CN111049606B - Method and system for quickly synchronizing frames of GNSS receiver - Google Patents
Method and system for quickly synchronizing frames of GNSS receiver Download PDFInfo
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- CN111049606B CN111049606B CN201910935731.8A CN201910935731A CN111049606B CN 111049606 B CN111049606 B CN 111049606B CN 201910935731 A CN201910935731 A CN 201910935731A CN 111049606 B CN111049606 B CN 111049606B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0602—Systems characterised by the synchronising information used
- H04J3/0605—Special codes used as synchronising signal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
- H04L7/04—Speed or phase control by synchronisation signals
- H04L7/041—Speed or phase control by synchronisation signals using special codes as synchronising signal
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Abstract
The invention relates to the technical field of high-precision satellite positioning, and discloses a method for quickly synchronizing frames of a GNSS receiver, which comprises the following steps: receiving a satellite signal; performing bit synchronization on the satellite signals; performing frame synchronization on the satellite signals; if the data of the satellite signal can not pass the verification all the time, matching the data of the satellite signal with assumed data to obtain a matching result, wherein the assumed data belongs to one section of a frame header synchronization code; and according to the matching result, the satellite signal is verified to realize frame synchronization, and the frame synchronization can be quickly realized again under the condition of no need of bit synchronization when the synchronization fails.
Description
Technical Field
The invention relates to the technical field of high-precision satellite positioning, and discloses a method and a system for quickly synchronizing frames of a GNSS receiver.
Background
In the process of satellite baseband signal processing, after a receiver receives a satellite signal, the carrier and the pseudo code of the signal are stripped through a tracking loop. In order to obtain ephemeris data of the satellite, it is necessary to perform bit synchronization, frame synchronization processing on the IP leg of the tracking loop, find the bit start edge and frame start position from a plurality of signal levels,
in the actual long-term operation process, various reasons may occur, which cause synchronization failure before the receiver, specifically that the channel cannot pass verification. Generally, bit synchronization and frame synchronization must be performed again at this time. During the synchronization process, partial data is inevitably discarded, which results in partial data loss in the ephemeris period, and the ephemeris is incomplete and unusable. When this happens at the time of ephemeris update every 2h, it will make the system unable to obtain new ephemeris in time, and make an error in the calculation of the satellite position.
Therefore, a new method and system for fast frame synchronization of GNSS receiver should be studied.
Disclosure of Invention
In view of the problems faced by the background art, the present invention is directed to a method and system for fast frame synchronization of a GNSS receiver.
In order to achieve the purpose, the invention adopts the following technical scheme: a method for fast frame synchronization of a GNSS receiver comprises the following steps: receiving a satellite signal; performing bit synchronization on the satellite signals; performing frame synchronization on the satellite signals; if the data of the satellite signal can not pass the verification all the time, matching the data of the satellite signal with assumed data to obtain a matching result, wherein the assumed data belongs to one section of a frame header synchronization code; and checking the satellite signal according to the matching result to realize frame synchronization.
Preferably, the length of the missing data of the satellite signal is assumed; and subtracting the length of the missing data from the length of the frame header synchronous code data to obtain the length of the assumed data.
Preferably, if the matching result is completely consistent or opposite, a level flip identifier is obtained, and the subframe data in the satellite signal is checked.
Preferably, the checking method is a BCH checking method or a parity checking method.
Preferably, if the check is passed, the length of the missing data is subtracted from 300 to obtain the cumulative length of the satellite signal of the subframe, the cumulative length of the subframe is set, and the navigation data is decoded.
Preferably, if the verification fails or the matching result is that the satellite signals cannot be matched, the missing length of the satellite signals is increased, and the missing length of the satellite signals is sequentially increased until the length of the assumed data reaches the set threshold.
Preferably, if it is assumed that the length of the data reaches the set threshold, the satellite signal cannot pass the verification, and the bit synchronization is performed on the satellite signal, so as to perform frame synchronization on the satellite signal.
Preferably, the validation code in the satellite signal belongs to a portion of each word of a complete sub-frame.
Preferably, a computer-readable storage medium, on which a computer program is stored, is characterized in that the computer program realizes the steps of any of the above methods when executed by a processor.
Preferably, a system for fast frame synchronization of a GNSS receiver includes a receiving module, configured to receive a satellite signal; the bit synchronization module is used for carrying out bit synchronization on the satellite signals; the frame synchronization module is used for carrying out frame synchronization on the satellite signals; the matching module is used for matching the data of the satellite signal with the assumed data to obtain a matching result if the data can not pass the verification all the time, wherein the assumed data belongs to one section of the frame header synchronous code; and the checking module is used for checking the satellite signals according to the matching result and realizing frame synchronization again.
Compared with the prior art, the invention provides a method for quickly synchronizing frames of a GNSS receiver, which comprises the following steps: receiving a satellite signal; performing bit synchronization on the satellite signals; performing frame synchronization on the satellite signals; if the frame synchronization fails, matching the satellite signal with assumed data to obtain a matching result, wherein the assumed data belongs to one section of a frame header synchronization code; and checking the satellite signal according to the matching result, and realizing the frame synchronization again. The method is characterized in that when the bit frame synchronization is invalid due to the fact that synchronous code data of satellite signals are missing, the frame synchronization is completed again quickly by using a sliding window matching method, the phenomenon that partial data are discarded when synchronization is conducted again in the prior art is avoided, the integrity of the data is guaranteed, the loss of ephemeris data is avoided, the synchronous codes do not contain the ephemeris data, the loss of the ephemeris data cannot be caused by the missing of the synchronous codes, the integrity and the continuity of the ephemeris data are guaranteed, the subsequent subframe decoding is not influenced, the influence on the processing flow of the whole baseband is small, the accuracy of satellite position calculation is guaranteed, and the good accuracy of user positioning is guaranteed.
Drawings
FIG. 1 is a flowchart illustrating a method for fast frame synchronization of a GNSS receiver according to the present invention;
FIG. 2 is a block diagram of a GNSS receiver fast frame synchronization system according to the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, some of which are illustrated in the accompanying drawings and described below, wherein like reference numerals refer to like elements throughout. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, based on the embodiments and the graphics of the invention, are within the scope of protection of the invention.
In satellite positioning, a positioning technology based on carrier phase can provide centimeter-level positioning effect, wherein ambiguity of fixed carrier phase is the most critical technology, and a user needs to try to solve ambiguity, namely whole-week unknown number, to obtain a distance from a satellite to a receiver, so that accurate position information of the user can be obtained.
Fig. 1 provides a method for fast frame synchronization of a GNSS receiver according to the present invention, including: s1, receiving satellite signals; s2, carrying out bit synchronization on the satellite signals; s3, carrying out frame synchronization on the satellite signals; s4, if the frame synchronization fails, matching the satellite signal with the assumed data to obtain a matching result, wherein the assumed data belongs to one section of the frame header synchronization code; and S5, checking the satellite signal according to the matching result, and realizing the frame synchronization again.
Fig. 2 shows a system for providing a fast frame synchronization of a GNSS receiver according to the present invention, which includes: s10, a receiving module for receiving satellite signals; s20, a bit synchronization module for performing bit synchronization on the satellite signal; s30, a frame synchronization module for performing frame synchronization to the satellite signal; s40, a matching module, for matching the satellite signal with the assumed data to obtain the matching result if the frame synchronization fails, the assumed data belongs to one section of the frame header synchronization code; and S50, a checking module for checking the satellite signal according to the matching result and realizing frame synchronization again.
In an embodiment, the receiving the satellite signal refers to a user receiver receiving the satellite signal transmitted by the satellite, and the receiver may be a mobile phone, a vehicle, or the like equipped with a receiving module having a function of receiving the signal, or a receiver installed on a mobile station or a fixed station that needs to be located, which is not limited herein. The receiver may be a single receiver or may be integrated or embedded in other systems. The satellite can be any one of a GPS satellite or a Beidou satellite and the like. The receiver is provided with a receiving antenna for receiving satellite signals.
In one embodiment, each signal channel of the receiver processes the satellite signals of the visible satellites tracked by the receiver into acquiring the satellite signals, tracking the satellite signals, performing bit synchronization on the satellite signals, and finally performing frame synchronization. The receiver comprises a radio frequency front-end processing module, a baseband digital signal processing module and a positioning navigation operation module. The radio frequency front end processing module receives satellite signals through an antenna, the baseband digital signal processing module duplicates local carrier waves and local pseudo code signals which are consistent with the received satellite signals through processing digital intermediate frequency signals output by the radio frequency front end, accordingly, the satellite signals are captured and tracked, measured values such as pseudo range carrier waves and carrier phases are obtained from the satellite signals, and navigation messages are demodulated. Satellite signals are transmitted outwards at intervals, after the receiver captures and tracks the satellite signals, the receiver continuously adjusts carriers copied in the receiver through a carrier tracking loop to enable the responsible carriers (or phases) to be consistent with carrier frequencies (or phases) in the numbers, and then carrier stripping is achieved through down-conversion mixing; the method and the device realize the stripping of carrier waves and pseudo codes of satellite signals, acquire navigation message data codes and acquire ephemeris data used for calculating the satellite position and speed from the navigation messages. After the receiver captures and tracks the received satellite signal, the receiver performs bit synchronization and frame synchronization on the satellite signal, thereby acquiring the satellite signal transmitting time and the navigation message from the received signal. That is, in order to obtain ephemeris data of a satellite, it is necessary to perform bit synchronization and then frame synchronization on an output data level of an IP branch of a tracking loop, so as to find a bit start edge and a frame start position from a plurality of satellite signals, so as to extract the ephemeris data from the satellite signals, and thus, to use the ephemeris data to solve a positioning coordinate of a user receiver. Each signal channel of the baseband digital signal processing module is responsible for processing a satellite signal of a certain frequency band of a satellite.
In one embodiment, during actual long-term operation, there are various reasons that the synchronization before the receiver fails, which is embodied in that the satellite signal cannot pass the verification. Generally, bit synchronization and frame synchronization must be performed again at this time. Most of the reasons for synchronization failure may be simply due to data misalignment, for example, a few bits of data are lost during bit synchronization, or a few bits of data in frame synchronization are lost, so that the satellite data after error cannot be matched. During the synchronization process, partial data is discarded, which results in the loss of partial ephemeris data in the ephemeris period, and the ephemeris data is incomplete and unusable. In most cases, the problem has no effect on the receiver, but when the problem happens at the time of ephemeris update every 2h, the system cannot obtain new ephemeris in time, and the calculation of the satellite position is wrong. The method of the invention optimizes the bit synchronization frame synchronization in the satellite baseband signal processing process, and when the bit synchronization is completed but the frame synchronization is invalid, the method is used for rapidly completing the frame synchronization again, thereby finding out the new bit synchronization bit start edge and the frame head position of the frame synchronization data, rapidly completing the frame synchronization again, and the method does not need to perform the bit synchronization and the frame synchronization again, does not influence the decoding of the satellite data in the subsequent steps, and ensures the integrity of the ephemeris data. The method is to assume the length of the missing data of the satellite signal, and subtract the length of the missing data from the length of the frame header synchronous code data to obtain the length of the assumed data.
In one embodiment, taking GPS satellite signals as an example, the navigation messages of the satellite signals are organized into data streams in the form of frames and subframes. Each satellite transmits navigation messages frame by frame, and the satellite transmits each frame of messages subframe by subframe. Each frame of navigation message is 1500 bits long, 30s is calculated, and the navigation message is composed of 5 subframes in sequence. Each subframe is 300 bits long, counts 6s, and consists of 10 words in turn. Each word is 30 bits long, with the most significant bit being sent first, and each word in each frame ending with a 6-bit parity check code. The first word of each sub-frame is a telemetry word consisting of a synchronization code, a telemetry code, a backup and a parity check code. The binary values of the sync code from bit 1 to bit 8 are fixed at 10001011, and the last 6 bits are the parity check code. The value of the synchronization code is fixed and known, the synchronization code is the first 8 bits of each subframe, the receiver uses the synchronization code to match with the received data code of the received satellite signal, and then searches and locks the start edge of the subframe, and the receiver finds the subframe edge of the satellite signal, namely the receiver performs the frame synchronization state on the satellite signal. The parity check code is used for carrying out certain operation on the last 6 bits of the telemetry word and judging the correctness of the navigation data. The receiver reasonably divides a series of 1ms data in the satellite signal into every 20 groups through data analysis, and then achieves bit synchronization. After realizing the bit synchronization, the frame synchronization is carried out.
In an embodiment, when a user receiver is located for a long time, the user receiver is blocked, and the like, which causes the frame synchronization before the receiver to fail, in the frame synchronization process, if it is found that a frame header does not match, it is assumed that the reason of the failure is satellite data loss, here, taking a BDS satellite as an example, a frame header sync code of satellite data of a satellite signal sent by the BDS satellite has 11 bits, it is assumed that a bit of the satellite data sent by the BDS satellite received by the receiver is lost, then 10 bits of the satellite data are matched and compared with the last 10 bits of the known sync code, if the matching result is completely consistent or opposite, a level flip identifier can be obtained, and then 10 words in the subframe are checked. Using BCH check method for received BDS satellite data, the last 15 bits and the last 9 words of the first word of the subframe can be checked by BCH check. And the verification process does not use the data of the synchronous code, the loss of the synchronous code data in the received satellite data has no influence on the verification of the whole subframe, and the synchronous code does not contain any ephemeris data.
If 10 words of the BDS satellite data pass BCH inspection, it is proved that the received BDS satellite data loses 1 bit data, then the accumulated length bit 299 bit of the subframe is set, namely the length of the lost 1 bit data is subtracted from the total length of the standard subframe to obtain the length of the actually received satellite data subframe, after the actual data length is obtained, the accumulated data is moved by corresponding bit in a buffer area with the length of 300 in an integral manner to realize tail alignment, and then the buffered data with the length of 300 is transmitted to a decoding module. Because the decoding module does not need to know whether the data is lost or not, and only needs to decode the length of one subframe of the input length 300, the position of the input data is ensured to be accurate, and the same function is used for processing whether the data is lost or not.
If 10 bits of satellite data are matched and compared with the last 10 bits of known synchronous codes, if the matching result is inconsistent or not opposite at all, or if 10 words of the BDS satellite data do not pass BCH check, the receiver is supposed to receive that two bits of satellite data transmitted by a BDS satellite are lost, then the steps of matching and comparing are repeated until the assumed number of bits of the lost data reaches a preset threshold value which is generally set to be half of the length of the whole synchronous code, namely when the half of the BDS satellite synchronous code data is 5, the received data of a subframe cannot pass BCH check, sliding window matching is abandoned, and the common prior art carries out bit re-synchronization and frame synchronization directly. The method has the advantages of simple comparison process, short program processing time consumption, no influence on the real-time performance of the system, no need of bit synchronization and quick and correct matching to realize frame synchronization under the condition of satellite data loss or dislocation, and no need of performing bit synchronization and frame synchronization again like the prior art.
In an embodiment, taking a GPS satellite as an example, a frame header sync code of satellite data of a satellite signal sent by the GPS satellite has 8 bits, and it is assumed that a receiver receives the satellite data sent by the GPS satellite and loses one bit, then 7 bits of the satellite data are matched and compared with the last 7 bits of the known sync code, if the matching result is completely consistent or opposite, a level flip identifier can be obtained, and then, a word in the subframe is checked. The parity check method is used for the received GPS satellite data, the last two bits of the former word are needed, and for one subframe, only the last 9 words can be checked. And the verification process does not use the data of the synchronous code, the loss of the synchronous code data in the received satellite data has no influence on the verification of the whole subframe, and the synchronous code does not contain any ephemeris data.
If the data passes through the parity check, namely the last 9 words of 10 words of a subframe of the GPS satellite pass through the parity check, the fact that 1 bit is lost is proved, the accumulative length of the subframe is set to 299(300-1), and the data is transmitted to a decoding link. If the remaining synchronization codes cannot be matched or the subframe data cannot be checked, the number of lost bits is considered to be more than 1 bit. And continuously assuming that 2 bits are lost, repeating the steps until the lost bit i is half of the length of the whole synchronous code, and if the lost bit i still cannot pass the verification when the lost bit i is 4 for the GPS satellite, failing the sliding comparison, and turning the program to go through the processes of bit synchronization and frame synchronization again. The hypothesis comparison process is simple, the time consumed by program processing is short, and even if the sliding comparison fails, the real-time performance of the system is not affected.
In an embodiment, if frame header matching is not found, firstly, it is assumed that the reason of failure is satellite data loss, and the lost data of the satellite data is a fixed value, taking a BDS satellite as an example, a frame header sync code of satellite data of a satellite signal sent by the BDS satellite has 11 bits, and first, it is assumed that a receiver receives the satellite data sent by the BDS satellite and loses 3 bits, then 8 bits of the satellite data are matched and compared with 8 bits of known sync code, then, verification is performed, if a word of a subframe passes through corresponding verification, the number of the lost data is determined, and then, an offset between the satellite data and the sync code is found, and frame synchronization is completed.
In one embodiment, when the check code of the subframe data is checked, the embodiment checks 10 words of a complete subframe, in other embodiments, only part of words can be checked, so that the checking speed is accelerated, the checking methods are various, the signal checking modes of GLONASS and GALILEO are different, even if the GPS signals are different, the checking modes of the GLONASS and GALILEO also include various types, and according to the difference of the satellite signals, the corresponding checking method is adopted, for example, parity checking is adopted for the GPS L1 signal, and BCH checking is adopted for the BDS (beidou) B1/B2/B3 signal.
In an embodiment, when the check code of the subframe data is checked, in this embodiment, 10 words of the complete subframe are checked, and in other embodiments, more words may be checked, so as to increase the accuracy of the check, which is not limited herein.
In one embodiment, the method is that when the bit frame synchronization is invalid due to the fact that synchronous code data of satellite signals are missing, frame synchronization is completed again quickly by using a sliding window matching method, the problem that part of data is discarded when synchronization is conducted again in the prior art is avoided, the integrity of the data is guaranteed, the loss of ephemeris data is avoided, the synchronous codes do not contain the ephemeris data, the loss of the ephemeris data cannot be caused by the missing of the synchronous codes, the integrity and the continuity of the ephemeris data are guaranteed, the subsequent subframe decoding is not influenced, the influence on the processing flow of the whole baseband is small, the accuracy of satellite position calculation is guaranteed, and the good accuracy of user positioning is guaranteed.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of any of the methods described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. A method for fast frame synchronization of a GNSS receiver is characterized by comprising the following steps:
receiving a satellite signal;
performing bit synchronization on the satellite signals;
performing frame synchronization on the satellite signals;
if the data of the satellite signal can not pass the verification all the time, matching the data of the satellite signal with the assumed data to obtain a matching result, assuming that the data belongs to one section of the frame header synchronous code, assuming the length of the missing data of the satellite signal, and subtracting the length of the missing data from the length of the frame header synchronous code data to obtain the length of the assumed data;
according to the matching result, checking the satellite signal; if the matching result is completely consistent or opposite, obtaining a level turnover identifier, and verifying sub-frame data in the satellite signal to realize frame synchronization; and if the verification fails or the matching result is that the satellite signals cannot be matched, increasing the missing length of the satellite signals, and sequentially increasing the missing length until the length of the assumed data reaches a set threshold value.
2. The method of claim 1, wherein: the checking method is a BCH checking method or a parity checking method.
3. The method of claim 1, wherein: if the verification is passed, subtracting the length of the missing data from 300 to obtain the accumulated length of the satellite signal of the subframe, setting the accumulated length of the subframe, and decoding the navigation data.
4. The method of claim 1, wherein: and if the length of the data is supposed to reach the set threshold, the satellite signal cannot pass the verification, the bit synchronization is carried out on the satellite signal, and the frame synchronization is carried out on the satellite signal.
5. The method of claim 1, wherein: the check code in the satellite signal belongs to a portion of each word of a complete sub-frame.
6. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
7. A system for fast frame synchronization of a GNSS receiver, comprising:
the receiving module is used for receiving satellite signals;
the bit synchronization module is used for carrying out bit synchronization on the satellite signals;
the frame synchronization module is used for carrying out frame synchronization on the satellite signals;
the matching module is used for matching the data of the satellite signal with the assumed data to obtain a matching result if the data can not pass the verification all the time, wherein the assumed data belongs to one section of the frame header synchronous code, and the length of the missing data of the satellite signal is assumed, and the length of the missing data is subtracted from the length of the frame header synchronous code data to obtain the length of the assumed data;
the checking module is used for checking the satellite signal according to the matching result; if the matching result is completely consistent or opposite, obtaining a level turnover identifier, checking sub-frame data in the satellite signal, and realizing frame synchronization again; and if the verification fails or the matching result is that the satellite signals cannot be matched, increasing the missing length of the satellite signals, and sequentially increasing the missing length until the length of the assumed data reaches a set threshold value.
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| CN101420259A (en) * | 2007-10-22 | 2009-04-29 | 那微微电子科技（上海）有限公司 | Frame synchronization method and device |
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| US6654686B2 (en) * | 2002-02-19 | 2003-11-25 | Seiko Epson Corporation | No preamble frame sync |
| CN108347328B (en) * | 2017-01-23 | 2020-09-01 | 展讯通信（上海）有限公司 | Frame synchronization method and device of receiver |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11220461A (en) * | 1998-01-30 | 1999-08-10 | Nec Eng Ltd | Time quality information detector and its detection method |
| CN101420259A (en) * | 2007-10-22 | 2009-04-29 | 那微微电子科技（上海）有限公司 | Frame synchronization method and device |
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