CN110275189A - A kind of the chip time-division navigation signal modulation method and system of mixed information rate - Google Patents

A kind of the chip time-division navigation signal modulation method and system of mixed information rate Download PDF

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CN110275189A
CN110275189A CN201910453240.XA CN201910453240A CN110275189A CN 110275189 A CN110275189 A CN 110275189A CN 201910453240 A CN201910453240 A CN 201910453240A CN 110275189 A CN110275189 A CN 110275189A
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code sequence
text
division
chip
code
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CN110275189B (en
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严涛
蒙艳松
周昀
王瑛
雷文英
王国永
边朗
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Xian Institute of Space Radio Technology
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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
    • G01S19/243—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)
  • Digital Transmission Methods That Use Modulated Carrier Waves (AREA)

Abstract

A kind of the chip time-division navigation signal modulation method and system of mixed information rate, including (1) channel coding: low speed text and high speed text are respectively channel encoded, (2) PRN code maps: the low speed text Jing Guo channel coding is mapped as PRN code sequence all the way, high speed text by channel coding is mapped as the road N-1 PRN code sequence, and the road N PRN code sequence is obtained；(3) the chip time-division: it is divided into signal all the way when by the road N PRN code sequence by chip；(4) baseband waveform is modulated: the signal all the way obtained after the chip time-division being carried out baseband waveform modulation, obtains baseband signal.

Description

A kind of the chip time-division navigation signal modulation method and system of mixed information rate
Technical field
The invention belongs to field of satellite navigation, relate generally to a kind of chip time-division navigation signal modulation of mixed information rate Method and system.
Background technique
Currently, four big basic Global Satellite Navigation System (Global Navigation Satellite System, GNSS pattern) has formed, and GNSS can satisfy the most basic navigation of people, positioning and time service demand.In order to further mention The service performance of satellite navigation system is risen, part system starts to provide enhancing service: Japanese QZSS provides Centimeter Level on its L6 Enhancing service (Centimeter Level Augmentation Service, CLAS), Galileo plans on its E6 frequency point Precision positioning service is provided.
This kind of navigation enhancing service provides precision positioning service by quickly broadcasting accurate text or accurate correction (Precise Point Positioning,PPP).Accurate correction generally comprises track, clock deviation, carrier phase correction for deflection The parameters such as several and code deviation, URA, in order to realize high accuracy positioning, accurate correction to broadcast interval short, by taking QZSS as an example, Clock error correction number is divided into 5s between broadcasting, other are 30s.
In traditional GNSS signal, what is broadcast is the basic navigation text of low speed, information rate usually only 50bps~ 250bps.And enhance in service, what is broadcast is quick accurate correction text, and information rate is obviously improved.QZSS is provided The L6 signal of CLAS, information rate reach 2kbps or so.Therefore, GNSS face and meanwhile broadcast low speed basic navigation text and The demand of the accurate text of high speed.
GNSS signal is modulated using Direct-Spread, and in order to promote information rate, traditionally there are two types of means.First method It is constant to be to maintain bit rate, increases information rate, causes the number of chips in a symbol to reduce in this way, reduce spreading gain, It is degrading cross correlation energy.It is constant to be to maintain spreading gain for second, increases information rate, causes bit rate to increase in this way, believes Bandwidth shared by number becomes larger.
In order to not change bit rate and spreading gain while increasing information rate, QZSS is applied in its L6 signal Code moves keying (Code-Shift-Keying, CSK) modulated signal.CSK is to share M kind in a kind of M ary quadrature modulated signal Modulated spread spectrum signal waveform, each waveform can indicate k=log2(M) bit information, this M kind modulated spread spectrum signal waveform are What the same basic code cyclic shift obtained.The spreading code for being L for code length, each waveform at most indicate Bit information.However, individually CSK modulated signal is not suitable for acquisition and tracking measurement, it is suitable only for data transmission and uses.
In order to broadcast low speed text and high speed text, a kind of patent " code shifting keying modulation side that phase shift is repeated several times simultaneously Method and its demodulation method " (patent No.: CN 201811042847.0) proposes R-CSK signal, is a special case of CSK signal, leads to The different cyclic shift modulation intelligences of the same code are crossed, but maximum information rate is limited by code length." a kind of dual rate is multiple for patent Close telegraph signal and broadcast control method " (patent No.: CN 201810947305.1) and a kind of " compound text letter of R-CSK dual rate Number broadcast control method " (patent No.: CN 201811078853.1) proposed to be modulated using the QPSK of quadrature in phase, be adopted in I branch With traditional bpsk signal, the basic navigation text of low rate is broadcast, CSK signal or R-CSK signal is used in Q branch, broadcasts Send out the extension text of high-speed.But by way of phase point, I branch will consume a part of power, carry out signal trace or solution Timing is not available whole signal powers, reduces precision and demodulation threshold.
Summary of the invention
It is an object of the invention to: the chip time-division for overcoming the deficiencies of the prior art and provide a kind of mixed information rate leads Boat signal modulating method and system on a spread spectrum navigation signal, while realizing high-acruracy survey and data rate low/high electricity Text is broadcast.
The technical solution of the invention is as follows:
A kind of chip time-division navigation signal modulation method of mixed information rate, steps are as follows:
(1) channel coding: low speed text and high speed text are respectively channel encoded,
(2) PRN code maps: the low speed text Jing Guo channel coding being mapped as PRN code sequence all the way, by channel coding High speed text be mapped as the road N-1 PRN code sequence, the road N PRN code sequence is obtained；
(3) the chip time-division: it is divided into signal all the way when by the road N PRN code sequence by chip；
(4) baseband waveform is modulated: the signal all the way obtained after the chip time-division being carried out baseband waveform modulation, obtains base band letter Number.
The raw information rate of low speed text is Rb,L, it is R by character rate after channel codings,L, low speed text symbol Width is Ts,L=1/Rs,L, code efficiency Rb,L/Rs,L, the information symbol stream after channel coding is { dL,m, dL,m∈{0,1}；
The raw information rate of high speed text is Rb,H, it is R by character rate after channel codings,H, high speed text symbol Width is Ts,H=1/Rs,H, code efficiency Rb,H/Rs,H, the information symbol stream after channel coding is { dH,m, dH,m∈{0,1}。
The mapping of low speed text PRN code, specifically:
(2.11) PRN code sequence of low speed text is generated, spread spectrum code sequence is { cL,i, i=0,1,2 ..., Lc- 1, cL,i ∈ { 0,1 }, bit rate Rc；
(2.12) determine the code period: a low speed data symbol hasA yard of period, i.e. Ts,LIt is Lc·TcIt is whole Several times, LcIt is the code length of spreading code, Tc=1/Rc, it is chip width,
(2.13) by low speed text { dL,mAnd spread spectrum code sequence { cL,iExclusive or, code sequence after being mapped；Work as data Symbol dL,mWhen being 0, output code sequence is { cL,i, as data symbol dL,mWhen being 1, output code sequence is { cL,iNegate sequenceIt maps obtained code sequence and is denoted as { CL,i}。
The mapping of high speed text PRN code, specifically:
(2.21) the PRN code sequence set of high speed text is generated；
The different orthogonal spread spectrum code sequence number of generation is NcIt is a, respectivelyThe code of each spreading code Length is all Lc；By each spreading code cyclic shift, new orthogonal intersection sequence is obtained, N is at most obtainedc·LcA orthogonal expansion Frequency code sequence, each spread spectrum code sequence indicateBit；
(2.22) according to the rate of high speed text, each spread spectrum code sequence indicates U bit,Altogether Need M=2UOrthogonal code sequence is expressed asThese orthogonal code sequences fromAnd their cyclic shift；
(2.23) high speed text { dH,mAfter serioparallel exchange, the parallel text symbol stream in the road (N-1) U is exported, is denoted as d(N-1)·U,k=[d1,k d2,k … d(N-1)·U,k]T, du,kIndicate k-th of value of symbol of the road u text symbol stream；After serioparallel exchange Character rate is reduced to
(2.24) each to show (N-1) U bit text symbol, every U row text symbol is mapped as a kind of yard of sequence, there are To N-1 kind code sequence；The code sequence of the road (n-1) U+1 to nU text symbol mapping is expressed as
U parallel text symbols are as follows: with spreading code mapping relations
In formula, xn,kFor binary number [d(n-1)U+1,k d(n-1)U+2,k … dn·U+1,k]TDecimal number indicate, i.e.,
It the chip time-division, obtains by the following method:
(3.1) spreading code { C all the way for mapping low speed textL,iAnd high speed text mapping the road N-1 spreading codeMake For the parallel code sequence in the road N, 1≤n≤N-1；
(3.2) in the way of by the chip time-division, by the parallel code sequent synthesis in the road N spread spectrum code sequence all the way, chip time-division Multiplexed spread spectrum code sequence is denoted as: { CM,l, as (i-1) N+1≤l≤iN,
(3.3) after passing through the chip time-division, { CM,lBit rate increase be original N times, be denoted as NRc。
Baseband waveform modulation, obtains by the following method:
(4.1) it according to signal performance and compatibility requirement, designs Chip Waveform p (t)；
(4.2) by the code sequence { C after the chip time-divisionM,lBe modulated with Chip Waveform p (t), baseband waveform is modulated Signal indicates are as follows:
Chip Waveform p (t) uses rectangle Chip Waveform or binary offset carrier waveform.
For rectangle Chip Waveform, have:
For binary offset carrier waveform, have
In formula, fsFor the sub-carrier frequencies of BOC modulation, 2fs/(N·Rc) it is integer.
Further, the present invention also proposes a kind of chip time-division navigation signal modulation based on the mixed information rate The navigation signal modulating system that method is realized, comprising:
Channel coding module: low speed text and high speed text are respectively channel encoded, are interleaved after channel coding To promote anti-channel fading ability.
PRN code mapping block: the low speed text Jing Guo channel coding is mapped as PRN code sequence all the way, is compiled by channel The high speed text of code is mapped as the road N-1 PRN code sequence, and the road N PRN code sequence is obtained；
Sub-module when chip: it is divided into signal all the way when by the road N PRN code sequence by chip；
Baseband waveform modulation module: the signal all the way obtained after the chip time-division is subjected to baseband waveform modulation, obtains base band Signal.
The beneficial effect of the present invention compared with prior art is:
(1) compared with using BPSK the and R-CSK mixed structure of QPSK modulation, this method uses chip time division technique, will The signal all the way of low speed text, and the multiple signals of modulation high speed text are modulated, by broadcasting after the chip time-division.Carry out signal trace Timing is conciliate, whole power is able to use, improves the tracking accuracy of signal.
(2) the existing chip time-division is usually the chip time-division of two paths of signals, when this patent uses the chip of multiple signals Point, to promote data rate.
(3) traditional C/S K modulated signal is only applicable to broadcast data, is not suitable for tracking and code ranging, and the present invention is multiple at one It closes in signal, the code sequence with precision distance measurement ability is carried out with the code sequence for modulating high speed text by the chip time-division, It realizes high-precision navigational range and high data rate broadcasts the combination of function.
(4) existing CSK only uses the cyclic shift modulation data an of spreading code, and peak data rate is limited to spread Code code length and bit rate, the present invention can realize more bits using multiple and different spreading code and their cyclic shift Mapping, peak data rate breach the limitation of code length, realize the further promotion of information rate.
(5) existing CSK modulation system, Chip Waveform are all using rectangle chip, and the frequency spectrum of signal, range performance are limited System, the present invention point out to realize that high-performance and height are simultaneous using rectangle or BOC Chip Waveform, and other Chip Waveforms Capacitive.
Detailed description of the invention
Fig. 1 is mixed information rate chip time-division navigation signal modulation scheme disclosed by the invention；
Fig. 2 is that low speed text PRN code maps schematic diagram
Fig. 3 is that high speed text serioparallel exchange is the parallel schematic diagram in the road (N-1) U
Fig. 4 is chip time-division schematic diagram.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
The present invention is by by chip time division technique, by the code sequence of the modulated low speed text with range capability, with tune The code sequence time-division for having made high speed text broadcasts.For convenience of description, in this patent, logic level and signal level are of equal value , using the convention in satellite navigation signals, logical zero is mapped as signal level 1.0, and logic 1 is mapped as signal level -1.0.
To achieve the above object, the invention discloses a kind of chip time division signal modulator approaches of mixed information rate.
1. the chip time division signal modulator approach of mixed information rate includes the following steps, as shown in Figure 1:
(1) channel coding.Low speed text and high speed text are respectively channel encoded, the raw information speed of low speed text Rate is Rb,L, it is R by character rate after channel codings,L, low speed text symbol intervals are Ts,L=1/Rs,L, code efficiency is Rb,L/Rs,L, the information symbol stream after channel coding is { dL,m, dL,m∈{0,1}.The raw information rate of high speed text is Rb,H, It is R by character rate after channel codings,H, high speed text symbol intervals are Ts,H=1/Rs,H, code efficiency Rb,H/Rs,H, letter Information symbol stream after road coding is { dH,m, dH,m∈{0,1}.Interleaving technology can be used after channel coding, promote anti-channel Fading capability.
(2) PRN code maps.Low speed text is mapped as PRN code sequence all the way, high speed text is mapped as the road N-1 PRN code sequence Column, are obtained the road N PRN code sequence.
(3) the chip time-division.It is divided into signal all the way when by the road N PRN code sequence by chip.
(4) baseband waveform is modulated.The signal all the way obtained after the chip time-division is subjected to baseband waveform modulation, obtains base band letter Number.
2. low speed text PRN code described in (2) maps in step 1, obtain by the following method:
1) PRN code sequence of low speed text is generated, spread spectrum code sequence is { cL,i, i=0,1,2 ..., Lc- 1, cL,i∈{0, 1 }, bit rate Rc。
2) a low speed data symbol hasA yard of period, i.e. Ts,LIt is Lc·TcIntegral multiple.
3) by low speed text { dL,mAnd spread spectrum code sequence { cL,iExclusive or, code sequence after being mapped.Work as data symbol dL,mWhen being 0, output code sequence is { cL,i, as data symbol dL,mWhen being 1, output code sequence is { cL,iNegate sequenceIt maps obtained code sequence and is denoted as { CL,i}。
3. high speed text PRN code described in (2) maps in step 1, obtain by the following method:
1) the PRN code sequence set of high speed text is generated.The different orthogonal spread spectrum code sequence number of generation is NcIt is a, respectively ForThe code length of each spreading code is Lc.It is available new orthogonal by each spreading code cyclic shift Spread spectrum code sequence, theoretically at most available Nc·LcA orthogonal spread spectrum code sequence, each spread spectrum code sequence can indicateBit.
2) it according to the rate of high speed text, determines and each spread spectrum code sequence is needed to indicate U bit,M=2 is needed altogetherUOrthogonal code sequence is expressed asThese are orthogonal Code sequence fromAnd their cyclic shift.
3) high speed text { dH,mAfter serioparallel exchange, the parallel text symbol stream in the road (N-1) U is exported, d is denoted as(N-1)·U,k =[d1,k d2,k … d(N-1)·U,k]T, du,kIndicate k-th of value of symbol of the road u text symbol stream.Symbol speed after serioparallel exchange Rate is reduced to
4) each to show (N-1) U bit text symbol, every U row text symbol is mapped as a kind of yard of sequence, (n-1) U + 1 is expressed as to the code sequence that the road nU text symbol mapsU parallel text symbols and spreading code Mapping relations are as follows:
In formula, xn,kFor binary number [d(n-1)U+1,k d(n-1)U+2,k … dn·U+1,k]TDecimal number indicate, i.e.,
4. the chip time-division described in (3) in step 1, obtaining by the following method:
1) spreading code { C all the way for mapping low speed textL,iAnd high speed text mapping the road (N-1) spreading code(1 ≤ n≤N-1) it is used as the parallel code sequence in the road N.
2) in the way of by the chip time-division, by the parallel code sequent synthesis in the road N, spread spectrum code sequence, chip are time-multiplexed all the way Spread spectrum code sequence afterwards is denoted as: { CM,l, as (i-1) N+1≤l≤iN,
3) after passing through the chip time-division, { CM,lBit rate increase be original N times, be denoted as NRc。
5. baseband waveform described in (4) is modulated in step 1, obtain by the following method:
1) according to signal performance and compatibility requirement, Chip Waveform, p (t) are designed.Can using rectangle Chip Waveform or Binary offset carrier (BOC) waveform.For rectangle Chip Waveform, have:
For sinusoidal BOC Chip Waveform, have
In formula, fsFor the sub-carrier frequencies of BOC modulation, 2fs/(N·Rc) it is integer.
2) by the code sequence { C after the chip time-divisionM,lBe modulated with Chip Waveform p (t), the modulated letter of baseband waveform Number indicate are as follows:
Embodiment: the chip time-division navigation signal modulation method operating procedure of mixed information rate disclosed by the invention is as follows:
(1) channel coding.
Low speed text and high speed text are respectively channel encoded, the raw information rate of low speed text is Rb,L= 50bps is R by character rate after channel codings,L=100sps, low speed text symbol intervals are 10ms, code efficiency 1/ 2, the information symbol stream after channel coding is { dL,m, dL,m∈{0,1}.The raw information rate of high speed text is Rb,H= 2.4kbps is R by character rate after channel codings,H=4.8ksps, code efficiency 1/2, the information symbol after channel coding Number stream be { dH,m, dH,m∈{0,1}。
(2) PRN code maps.
The PRN code sequence sequence of low speed text is { cL,i, i=0,1,2 ..., 1022, cL,i∈ { 0,1 }, code length are Lc= 1023, bit rate Rc=1.023Mcps.One low speed data symbol has 10 code periods.By low speed text { dL,mAnd spread spectrum Code sequence { cL,iExclusive or, code sequence { C after being mappedL,i, mapping process is as shown in Fig. 2.
Generate the PRN code sequence set of high speed text.The different orthogonal spread spectrum code sequence number of generation is Nc=1, expand The code length of frequency code is all Lc=1023.By the spreading code cyclic shift, M=32 orthogonal intersection sequence is obtained, is expressed asEach spread spectrum code sequence can indicate U=6 bit.By high speed text { dH,mWarp After serioparallel exchange, the parallel text symbol stream in the road 4 × 6=24 is exported, d is denoted as24,k=[d1,k d2,k … d24,k]T, du,kIndicate the K-th of value of symbol of the road u text symbol stream, character rate is reduced to 200sps after serioparallel exchange.High speed text serioparallel exchange is (N- 1) the parallel schematic diagram in the road U is as shown in Fig. 3.
Each to show 4 × 6=24 bit text symbol, every 6 one group is mapped as a kind of yard of sequence, and the 6th (n-1)+1 arrives 6n The code sequence of road text symbol mapping is expressed as6 parallel text symbols and spreading code mapping relations are such as Following table:
In formula, xn,kFor binary number [d6(n-1)+1,k d6(n-1)+2,k … d6n+1,k]TDecimal number indicate, i.e.,
(3) the chip time-division.
Spreading code { the C all the way that low speed text is mappedL,iAnd high speed text mapping 4 tunnel spreading codes As the parallel code sequence in 5 tunnels.In the way of by the chip time-division, by the parallel code sequent synthesis in 5 tunnels spread spectrum code sequence all the way, chip Spread spectrum code sequence after time division multiplexing is denoted as: { CM,l, as 5 (i-1)+1≤l≤5i, Chip time-division schematic diagram is as shown in Fig. 4.After the chip time-division, { CM,lBit rate to increase be original 5 times, as 5.115Mcps。
(4) baseband waveform is modulated.
Waveform modulated is carried out using Chip Waveform p (t), the modulated signal of baseband waveform indicates are as follows:
For rectangle Chip Waveform, have:
In this example embodiment, the high speed text that the low speed text and information rate that information rate is 50bps are 2.4kbps is simultaneously It broadcasts, realizes high information rate and broadcast.In this example, 32 cyclic shifts for having only used an extended code sequence carry out high speed electricity Text modulation, by increasing the number of spread spectrum code sequence, information rate can also be promoted further.In addition, the expansion of modulation low speed text The spread spectrum code sequence of frequency code sequence and modulation high speed text, according to when sub-pattern, be combined as a signal, as a whole into Row signal trace is able to use whole signal function without other branch shunting signal power, therefore when carrying out signal trace Rate realizes high-precision tracking.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.

Claims (10)

1. a kind of chip time-division navigation signal modulation method of mixed information rate, it is characterised in that steps are as follows:
(1) channel coding: low speed text and high speed text are respectively channel encoded；
(2) PRN code maps: the low speed text Jing Guo channel coding being mapped as PRN code sequence all the way, by the height of channel coding Fast text is mapped as the road N-1 PRN code sequence, and the road N PRN code sequence is obtained；
(3) the chip time-division: it is divided into signal all the way when by the road N PRN code sequence by chip；
(4) baseband waveform is modulated: the signal all the way obtained after the chip time-division being carried out baseband waveform modulation, obtains baseband signal.
2. a kind of chip time-division navigation signal modulation method of mixed information rate according to claim 1, feature exist In: the raw information rate of low speed text is Rb,L, it is R by character rate after channel codings,L, low speed text symbol intervals are Ts,L=1/Rs,L, code efficiency Rb,L/Rs,L, the information symbol stream after channel coding is { dL,m, dL,m∈{0,1}；
The raw information rate of high speed text is Rb,H, it is R by character rate after channel codings,H, high speed text symbol intervals For Ts,H=1/Rs,H, code efficiency Rb,H/Rs,H, the information symbol stream after channel coding is { dH,m, dH,m∈{0,1}。
3. a kind of chip time-division navigation signal modulation method of mixed information rate according to claim 2, feature exist In:
The mapping of low speed text PRN code, specifically:
(2.11) PRN code sequence of low speed text is generated, spread spectrum code sequence is { cL,i, i=0,1,2 ..., Lc- 1, cL,i∈{0, 1 }, bit rate Rc；
(2.12) determine the code period: a low speed data symbol hasA yard of period, i.e. Ts,LIt is Lc·TcInteger Times, LcIt is the code length of spreading code, Tc=1/Rc, it is chip width,
(2.13) by low speed text { dL,mAnd spread spectrum code sequence { cL,iExclusive or, code sequence after being mapped；Work as data symbol dL,mWhen being 0, output code sequence is { cL,i, as data symbol dL,mWhen being 1, output code sequence is { cL,iNegate sequenceIt maps obtained code sequence and is denoted as { CL,i}。
4. a kind of chip time-division navigation signal modulation method of mixed information rate according to claim 2, feature exist In:
The mapping of high speed text PRN code, specifically:
(2.21) the PRN code sequence set of high speed text is generated；
The different orthogonal spread spectrum code sequence number of generation is NcIt is a, respectivelyThe code length of each spreading code is Lc；By each spreading code cyclic shift, new orthogonal intersection sequence is obtained, N is at most obtainedc·LcA orthogonal spreading code sequence Column, each spread spectrum code sequence indicateBit；
(2.22) according to the rate of high speed text, each spread spectrum code sequence indicates U bit,M is needed altogether =2UOrthogonal code sequence is expressed asThese orthogonal code sequences fromAnd their cyclic shift；
(2.23) high speed text { dH,mAfter serioparallel exchange, the parallel text symbol stream in the road (N-1) U is exported, d is denoted as(N-1)·U,k =[d1,k d2,k … d(N-1)·U,k]T, du,kIndicate k-th of value of symbol of the road u text symbol stream；Symbol speed after serioparallel exchange Rate is reduced to
(2.24) each to show (N-1) U bit text symbol, every U row text symbol is mapped as a kind of yard of sequence, N- is obtained 1 kind of code sequence；The code sequence of the road (n-1) U+1 to nU text symbol mapping is expressed as
U parallel text symbols are as follows: with spreading code mapping relations
In formula, xn,kFor binary numberDecimal number indicate, i.e.,
5. a kind of chip time-division navigation signal modulation method of mixed information rate according to claim 4, feature exist In: it the chip time-division, obtains by the following method:
(3.1) spreading code { C all the way for mapping low speed textL,iAnd high speed text mapping the road N-1 spreading codeAs N The parallel code sequence in road, 1≤n≤N-1；
(3.2) in the way of by the chip time-division, by the parallel code sequent synthesis in the road N, spread spectrum code sequence, chip are time-multiplexed all the way Spread spectrum code sequence afterwards is denoted as: { CM,l, as (i-1) N+1≤l≤iN,
(3.3) after passing through the chip time-division, { CM,lBit rate increase be original N times, be denoted as NRc。
6. a kind of chip time-division navigation signal modulation method of mixed information rate according to claim 4, feature exist In: baseband waveform modulation obtains by the following method:
(4.1) it according to signal performance and compatibility requirement, designs Chip Waveform p (t)；
(4.2) by the code sequence { C after the chip time-divisionM,lBe modulated with Chip Waveform p (t), the modulated signal of baseband waveform It indicates are as follows:
7. a kind of chip time-division navigation signal modulation method of mixed information rate according to claim 6, feature exist In: Chip Waveform p (t) uses rectangle Chip Waveform or binary offset carrier waveform.
8. a kind of chip time-division navigation signal modulation method of mixed information rate according to claim 7, feature exist In:
For rectangle Chip Waveform, have:
For binary offset carrier waveform, have
In formula, fsFor the sub-carrier frequencies of BOC modulation, 2fs/(N·Rc) it is integer.
9. a kind of navigation that the chip time-division navigation signal modulation method based on mixed information rate described in claim 1 is realized Signal modulating system, characterized by comprising:
Channel coding module: low speed text and high speed text are respectively channel encoded,
PRN code mapping block: the low speed text Jing Guo channel coding is mapped as PRN code sequence all the way, by channel coding High speed text is mapped as the road N-1 PRN code sequence, and the road N PRN code sequence is obtained；
Sub-module when chip: it is divided into signal all the way when by the road N PRN code sequence by chip；
Baseband waveform modulation module: the signal all the way obtained after the chip time-division is subjected to baseband waveform modulation, obtains baseband signal.
10. navigation signal modulating system according to claim 9, it is characterised in that: the raw information rate of low speed text For Rb,L, it is R by character rate after channel codings,L, low speed text symbol intervals are Ts,L=1/Rs,L, code efficiency Rb,L/ Rs,L, the information symbol stream after channel coding is { dL,m, dL,m∈{0,1}；
The raw information rate of high speed text is Rb,H, it is R by character rate after channel codings,H, high speed text symbol intervals For Ts,H=1/Rs,H, code efficiency Rb,H/Rs,H, the information symbol stream after channel coding is { dH,m, dH,m∈{0,1}；Channel It is interleaved after coding to promote anti-channel fading ability.
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