellite signals
CN116774256A (en) * 2023-08-18 2023-09-19 长沙金维信息技术有限公司 Signal frequency point capturing method, system, electronic device and storage medium
CN116774256B (en) * 2023-08-18 2023-10-24 长沙金维信息技术有限公司 Signal frequency point capturing method, system, electronic device and storage medium

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