CN105974442B - Satellite navigation system hardware-in-the-loop simulation test platform and its method - Google Patents
Satellite navigation system hardware-in-the-loop simulation test platform and its method Download PDFInfo
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- CN105974442B CN105974442B CN201610288228.4A CN201610288228A CN105974442B CN 105974442 B CN105974442 B CN 105974442B CN 201610288228 A CN201610288228 A CN 201610288228A CN 105974442 B CN105974442 B CN 105974442B
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
The invention discloses a kind of satellite navigation system hardware-in-the-loop simulation test platform and its methods, including the ends PC emulation module, ethernet communication module, satellite-signal baseband processing unit, radio-frequency module, wherein satellite-signal baseband processing unit includes processor, bus control unit, internal storage RAM, satellite signal acquisition module, satellite-signal tracking module, low speed bus controller, data transmission bus；Test platform of the present invention acquires satellite-signal by radio-frequency module, it is handled again through satellite-signal baseband processing unit, then the emulation module for being transmitted to the ends PC in real time by Ethernet interface is handled, handling result is fed back into satellite-signal baseband processing unit after the completion of the emulation module processing at the ends PC, capture and tracking mode of the satellite-signal baseband processing unit to satellite-signal are updated, the hardware closed loop of an emulation testing is consequently formed.
Description
Technical field
The invention belongs to satellite navigation positioning technical fields, are that a kind of satellite navigation system hardware in loop is real more specifically
When simulation test platform and its method.
Background technology
The national military and national career development of Technique of Satellite Navigation and Positioning pair one suffers from important meaning, in order to
The dependence to GPS of America positioning system is broken away from, many countries all carry out the satellite navigation system research belonged to one after another.At present more
There are three ripe satellite navigation systems, including the GPS positioning system in the U.S., the GLONASS positioning systems of Russia and in
The BEI-DOU position system of state.By GPS positioning principles it is found that demodulate complete navigation data, it is necessary to be connect locally
The carrier wave and code signal received generator terminal reproduction and receive signal bit synchronization.In the acquisition procedure of GPS baseband signals, one is obtained
The carrier frequency and code phase of rough estimate value.Tracking section refines this "ball-park" estimate value, and constantly adjusts
The value of local carrier and code phase makes it be followed by the variation of input signal phase always.When track loop enter it is stable
After tracking mode, so that it may to obtain accurate navigation message information, then be resolved to navigation data, you can complete positioning
Function.The key component for being designed to satellite navigation system of track loop as a result, to the positioning accuracy of satellite navigation system and
Stability plays the role of critical.Meanwhile the parameter designing of track loop is complicated, especially in the satellite navigation of high dynamic
In system and integrated navigation system, the design of track loop is verified, is implemented as the key one designed for satellite navigation system
Ring.
Hardware in loop is a kind of important engineer application form of Real-time Simulation Technology, i.e., controlled device uses real-time mathematical mould
Pattern is quasi-, is connect with true controller, carries out the semi-physical real-time simulation test of whole system, can conveniently realize design
The development cycle is shortened in the verification and optimization of scheme, reduces R＆D costs.Hardware in loop has obtained extensively in motor, power domain
Utilization, such as：In the paper that Huang Surong is delivered《Hardware in loop based on field programmable gate array permanent magnet synchronous motor model
Real-time simulation measuring technology》Middle introduction hardware in loop is applied to realize the performance test of electric machine controller, design verification and
Optimization, but in communication, navigation field or blank out.
Invention content
Present invention solves the technical problem that being to overcome the deficiencies of the prior art and provide one kind and can efficiently solve satellite to lead
Boat system tracks the very complicated problem of ring parameter testing, facilitates the design of track loop, improves the design of algorithm, debug, test
Card, the efficiency realized, and realize the satellite navigation system hardware-in-the-loop simulation test of the positioning function of satellite navigation system
Platform and its method.The research and development and realization of the satellite navigation system hardware-in-the-loop simulation test platform fill up internal and international
In the blank of satellite navigation system hardware-in-the-loop simulation test.
In order to solve the above technical problems, the technical solution adopted by the present invention is as follows：
The satellite navigation system hardware-in-the-loop simulation test platform of the present invention, satellite navigation system hardware of the invention
In ring Real-time Simulation Test Platform, include the ends PC emulation module, ethernet communication module, satellite-signal baseband processing unit,
Radio-frequency module, wherein：
Satellite-signal baseband processing unit includes processor, bus control unit, internal storage RAM, satellite signal acquisition
Module, satellite-signal tracking module, bus control unit, data transmission bus；
Processor, the data operation for completing satellite-signal base band, control capture and the operation of tracking module are interrupted,
And receive the information of capture and tracking module；
Bus control unit, the data transmission for controlling data/address bus；
Internal storage RAM, for completing the storage of the data on processor and bus and caching；
Satellite signal acquisition module, for completing the capture to satellite-signal, it includes satellite to obtain initial ephemeris information
Number, initial phase and initial frequency deviation；
Satellite-signal tracking module, the tracking for completing satellite-signal, and provide satellite according to the update cycle of satellite
Phase value and frequency deviation value and ephemeris information；
Low speed bus controller for completing the conversion between external GPIO interface and inner high speed bus, and controls outer
Portion's GPIO interface；
Data transmission bus, for completing the data transmission inside satellite-signal baseband processing unit；
The ends PC emulation module, the I branches and Q branches transmitted by Ethernet for completing satellite-signal baseband processing unit
The processing of correlation results data, and the result of processing is transmitted to satellite-signal baseband processing unit by Ethernet, in real time more
The capture of new satellite-signal and tracking mode；
Ethernet communication module, for completing the communication between the ends PC emulation module and satellite-signal baseband processing unit；
Radio-frequency module, filtering, down coversion and analog-to-digital conversion for completing satellite-signal.
The ends PC emulation module and satellite-signal baseband processing unit carry out real-time Communication for Power using the Ethernet of 100M.
The ethernet communication module receives the phase of completion the I branches and Q branches of satellite-signal baseband processing unit processing
Cumulative data is closed, and FIFO is cached to data, is finally transmitted to the ends PC emulation module again.
The ethernet communication module is by the result after the true resume module I branches in the ends PC cumulative data related to Q branches
It is cached in FIFO, finally sends the result to satellite-signal baseband processing unit.
The satellite signal acquisition module is extracted using semi-band filtering and four times by the ADC sampled datas of 16.368Mps
Rate becomes 4.092Mps.
The satellite signal acquisition module, using partial matched filter by input signal and locally generated C/A codes into
Row related operation, and according to different associated time lengths, using different tap numbers.
The satellite signal acquisition module uses RAM to requiring 6 correlation result to cache, and according to different
Data are used two sizes to be cached for the RAM of 32KB by tap, and the value that different taps is deposited per 1ms is different, that is, is filled with
4092*N（N is tap number）The space of point is different, therefore the time cached is also different；And satellite signal acquisition module is using table tennis
Read-write mode operates the spatial cache that the RAM that two sizes are 32KB forms a 64KB, improves the efficiency of system；In addition, defending
Star signal capture module uses base as 4, counts as 64 points of FFT to requiring the correlation integral value of 8 cachings to carry out operation, parallel complete
At the search of frequency.
The satellite signal acquisition module sentences 64 values for requiring 9 FFT to export using the method for threshold judgement
Certainly, the ranks number and where determining maximum, after the FFT maximum values for being carried out continuously 4092 times judge, the maximum value that will obtain
It is compared with the threshold value of setting, then acquisition success, otherwise capture fail threshold value if more than；After acquisition success,
The satellite number captured, code phase, search Doppler frequency are cached in RAM, and after acquisition success, the tracking module period
Property reads data from RAM, and opens corresponding tracking channel, by the code phase of each tracking channel after channels track is normal
Position, carrier frequency and coherent integration value are cached in RAM；In addition, satellite-signal tracking module, using 1/4 chip-spaced.
The processor normally reads the data of RAM in channels track afterwards, will after the calculating for completing carrier wave ring and code ring
In carrier Control word and the update to corresponding track loop of code control word.
The test method of satellite navigation system hardware-in-the-loop simulation test platform of the present invention, satellite signal acquisition mould
Block interrupts control operating procedure：
11）Trapping module 1032 sends an interrupt requests to processor, processor after a frequency point is completed in search
Into capture interrupt routine, the Success Flag position of capture is read, S2 is entered step if acquisition success, is otherwise entered step
S3；
12）Processor, by capture cache RAM in store capture satellite number, code phase, search Doppler frequency and
FFT maximum values correspond to ranks value and read out, and execute frequency deviation conversion, utilize the corresponding ranks value of FFT maximum values and search
Doppler frequency finds out the real Doppler frequency of satellite, and capture result is sent to tracking channel into line trace, then carries out down
The search of one satellite.
13）It first determines whether all frequency points of the satellite are searched for finish, next frequency point is carried out if not searched for and is searched
Rope；Illustrate that the satellite-signal may be not present if search finishes, change search of satellite number and frequency point will be searched for from the beginning,
Next satellite is searched for, is returned to step S1, until all satellites are completed in search；
Satellite-signal tracking module interrupts control operating procedure：
21）When the chip phase counter resets of trapping module output, tracking module just will produce a latch signal
The tracking information of each tracking channel is latched into trace cache RAM, and it is each to trigger tracking interrupt notification processor reading
Three branch 1ms coherent integrations values, Doppler frequency and the code phase information of tracking channel, then to each tracking channel into
Line position synchronizes detection, and S2 is entered step if bit synchronization is unsuccessful, otherwise enters step S3；
22）Processor carries out the processing of loop parameter according to coherent integration value, is translated into carrier generator and C/A codes
The control word of generator is sent in trace cache RAM；
23）The carrier-to-noise ratio in channel is calculated into row of channels out-of-lock detection according to I, Q integrated value of present branch first, if
Tracking channel is then discharged less than thresholding and the satellite number is rejoined into capture list.When judging current if channel there is not losing lock
Whether quarter reaches bit edge, if not then continuing subsequent processing；If it is by the I branch coherent integration values of preceding 20ms
The symbol of sum caches array as the bit deposit ephemeris of ephemeris, enters step S4；
24）Frame synchronization judgement is carried out, if frame synchronization success, whether current ms countings reach 1000, if it is latch
Millisecond count value in the Doppler frequency of each tracking channel, code phase, word counter, bit counter and current bit,
And indicate that progress set, notifier processes device carry out resolving processing to resolving；
The operating procedure of satellite navigation system hardware-in-the-loop simulation test platform is：
31）It, will be relevant after satellite signal acquisition module in satellite-signal baseband processing unit captures satellite-signal
Satellite information is cached in RAM, and it is logical that satellite signal acquisition module starts corresponding tracking after acquisition success according to the information of RAM
Road, and by the information cache to RAM of tracking channel, after processor reads the tracking channel information of RAM, complete carrier wave ring and code
It, will be in carrier frequency control word and the update to corresponding tracking channel of code control word after the correlation computations of ring；
32）Start the emulation module at the ends PC, enable signal will be transmitted by ethernet interface module to satellite-signal base band
Processing unit；
33）Satellite-signal baseband processing unit is after receiving enable signal, by the I branches in each channel and Q branches
Correlation integral value is transmitted to the emulation module at the ends PC by ethernet interface module；
34）The emulation module at the ends PC receives the correlation integral value of the I branches and Q branches in each channel, complete carrier wave ring and
After the correlation computations of code ring, handling result is transmitted to satellite-signal baseband processing unit, satellite by ethernet interface module
After signal baseband processing unit receives, in update to corresponding tracking channel, the hardware for completing capture, the tracking of satellite-signal exists
Ring emulation testing.
The satellite navigation system hardware-in-the-loop simulation test platform of the present invention, can efficiently solve satellite navigation system
The very complicated problem of system tracking ring parameter testing, facilitates the design of track loop, improves design, debugging, verification, the reality of algorithm
Existing efficiency, and realize the positioning function of satellite navigation system.Satellite navigation system hardware-in-the-loop simulation test of the present invention
The internal and international blank present invention tested in satellite navigation system hardware-in-the-loop simulation is filled up in the research and development and realization of platform
It is a kind of convenient and practical satellite navigation system hardware-in-the-loop simulation test platform and its method.
Description of the drawings
Fig. 1 is satellite navigation system hardware-in-the-loop simulation test platform architecture schematic diagram.
Fig. 2 is the structure diagram of satellite signal acquisition module.
Fig. 3 is the structure diagram of satellite-signal tracking module.
Fig. 4 is the structure diagram of ethernet interface module.
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this specification below by way of specific specific example
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.The embodiments described below with reference to the accompanying drawings are exemplary, only uses
It is of the invention in explaining, and be not construed as limiting the claims.
It is as shown in Figure 1 the structural schematic diagram of the satellite navigation system hardware-in-the-loop simulation test platform of the present invention,
Including the ends PC emulation module 101, ethernet communication module 102, satellite-signal baseband processing unit 103, radio-frequency module 104,
In：
Satellite-signal baseband processing unit include processor 1033, bus control unit 1035, internal storage RAM 1031,
Satellite signal acquisition module 1032, satellite-signal tracking module 1034, low speed bus controller 1036.
Processor 1033, the data operation for completing satellite-signal base band, control capture and tracking module operation, in
It is disconnected, and receive the information of capture and tracking module；Bus control unit 1035, the data transmission for controlling data/address bus；It is interior
Portion's memory RAM 1031, for completing the storage of the data in processor 1033 and bus and caching；Satellite signal acquisition module
1032, for completing the capture to satellite-signal, it includes satellite number, initial phase and initial frequency deviation to obtain initial ephemeris information
Deng；Satellite-signal tracking module 1034, the tracking for completing satellite-signal, and provide satellite according to the update cycle of satellite
Phase value and frequency deviation value and ephemeris information；Low speed bus controller 1036, for completing external GPIO interface and inner high speed
Conversion between bus, and control external GPIO interface；[l8]
The ends PC emulation module 101 is communicated with ethernet communication module 102 using the traffic rate of 100M, ether Netcom
Believe that module 102 receives the completion I branches cumulative data related to Q branches of 103 processing of satellite-signal baseband processing unit, and right
Data buffer storage is finally transmitted to the ends PC emulation module 101 again to FIFO.At the ends PC, emulation module 101 handles I branches and Q branches
Related cumulative data after, in result cache to FIFO, finally send the result to satellite-signal baseband processing unit 103.
Satellite signal acquisition module 1032 is extracted using semi-band filtering and four times by the AD sampled data speed of 16.368Mps
Rate becomes 4.092Mps.Then use partial matched filter that input signal and locally generated C/A codes are carried out related operation,
And according to different associated time lengths, using different tap numbers.
Satellite signal acquisition module 1032 caches correlation result using RAM, and will according to different taps
Data use table tennis read-write mode mode of operation by data buffer storage to two sizes in the RAM of 32KB, different taps is per 1ms
The value deposited is different, that is, is filled with 4092*N（N is tap number）The space of point is different, therefore the time cached is also different.
Satellite signal acquisition module 1032 uses base as 4, counts and is carried out to the correlation integral value of caching for 64 points of FFT
Operation, the parallel search for completing frequency.Then the method for threshold judgement is used to make decisions 64 values that FFT is exported, and really
The ranks number where maximum value are determined, after the FFT maximum values for being carried out continuously 4092 times judge, by obtained maximum value and setting
Threshold value is compared, and then acquisition success, otherwise capture fail threshold value if more than.It will be captured after acquisition success
Satellite number, code phase, search Doppler frequency are cached in RAM.
The C/A code generators of satellite-signal tracking module 1034 are generated using 1/4 chip-spaced and are lagged, immediately, in advance
C/A codes, after acquisition success, satellite-signal tracking module 1034 periodically reads data from RAM, and opens corresponding tracking
Channel.The code phase of each tracking channel, carrier frequency and coherent integration value are cached to RAM after channels track is normal
In.
Processor 1033 normally reads the data of RAM in channels track afterwards, will after the calculating for completing carrier wave ring and code ring
In carrier Control word and the update to corresponding track loop of code control word.
The satellite signal acquisition module 1032 of above-mentioned satellite navigation system hardware-in-the-loop simulation test platform is interrupted
Controlling operating procedure is：
S1. satellite signal acquisition module 1032 sends an interrupt requests to processor after a frequency point is completed in search
1033, processor 1033 enters capture interrupt routine, reads the Success Flag position of capture, is entered step if acquisition success
Otherwise S2 enters step S3；
S2. processor 1033, by capture cache RAM in store capture satellite number, code phase, search Doppler frequency
And FFT maximum values correspond to ranks value and read out, and execute frequency deviation conversion, using the corresponding ranks value of FFT maximum values with
Search Doppler frequency finds out the real Doppler frequency of satellite, and capture result is sent to tracking channel into line trace, then into
The search of row next satellite.
S3. it first determines whether all frequency points of the satellite are searched for finish, next frequency point is carried out if not searched for and is searched
Rope；Illustrate that the satellite-signal may be not present if search finishes, change search of satellite number and frequency point will be searched for from the beginning,
Next satellite is searched for, is returned to step S1, until all satellites are completed in search.
The satellite-signal tracking module 1034 of above-mentioned satellite navigation system hardware-in-the-loop simulation test platform interrupts
Controlling operating procedure is：
S1. when the chip phase counter resets that satellite signal acquisition module 1032 exports, satellite-signal tracking module
1034, which just will produce a latch signal, is latched into the tracking information of each tracking channel in trace cache RAM, and trigger with
Track interrupt notification processor 1033 reads three branch 1ms coherent integrations values, Doppler frequency and the code of each tracking channel
Phase information, then to each tracking channel carry out bit synchronization detection, S2 is entered step if bit synchronization is unsuccessful, otherwise into
Enter step S3；
S2. processor 1033 according to coherent integration value carry out loop parameter processing, be translated into carrier generator and
The control word of C/A code generators is sent in trace cache RAM；
S3. the carrier-to-noise ratio in channel is calculated into row of channels out-of-lock detection according to I, Q integrated value of present branch first, if
Tracking channel is then discharged less than thresholding and the satellite number is rejoined into capture list.If channel there is not losing lock, judge current
Whether the moment reaches bit edge, if not then continuing subsequent processing；If it is by the I branch coherent integrations of preceding 20ms
The symbol for being worth sum caches array as the bit deposit ephemeris of ephemeris, enters step S4；
S4. frame synchronization judgement is carried out, if frame synchronization success, whether current ms countings reach 1000, if it is latch
Millisecond count value in the Doppler frequency of each tracking channel, code phase, word counter, bit counter and current bit,
And mark position 1 will be resolved, notice upper layer is resolved.
The operating procedure of above-mentioned satellite navigation system hardware-in-the-loop simulation test platform is：
S1. after the satellite signal acquisition module 1032 in satellite-signal baseband processing unit 103 captures satellite-signal,
Relevant satellite information is cached in RAM, satellite-signal tracking module 1034 starts after acquisition success according to the information of RAM
Corresponding tracking channel, and by the information cache to RAM of tracking channel, processor 1033 reads the tracking channel information of RAM
Afterwards, after completing carrier wave ring and the correlation computations of code ring, carrier frequency control word and the update of code control word is logical to corresponding tracking
In road；
S2. start the emulation module 101 at the ends PC, enable signal to satellite will be transmitted by ethernet interface module 102 and is believed
Number baseband processing unit 103；
S3. satellite-signal baseband processing unit 103 is after receiving enable signal, by the I branches and Q branch in each channel
The correlation integral value on road is transmitted to the emulation module 101 at the ends PC by ethernet interface module 102；
S4. the emulation module 101 at the ends PC receives the correlation integral value of the I branches and Q branches in each channel, completes carrier wave
After the correlation computations of ring and code ring, handling result is transmitted to satellite-signal Base-Band Processing list by ethernet interface module 102
Member 103 after satellite-signal baseband processing unit 103 receives, in update to corresponding tracking channel, completes catching for satellite-signal
The hardware-in-the-loop test obtain, tracked.
Above-mentioned processor is leon3 processors, and bus control unit is ahb bus controller, and low speed bus controller is APB
Bus control unit, the ends PC emulation module are the ends PC emulation modules, and radio-frequency module is radio-frequency module.
The present invention satellite navigation system hardware-in-the-loop simulation test platform, by radio-frequency front-end, baseband processing unit,
Ethernet interface, the ends PC form a closed loop system, realize satellite navigation and positioning function, and improving by the ends PC
The efficiency of design, the debugging, verification, realization of tracking algorithm is satellite navigation system and the combination of further high dynamic
Navigation system provides Real-time Simulation Test Platform.
Above-described embodiment is the preferred embodiment of the present invention, it should be understood that above-described embodiment is not limited to
The present invention, those skilled in the art are not in the case where departing from the objective of the principle of the present invention, to above-described embodiment institute
Variation, modification, replacement and the deformation made, should all fall under the scope of the present invention.Unspecified part of the present invention belongs to
In common sense well known to those skilled in the art.
Claims (10)
1. a kind of satellite navigation system hardware-in-the-loop simulation test platform, which is characterized in that include the ends PC emulation module,
Ethernet communication module, satellite-signal baseband processing unit, radio-frequency module, wherein：
Satellite-signal baseband processing unit include processor, bus control unit, internal storage RAM, satellite signal acquisition module,
Satellite-signal tracking module, low speed bus controller, data transmission bus；
Processor, the data operation for completing satellite-signal base band, control capture and the operation of tracking module are interrupted, and
Receive the information of capture and tracking module；
Bus control unit, the data transmission for controlling data/address bus；
Internal storage RAM, for completing the storage of the data on processor and bus and caching；
Satellite signal acquisition module, for completing capture to satellite-signal, obtain initial ephemeris information include satellite number, it is first
Beginning phase and initial frequency deviation；
Satellite-signal tracking module, the tracking for completing satellite-signal, and according to the phase of the update cycle of satellite offer satellite
Place value and frequency deviation value and ephemeris information；
Low speed bus controller for completing the conversion between external GPIO interface and inner high speed bus, and controls outside
GPIO interface；
Data transmission bus, for completing the data transmission inside satellite-signal baseband processing unit；
The ends PC emulation module is related to Q branches for completing the I branches that satellite-signal baseband processing unit is transmitted by Ethernet
The processing of result data, and the result of processing is transmitted to satellite-signal baseband processing unit by Ethernet, real-time update is defended
The capture of star signal and tracking mode；
Ethernet communication module, for completing the communication between the ends PC emulation module and satellite-signal baseband processing unit；
Radio-frequency module, filtering, down coversion and analog-to-digital conversion for completing satellite-signal.
2. according to the satellite navigation system hardware-in-the-loop simulation test platform described in claim 1, which is characterized in that institute
It states the ends PC emulation module and satellite-signal baseband processing unit and real-time Communication for Power is carried out using the Ethernet of 100M.
3. according to the satellite navigation system hardware-in-the-loop simulation test platform described in claim 1, which is characterized in that institute
The completion I branches cumulative data related to Q branches that ethernet communication module receives the processing of satellite-signal baseband processing unit is stated,
And FIFO is cached to data, it is finally transmitted to the ends PC emulation module again.
4. according to the satellite navigation system hardware-in-the-loop simulation test platform described in claim 1, which is characterized in that institute
Ethernet communication module is stated to arrive the result cache after the ends PC emulation module processing I branches cumulative data related to Q branches
In FIFO, satellite-signal baseband processing unit is finally sent the result to.
5. according to the satellite navigation system hardware-in-the-loop simulation test platform described in claim 1, which is characterized in that institute
Satellite signal acquisition module is stated, being extracted using semi-band filtering and four times is become the ADC sampling data rates of 16.368Mps
4.092Mps。
6. according to the satellite navigation system hardware-in-the-loop simulation test platform described in claim 1, which is characterized in that institute
Satellite signal acquisition module is stated, input signal and locally generated C/A codes are carried out by related operation using partial matched filter,
And according to different associated time lengths, using different tap numbers.
7. according to the satellite navigation system hardware-in-the-loop simulation test platform described in claim 6, which is characterized in that institute
It states satellite signal acquisition module to cache operation result using RAM, and according to different taps that data are big using two
The small RAM for 32KB is cached, and the value that different taps is deposited per 1ms is different, that is, is filled with 4092*N（N is tap number）The sky of point
Between it is different, therefore the time cached is also different；And satellite signal acquisition module use table tennis read-write mode operate two sizes for
The RAM of 32KB forms the spatial cache of a 64KB, improves the efficiency of system；In addition, satellite signal acquisition module use base for
4, it counts and operation, the parallel search for completing frequency is carried out to the correlation integral value of caching for 64 points of FFT.
8. according to the satellite navigation system hardware-in-the-loop simulation test platform described in claim 7, which is characterized in that institute
Satellite signal acquisition module is stated, 64 values for requiring 9 FFT to export are made decisions using the method for threshold judgement, and determines most
Ranks number where big value, after the FFT maximum values for being carried out continuously 4092 times judge, by the thresholding of obtained maximum value and setting
Value is compared, and then acquisition success, otherwise capture fail threshold value if more than；After acquisition success, defended what is captured
Asterisk, code phase, search Doppler frequency are cached in RAM, and after acquisition success, tracking module is periodically read from RAM
Fetch evidence, and open corresponding tracking channel, after channels track is normal by the code phase of each tracking channel, carrier frequency with
And coherent integration value is cached in RAM；In addition, satellite-signal tracking module, using 1/4 chip-spaced.
9. according to the satellite navigation system hardware-in-the-loop simulation test platform described in claim 1, which is characterized in that institute
Processor is stated, normally reads the data of RAM afterwards in channels track, after the calculating for completing carrier wave ring and code ring, by carrier Control word
In the update to corresponding track loop of code control word.
10. a kind of test method of satellite navigation system hardware-in-the-loop simulation test platform, which is characterized in that satellite-signal
Trapping module interrupts control operating procedure：
11）Trapping module sends an interrupt requests to processor, processor enters in capture after a frequency point is completed in search
Disconnected program, reads the Success Flag position of capture, 12 is entered step if acquisition success）, otherwise enter step 13）；
12）Capture is cached capture satellite number, code phase, the Doppler frequency of search and the FFT stored in RAM by processor
Maximum value corresponds to ranks value and reads out, and executes frequency deviation conversion, how general using the corresponding ranks value of FFT maximum values and search
It strangles frequency and finds out the real Doppler frequency of satellite, and capture result is sent to tracking channel into line trace, then carry out next
The search of satellite；
13）It first determines whether all frequency points of the satellite are searched for finish, next frequency point search is carried out if not searched for；Such as
Fruit search finishes, and illustrates that the satellite-signal may be not present, and changes search of satellite number and will search for frequency point from the beginning, search
Next satellite is returned to step 11）, until all satellites are completed in search；
Satellite-signal tracking module interrupts control operating procedure：
21）When the chip phase counter resets of trapping module output, tracking module just will produce a latch signal will be each
The tracking information of a tracking channel is latched into trace cache RAM, and is triggered tracking interrupt notification processor and read each tracking
Three branch 1ms coherent integrations values, Doppler frequency and the code phase information in channel, then to each tracking channel into line position
Synchronous detection, 22 are entered step if bit synchronization is unsuccessful）, otherwise enter step 23）；
22）Processor carries out the processing of loop parameter according to coherent integration value, is translated into carrier generator and C/A codes occur
The control word of device is sent in trace cache RAM；
23）The carrier-to-noise ratio in channel is calculated into row of channels out-of-lock detection, if be less than according to I, Q integrated value of present branch first
Thresholding then discharges tracking channel and the satellite number is rejoined capture list；
Judge whether current time reaches bit edge if channel there is not losing lock, if not if continue subsequent processing；Such as
Fruit is that the symbol of the then I branch coherent integration value sums using preceding 20ms caches array as the bit of ephemeris deposit ephemeris, is entered
Step 24）；
24）Frame synchronization judgement is carried out, if frame synchronization success, whether current millisecond counting reaches 1000, if it is latches each
Millisecond count value in the Doppler frequency of a tracking channel, code phase, word counter, bit counter and current bit, and
Indicate that progress set, notifier processes device carry out resolving processing to resolving；
The operating procedure of satellite navigation system hardware-in-the-loop simulation test platform is：
31）After satellite signal acquisition module in satellite-signal baseband processing unit captures satellite-signal, by relevant satellite
In information cache to RAM, satellite signal acquisition module starts corresponding tracking channel after acquisition success according to the information of RAM,
And by the information cache to RAM of tracking channel, after processor reads the tracking channel information of RAM, complete carrier wave ring and code ring
Correlation computations after, will carrier frequency control word and the update of code control word in corresponding tracking channel；
32）Start the emulation module at the ends PC, enable signal will be transmitted by ethernet interface module to satellite-signal Base-Band Processing
Unit；
33）Satellite-signal baseband processing unit is related to Q branches by the I branches in each channel after receiving enable signal
Integrated value is transmitted to the emulation module at the ends PC by ethernet interface module；
34）The emulation module at the ends PC receives the correlation integral value of the I branches and Q branches in each channel, completes carrier wave ring and code ring
Correlation computations after, handling result is transmitted to satellite-signal baseband processing unit, satellite-signal by ethernet interface module
After baseband processing unit receives, in update to corresponding tracking channel, the hardware in loop for completing capture, the tracking of satellite-signal is imitative
True test.
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| CN109782314B (en) * | 2019-01-17 | 2023-07-21 | 山东航向电子科技有限公司 | GNSS satellite signal receiving hierarchical processing simulation experiment platform |
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