CN111913198B - Data processing method and system based on dual-mode navigation SOC (system on chip) - Google Patents
Data processing method and system based on dual-mode navigation SOC (system on chip) Download PDFInfo
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- G—PHYSICS
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- 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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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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
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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- 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
- G01S19/34—Power consumption
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a data processing method and a system based on a dual-mode navigation SOC chip, wherein the method comprises the following steps: the method comprises the steps that a broadband analog radio frequency front end channel is adopted to respectively receive, amplify, filter and sample signals of a BD2 and GPS dual-mode system, sampling data is input into a baseband processing circuit to respectively carry out digital down-conversion processing on signals of the GPS system and signals of the BD2 system, correlation processing is carried out on the obtained baseband signals, and a BD2 correlator, a GPS correlator and an input data memory are multiplexed during the correlation processing; the invention has the advantages that: the BD2 and the GPS correlator and the related processing input data memory are multiplexed, so that the internal operand of the chip and the cost of the memory are reduced, the area and the power consumption of the chip are reduced, and the performance of the chip is improved.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a data processing method and system based on a dual-mode navigation SOC chip.
Background
At present, the GPS chip basically converts the radio frequency navigation signals received by an antenna to intermediate frequency by using the superheterodyne analog mixing technology, then obtains baseband signals by using the intermediate frequency sampling and digital demodulation technology, stores a section of baseband signal data to carry out multiplexing and correlation operation according to the relative motion of a satellite and a receiver in the baseband signal processing, simultaneously carries out traversal search on different satellite signals and different Doppler signals to complete the capturing of the satellite signals, utilizes a captured result to assist a tracking channel to complete the tracking of the captured satellite, and finally obtains the pseudo range of the satellite through continuous tracking for subsequent software to calculate, thereby obtaining the position, speed and time information of the receiver.
In a single GPS system, the frequency point and the baseband signal to be received are single, so that the architecture of the traditional superheterodyne receiver is relatively simple, and the implementation is easy in engineering. However, in the design of the BD2 and GPS dual-mode navigation SOC chip, if a conventional superheterodyne receiver architecture is adopted, since a superheterodyne receiver needs to be added, the analog portion of the radio frequency front end becomes relatively complex, which results in a large increase in the area and power consumption of the chip circuit, and is not beneficial to the market competitiveness of the product.
The Chinese patent application No. 201911257865.5 discloses an anti-interference BDS/GPS receiver based on an array antenna, a hardware platform mainly comprising a radio frequency chip, a DSP and an FPGA, comprising: the device comprises a radio frequency processing unit, an anti-interference processing unit, a baseband information processing unit, a navigation information processing unit and a power supply unit; the radio frequency unit amplifies, frequency converts and filters BD radio frequency signals and GPS radio frequency signals input by an antenna end into analog intermediate frequency signals, the intermediate frequency signals enter an anti-interference processing unit after A/D sampling quantization, and the intermediate frequency signals enter a baseband information processing unit; the anti-interference processing unit is used for carrying out anti-interference processing on the signals, removing the interference signals, reserving useful satellite navigation signals and sending the reserved satellite signals to the baseband information processing unit; a baseband information processing unit for processing BD intermediate frequency signals and GPS intermediate frequency signals respectively, and performing demodulation and despreading operation; the patent application improves the anti-interference capability of the receiver by increasing the equipment amount and the cost, fully utilizes mature hardware circuits and software modules, reduces the development period of the system, greatly reduces the development risk, but does not solve the problems of high cost and high power consumption of the SOC chip circuit of the dual-mode navigation receiver.
Disclosure of Invention
The technical problem to be solved by the invention is that the dual-mode navigation SOC chip in the prior art has the problems of high circuit cost and high power consumption.
The invention solves the technical problems by the following technical means: a data processing method based on a dual-mode navigation SOC chip comprises the following steps: the method comprises the steps of respectively receiving, amplifying, filtering and sampling BD2 and GPS dual-mode system signals by adopting a broadband analog radio frequency front-end channel, enabling sampled data to enter a baseband processing circuit, respectively carrying out digital down-conversion processing on the GPS system signals and BD2 system signals, storing the obtained baseband signals in the same memory through time division multiplexing, and compressing input data of a BD2 and GPS correlator during correlation processing, so that the calculated amount of the correlator is reduced, and the area and the power consumption of the circuit are reduced.
The invention solves the design complexity of an analog circuit of an SOC chip by adopting a broadband radio frequency direct sampling technology when aiming at the development of a BD2/GPS dual-system navigation SOC chip, namely, a broadband analog radio frequency front-end channel is adopted to finish the receiving, amplifying, filtering, sampling and digital down-conversion of BD2 and GPS system signals, and the obtained baseband signals are stored in the same memory by memory multiplexing when being subjected to the subsequent acquisition related processing, so that the cost of the memory is reduced. During the related processing, the data compression processing is input to the correlator in the memory, so that the internal operation amount of the chip and the cost of the memory are reduced, the area and the power consumption of the chip are reduced, and the performance of the chip is improved.
Further, the sampling data enters the baseband processing circuit, and then digital down-conversion processing is performed on the signals of the GPS system and the BD2 system respectively, including: for the GPS signal and BD2 signal, the direct sampling frequency of the broadband analog radio frequency front end channel is f s The order of the FIR filter is set to be an integer multiple of the sampling frequency, and the FIR filter coefficient is configured by the CPU and sent to a digital down-conversion circuit subunit in the baseband processing circuit through the AMBA bus, wherein the digital down-conversion circuit subunit isAnd a GPS and BD2 multiplexing circuit unit for setting different control time sequences for the GPS system and the BD2 system.
Further, for the GPS system, the sampled data stream is S in digital down-conversion 1 ,S 2 ,…,S i … the carrier frequency data stream of GPS is F 1 ,F 2 ,…,F i …, the data stream after carrier frequency removal is X 1 ＝S 1 *F 1 ,X 2 ＝S 2 *F 2 ,…,X i ＝S i *F i … to input data X i The extraction process is performed with an interval of extraction being T.
Further, for BD2 system, the data stream sampled at the time of digital down-conversion is S1 1 ,S1 2 ,…,S1 i … the carrier frequency data stream of BD2 is F1 1 ,F1 2 ,…,F1 i …, the data stream after carrier frequency removal is X1 1 ＝S1 1 *F1 1 ,X1 2 ＝S1 2 *F1 2 ,…,X1 i ＝S1 i *F1 i … to input data X1 i The extraction process is performed with an interval of T/2.
Further, storing the obtained baseband signal in the same memory through time division multiplexing includes:
the maximum speed of the relative movement speed between the satellite and the receiver is 929 m/s, the spreading code is 1.023MHz for the GPS system, and the maximum correlation processing time is
For BD2 system, its spreading code is 2.046MHz, and the maximum correlation processing time is +.>
In the correlation processing, the data rate of the signals of the GPS system after extraction is A, the data rate of the signals of the BD2 system after extraction is 2A, and the memory size required in the correlation processing of the signals of the GPS system is A multiplied by 10 6 ×160×10 -3 The memory size required for signal correlation processing in a 8bit BD2 system is 2A 10 6 ×80×10 -3 Since the memory size required for both of the x 8 bits is the same, multiplexing can be considered as the input data memory, and multiplexing can also be considered as the correlator for BD2 and GPS at the time of correlation processing.
Further, in the correlation process, the input data compression process to the correlator in the memory includes:
the correlation processing is to perform three-dimensional traversal of satellite signals, doppler channels and chip positions, each chip has two sampling points, the data of the two adjacent sampling points are directly added before the correlation processing, the data rate of the processed input signal is the same as the spreading code rate of baseband signals of BD2 and GPS, and 2 times of sampling is actually realized under the condition that the data rate of the input signal is the same as the spreading code rate, so that the data compression processing is completed.
Still further, the directly adding two adjacent sample point data before the correlation processing includes: setting a state variable OFFSET, setting offset=1 when the input data is processed for the first time, if the data processed for the first time is d1+d2, d3+d4, d5+d6, …, wherein D1 represents the first sampling point data, capturing the satellite by using the data starting position, which indicates that the data starting position used this time is the correct addition mode, if the satellite is not captured, and performing correlation operation again, at this time, moving the original reading data starting position backwards by one data or an odd number of data to obtain the data processed for the second time is d2+d3, d4+d5, d6+d7, …, and performing satellite capturing processing by using the data starting position of the data processed for the second time.
Further, the receiving, amplifying, filtering and sampling the signals of the BD2 and GPS dual-mode system by using the wideband analog radio frequency front-end channel respectively includes: the BD2 and GPS navigation signals are received and coupled to a low noise amplifying unit by an antenna, noise is suppressed, the low noise amplifying unit enters a broadband filtering unit, the broadband filtering unit enables the navigation signals to smoothly pass through and suppresses out-of-band noise, the filtered navigation signals and a small amount of noise enter a radio frequency amplifying unit, the radio frequency amplifying unit amplifies the received navigation signals and noise, the radio frequency amplifying unit enables the received navigation signals and noise to enter a sampling unit to conduct navigation signals and noise amplitude layering, quantization is achieved, and quantized digital signals are sent to a baseband processing circuit.
The invention also provides a data processing system based on the dual-mode navigation SOC chip, which comprises:
the radio frequency front end processing module is used for respectively receiving, amplifying, filtering and sampling BD2 and GPS dual-mode system signals by adopting a broadband analog radio frequency front end channel;
the digital down-conversion processing module is used for inputting sampling data into the baseband processing circuit and then respectively carrying out digital down-conversion processing on signals of the GPS system and signals of the BD2 system;
and the multiplexing module is used for storing the obtained baseband signals in the same memory through time division multiplexing, and compressing input data of the correlator of the BD2 and the GPS during correlation processing, so that the calculated amount of the correlator is reduced, and the area and the power consumption of a circuit are reduced.
Further, the digital down-conversion processing module is further configured to: for the GPS signal and BD2 signal, the direct sampling frequency of the broadband analog radio frequency front end channel is f s The order of the FIR filter is set to be an integer multiple of the sampling frequency, the FIR filter coefficient is configured by a CPU and is sent to a digital down-conversion circuit sub-unit in the baseband processing circuit through an AMBA bus, the digital down-conversion circuit sub-unit is a GPS and BD2 multiplexing circuit unit, and different control time sequences are set for a GPS system and a BD2 system.
Further, for the GPS system, the sampled data stream is S in digital down-conversion 1 ,S 2 ,…,S i … the carrier frequency data stream of GPS is F 1 ,F 2 ,…,F i …, the data stream after carrier frequency removal is X 1 ＝S 1 *F 1 ,X 2 ＝S 2 *F 2 ,…,X i ＝S i *F i … to input data X i The extraction process is performed with an interval of extraction being T.
Further, for BD2 system, the data stream sampled at the time of digital down-conversion is S1 1 ,S1 2 ,…,S1 i … the carrier frequency data stream of BD2 is F1 1 ,F1 2 ,…,F1 i …, the data stream after carrier frequency removal is X1 1 ＝S1 1 *F1 1 ,X1 2 ＝S1 2 *F1 2 ,…,X1 i ＝S1 i *F1 i … to input data X1 i The extraction process is performed with an interval of T/2.
Further, storing the obtained baseband signal in the same memory through time division multiplexing includes:
the maximum speed of the relative movement speed between the satellite and the receiver is 929 m/s, the spreading code is 1.023MHz for the GPS system, and the maximum correlation processing time is
For BD2 system, its spreading code is 2.046MHz, and the maximum correlation processing time is +.>
In the correlation processing, the data rate of the signals of the GPS system after extraction is A, the data rate of the signals of the BD2 system after extraction is 2A, and the memory size required in the correlation processing of the signals of the GPS system is A multiplied by 10 6 ×160×10 -3 The memory size required for signal correlation processing in a 8bit BD2 system is 2A 10 6 ×80×10 -3 Since the memory size required for both of the x 8 bits is the same, multiplexing can be considered as the input data memory, and multiplexing can also be considered as the correlator for BD2 and GPS at the time of correlation processing.
Further, in the correlation process, the input data compression process to the correlator in the memory includes:
the correlation processing is to perform three-dimensional traversal of satellite signals, doppler channels and chip positions, each chip has two sampling points, the data of the two adjacent sampling points are directly added before the correlation processing, the data rate of the processed input signal is the same as the spreading code rate of baseband signals of BD2 and GPS, and 2 times of sampling is actually realized under the condition that the data rate of the input signal is the same as the spreading code rate, so that the data compression processing is completed.
Still further, the directly adding two adjacent sample point data before the correlation processing includes: setting a state variable OFFSET, setting offset=1 when the input data is processed for the first time, if the data processed for the first time is d1+d2, d3+d4, d5+d6, …, wherein D1 represents the first sampling point data, capturing the satellite by using the data starting position, which indicates that the data starting position used this time is the correct addition mode condition, if the satellite is not captured, re-performing correlation operation is needed, at this time, moving the original reading data starting position backwards by one data or an odd number of data to obtain the second time processed data as d2+d3, d4+d5, d6+d7, …, and capturing the satellite by using the data starting position processed for the second time.
Further, the receiving, amplifying, filtering and sampling the signals of the BD2 and GPS dual-mode system by using the wideband analog radio frequency front-end channel respectively includes: the BD2 and GPS navigation signals are received and coupled to a low noise amplifying unit by an antenna, noise is suppressed, the low noise amplifying unit enters a broadband filtering unit, the broadband filtering unit enables the navigation signals to smoothly pass through and suppresses out-of-band noise, the filtered navigation signals and a small amount of noise enter a radio frequency amplifying unit, the radio frequency amplifying unit amplifies the received navigation signals and noise, the radio frequency amplifying unit enables the received navigation signals and noise to enter a sampling unit to conduct navigation signals and noise amplitude layering, quantization is achieved, and quantized digital signals are sent to a baseband processing circuit.
The invention has the advantages that:
(1) The invention solves the design complexity of an analog circuit of an SOC chip by adopting a broadband radio frequency direct sampling technology when aiming at the development of a BD2/GPS dual-system navigation SOC chip, namely, receiving, amplifying, filtering, sampling and digital down-converting BD2 and GPS system signals by adopting a broadband analog radio frequency front-end channel, obtaining baseband signals, and carrying out memory time division multiplexing on the BD2 and GPS baseband signals during the subsequent acquisition related processing to compress related processing input data stored in a memory, thereby reducing the operation amount of a correlator in the chip and the cost of the memory capacity, reducing the chip area and the power consumption and improving the performance of the chip.
(2) In the digital down-conversion processing, the data rate after extraction of the GPS baseband signal is half of the data rate after extraction of the BD2 baseband signal for BD2 and GPS, so the signal input data extraction interval of the GPS system is set to be T, and the signal input data extraction interval of the BD2 system is set to be T/2, thereby multiplexing of the digital down-conversion circuit sub-units is realized.
(3) Since the bandwidth of the GPS baseband signal is 1.023MHz, in order to reduce the sampling loss, the extracted data bandwidth is 2 times of the signal bandwidth, if the correlation operation is directly performed, the operation amount of the correlator is increased, and considering 2 times of sampling, that is, two sampling points are arranged on each chip, so that two adjacent data can be directly added before the correlation calculation, and since the spread spectrum code of the GPS samples two-phase code coding, the process is equivalent to the coherent processing, the data rate of the processed input signal becomes 1.023MHz, and the spread spectrum code rate of the GPS baseband signal is the same as the actual 2 times of sampling, the loss is small, and meanwhile, the calculation amount of the subsequent correlation processing is reduced, and the data compression processing is completed.
Drawings
FIG. 1 is a schematic diagram of a broadband analog RF front-end circuit architecture in a data processing method based on a dual-mode navigation SOC chip according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a signal data extraction process of a GPS system in a data processing method based on a dual-mode navigation SOC chip according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a digital down-conversion processing procedure of signals of a GPS system in a data processing method based on a dual-mode navigation SOC chip according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a signal data extraction process of a BD2 system in a data processing method based on a dual-mode navigation SOC chip according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a digital down-conversion processing procedure of signals of a BD2 system in a data processing method based on a dual-mode navigation SOC chip according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a baseband signal input data storage processing method during related processing in a data processing method based on a dual-mode navigation SOC chip according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, a data processing method based on a dual-mode navigation SOC chip, the method includes: the signals of the BD2 and GPS dual-mode systems are respectively received, amplified, filtered and sampled by adopting a broadband analog radio frequency front-end channel, the sampled data is input into a baseband processing circuit to respectively carry out digital down-conversion processing on the signals of the GPS system and the signals of the BD2 system, the obtained baseband signals are stored, compressed and correlated, and the correlators of the BD2 and the GPS and the input data memory are multiplexed during correlation processing.
In the following, the method provided by the invention is described in detail, and continuing to refer to fig. 1, the navigation signals of the BD2 and the GPS are received and coupled to the low noise amplifying unit 1 by the antenna, noise is suppressed, then the navigation signals enter the broadband filtering unit 2, the broadband filtering unit 2 enables the navigation signals to smoothly pass through and suppress out-of-band noise, the filtered navigation signals and a small amount of noise enter the radio frequency amplifying unit 3, the radio frequency amplifying unit 3 amplifies the received navigation signals and the noise, then the navigation signals enter the sampling unit 4 to perform navigation signals and noise amplitude layering to realize quantization, the quantized digital signals are sent to the baseband processing circuit, the digital down-conversion circuit sub-unit in the baseband processing circuit performs digital down-conversion processing, and then performs correlation processing, and a correlator for performing correlation operation and an input data memory for storing input data are involved in the correlation processing. The invention mainly improves the digital down-conversion processing method, the multiplexing of the input data memory and the input data compression processing method of the correlator, wherein the related circuit structures belong to the prior art, the invention simply introduces the working principle of the circuit structure, and the specific circuit structure is not repeated, so that a person skilled in the art can select the proper circuit structure according to the needs.
The quantized digital signal is sent to a baseband processing circuit for digital down conversion processing, wherein the baseband processing circuit comprises an FIR filter, for a GPS system, in digital down conversion, for convenient extraction, the order of the FIR filter is set to 240 steps, and the FIR filter coefficient is configured by a CPU and sent to a digital down conversion circuit subunit through an AMBA bus, and the digital down conversion circuit subunit is also a GPS and BD2 multiplexing circuit unit, as shown in fig. 2 and 3, the sampled data stream is S 1 ,S 2 ,…,S i … the carrier frequency data stream of GPS is F 1 ,F 2 ,…,F i …, the data stream after carrier frequency removal is X 1 ＝S 1 *F 1 ,X 2 ＝S 2 *F 2 ,…,X i ＝S i *F i ,…；S i Ith data sampled during digital down-conversion for GPS system, F i Ith data of carrier frequency of GPS system, X i Is the data of the GPS system after carrier frequency removal. When the FIR filter performs the filtering process, the data bandwidth of the output after the filtering is only 2 times of the signal bandwidth of the GPS system, namely 2.046MHz, so that the input data X is not needed during the filtering process i Sliding processing is performed on the input data X i Extraction processing is performed due to the input data X i Is f s The interval of filtering extraction is set to be 120 =240×1.023 mhz= 245.52MHz, and during filtering, the input data processing of the filter is as shown in fig. 2 and 3, i.e. the baseband signal D of the GPS system after the signal is subjected to data down-conversion processing i The data rate is 2.046MHz, which is 2 times the signal of the GPS system.
Number for BD2 systemThe frequency of direct sampling of BD2 and GPS is f because they share a broadband analog receiving channel at the broadband analog RF front end s In digital down conversion, since BD2 has a signal bandwidth twice that of GPS, the order of the FIR filter is set to 120 for easy extraction, and the FIR filter coefficients are also configured by the CPU and sent to the digital down conversion circuit subunit through the AMBA bus, but the control and timing thereof are different from those of GPS. As shown in fig. 4 and 5, the sampled data stream is S1 1 ,S1 2 ,…,S1 i … the carrier frequency data stream of BD2 is F1 1 ,F1 2 ,…,F1 i …, the data stream after carrier frequency removal is X1 1 ＝S1 1 *F1 1 ,X1 2 ＝S1 2 *F1 2 ,…,X1 i ＝S1 i *F1 i ,…；S1 i Ith data sampled during digital down-conversion for BD2 system, F1 i Data of carrier frequency of BD2 system, X1 i The carrier frequency removed data is the BD2 system. When the FIR filter performs the filtering process, the data bandwidth outputted after the filtering process is only 2 times of the signal bandwidth of the BD2 system, namely 4.092MHz, so that the input data X1 is not required during the filtering process i Sliding processing is performed on the input data X1 i Extraction processing is performed due to the input data X1 i The sampling frequency of (2) is 245.52MHz, so that the filtering extraction interval is 60, which is half of the signal filtering extraction interval of the GPS system, and during filtering, the input data of the filter is processed as shown in fig. 4 and 5, namely the baseband signal D1 of BD2 system after data down conversion i The data rate is 4.096MHz, which is 2 times the signal of the BD2 system.
The digital down conversion is followed by correlation processing, which involves the storage of correlation processing data, and in the navigation chip design, in order to increase the capture sensitivity of the chip as much as possible, the boundaries of the stored data are: the radiation signal of the satellite irradiates the receiver for a maximum time, which depends on the relative movement speed between the satellite and the receiver. The maximum speed currently commonly adopted in the industry in engineering is 929 m/s. For GPS system, its spreading code is 1.023MHz, and maximum correlation processing time is
(considered in 160 ms) for BD2 systems, the spreading code is 2.046MHz, and the maximum correlation processing time is
In the correlation processing (considered in 80 ms), in order to reduce the loss of sampling extraction, the baseband signal is generally considered in terms of 2 times of signal bandwidth, namely, the data rate of the signal of the GPS system after extraction adopts 2.046MHz, the data rate of the signal of the BD2 system after extraction adopts 4.096MHz, and the memory size required in the signal correlation processing of the GPS system is 2.046X10 6 ×160×10 -3 The memory size required for signal correlation processing in the x 8 bit=327.36 kbyte, BD2 system is 4.096×10 6 ×80×10 -3 Since the memory size and the structure of the x 8 bit= 327.36kbyte are the same, the input data memory is multiplexed when the correlation operation is performed, and the data length is different only when the calculation unit is the same in the correlation operation, so that the correlator is also multiplexed when the acquisition operation is performed.
The digital down-conversion circuit subunit, under the control of the CPU, completes carrier frequency removal, completes suppression of interference signals and extraction of data rate through filtering and extraction of a 240-order FIR filter, obtains a baseband signal, then needs to perform correlation processing (as in the case of the GPS system (BD 2 system)), and needs to perform three-dimensional traversal of 32 GPS satellite signals, 200 doppler channels and 1023 chip positions, so that the baseband signal during correlation processing needs to be stored, the memory size is 3.2726Mbit (the calculation process of the memory size has been introduced above), and the memory depth is 327.36kbyte because the data bit width is 8 bits. Since the bandwidth of the GPS baseband signal is 1.023MHz, in order to reduce sampling loss, the data bandwidth stored by extraction is 2 times of the signal bandwidth, if correlation operation is directly performed, the operation amount of the correlator is increased, and considering 2 times of sampling, namely, each chip has two sampling points, two adjacent data can be considered to be directly added before correlation calculation, and since the spread spectrum code of the GPS adopts two-phase code coding, the process is equivalent to coherent processing, and the data rate of the input signal after processing is changed to 1.023MHz, which is the same as the spread spectrum code rate of the GPS baseband signal, but is actually 2 times of sampling, so the loss is small. The calculation amount of the subsequent correlation processing can be reduced. However, when two adjacent data are directly added, the following two cases occur objectively due to the lack of a priori knowledge.
As shown in fig. 6, 1. Correct addition pattern (phase identical). The added D1 and D2 are exactly the same chip of sample data. 2. Wrong addition pattern (opposite phase). The added D1 and D2 are exactly the sampled data located in two adjacent chips. Therefore, in the correlation process, a state variable OFFSET is set, when input data is randomly processed for the first time, offset=1 is set, if the data of the first time is d1+d2, d3+d4, d5+d6, …, where D1 represents first sampling point data of the first chip, D2 represents second sampling point data of the first chip, D3 represents first sampling point data of the second chip, D4 represents second sampling point data of the second chip, and so on, and other symbol meanings are not repeated. The satellite can be captured by using the data initial position, which indicates that the data initial position used at this time is in a correct addition mode, if the satellite is not captured, correlation operation needs to be carried out again, at this time, offset=0, satellite number and doppler are unchanged, the original data initial position is moved backwards by one data or odd number of data to obtain second randomly processed data, namely d2+d3, d4+d5, d6+d7, …, and the satellite is captured by using the second randomly processed data initial position. When the GPS system performs correlation processing, the sampled data Di of the above chip is the baseband signal D after the signal of the GPS system is subjected to data down-conversion processing i When the BD2 system performs correlation processing, the sampling data Di of the above chip is the baseband signal D1i after the signal of the BD2 system is subjected to data down-conversion processing.
Table 3 shows that compared with the performance created by the invention, the area of the circuit is reduced to 50% of the area of the input data storing and processing method without using memory multiplexing and related input data compressing and processing method, and the power consumption is reduced to 41% without using memory multiplexing and related input data compressing and processing method, so that the cost and performance of the chip are obviously improved, and the market competitiveness of the product is improved.
TABLE 3 comparison of the input data storage processing method of the correlation processing and the area consumption without the method of the invention
According to the technical scheme, the data processing method based on the dual-mode navigation SOC chip provided by the invention solves the problem of complexity of analog circuit design of the SOC chip by adopting a broadband radio frequency direct sampling technology when the dual-mode navigation SOC chip for BD2/GPS is developed, namely, receiving, amplifying, filtering, sampling and digital down-converting signals of the BD2 and GPS system are completed by adopting a broadband analog radio frequency front-end channel, and the obtained baseband signals are subjected to memory time division multiplexing and related processing input data compression processing during subsequent capturing related processing, so that the internal operation amount and the memory overhead of the chip are reduced, the chip area and the power consumption are reduced, and the chip performance is improved.
Example 2
Corresponding to embodiment 1 of the present invention, embodiment 2 of the present invention further provides a data processing system based on a dual-mode navigation SOC chip, the system including:
the radio frequency front end processing module is used for respectively receiving, amplifying, filtering and sampling BD2 and GPS dual-mode system signals by adopting a broadband analog radio frequency front end channel;
the digital down-conversion processing module is used for inputting sampling data into the baseband processing circuit and then respectively carrying out digital down-conversion processing on signals of the GPS system and signals of the BD2 system;
and the multiplexing module is used for storing the obtained baseband signals in the same memory through time division multiplexing, and compressing input data of the correlator of the BD2 and the GPS during correlation processing, so that the calculated amount of the correlator is reduced, and the area and the power consumption of a circuit are reduced.
Specifically, the digital down-conversion processing module is further configured to: for the GPS signal and BD2 signal, the direct sampling frequency of the broadband analog radio frequency front end channel is f s The order of the FIR filter is set to be an integer multiple of the sampling frequency, the FIR filter coefficient is configured by a CPU and is sent to a digital down-conversion circuit sub-unit in the baseband processing circuit through an AMBA bus, the digital down-conversion circuit sub-unit is a GPS and BD2 multiplexing circuit unit, and different control time sequences are set for a GPS system and a BD2 system.
More specifically, for the GPS system, the sampled data stream is S during digital down-conversion 1 ,S 2 ,…,S i … the carrier frequency data stream of GPS is F 1 ,F 2 ,…,F i …, the data stream after carrier frequency removal is X 1 ＝S 1 *F 1 ,X 2 ＝S 2 *F 2 ,…,X i ＝S i *F i … to input data X i The extraction process is performed with an interval of extraction being T.
More specifically, for BD2 system, the data stream sampled at the time of digital down-conversion is S1 1 ,S1 2 ,…,S1 i … the carrier frequency data stream of BD2 is F1 1 ,F1 2 ,…,F1 i …, the data stream after carrier frequency removal is X1 1 ＝S1 1 *F1 1 ,X1 2 ＝S1 2 *F1 2 ,…,X1 i ＝S1 i *F1 i … to input data X1 i The extraction process is performed with an interval of T/2.
Specifically, the storing the obtained baseband signal in the same memory through time division multiplexing includes:
relative between satellite and receiverThe maximum speed of the motion speed is 929 m/s, the spread spectrum code of the GPS system is 1.023MHz, and the maximum correlation processing time is
For BD2 system, its spreading code is 2.046MHz, and the maximum correlation processing time is +.>
In the correlation processing, the data rate of the signals of the GPS system after extraction is A, the data rate of the signals of the BD2 system after extraction is 2A, and the memory size required in the correlation processing of the signals of the GPS system is A multiplied by 10 6 ×160×10 -3 The memory size required for signal correlation processing in a 8bit BD2 system is 2A 10 6 ×80×10 -3 Since the memory size required for both of the x 8 bits is the same, multiplexing can be considered as the input data memory, and multiplexing can also be considered as the correlator for BD2 and GPS at the time of correlation processing.
Specifically, during the correlation process, the compression process for the input data of the correlator in the memory includes:
the correlation processing is to perform three-dimensional traversal of satellite signals, doppler channels and chip positions, each chip has two sampling points, the data of the two adjacent sampling points are directly added before the correlation processing, the data rate of the processed input signal is the same as the spreading code rate of baseband signals of BD2 and GPS, and 2 times of sampling is actually realized under the condition that the data rate of the input signal is the same as the spreading code rate, so that the data compression processing is completed.
More specifically, the directly adding two adjacent sampling point data before the correlation processing includes: setting a state variable OFFSET, setting offset=1 when the input data is processed for the first time, if the data processed for the first time is d1+d2, d3+d4, d5+d6, …, wherein D1 represents the first sampling point data, capturing the satellite by using the data starting position, which indicates that the data starting position used this time is the correct addition mode condition, if the satellite is not captured, re-performing correlation operation is needed, at this time, moving the original reading data starting position backwards by one data or an odd number of data to obtain the second time processed data as d2+d3, d4+d5, d6+d7, …, and capturing the satellite by using the data starting position processed for the second time.
Specifically, the receiving, amplifying, filtering and sampling the signals of the BD2 and GPS dual-mode system by using the wideband analog radio frequency front-end channel includes: the BD2 and GPS navigation signals are received and coupled to a low noise amplifying unit by an antenna, noise is suppressed, the low noise amplifying unit enters a broadband filtering unit, the broadband filtering unit enables the navigation signals to smoothly pass through and suppresses out-of-band noise, the filtered navigation signals and a small amount of noise enter a radio frequency amplifying unit, the radio frequency amplifying unit amplifies the received navigation signals and noise, the radio frequency amplifying unit enables the received navigation signals and noise to enter a sampling unit to conduct navigation signals and noise amplitude layering, quantization is achieved, and quantized digital signals are sent to a baseband processing circuit.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The data processing method based on the dual-mode navigation SOC chip is characterized by comprising the following steps of: the method comprises the steps of respectively receiving, amplifying, filtering and sampling BD2 and GPS dual-mode system signals by adopting a broadband analog radio frequency front-end channel, inputting sampled data into a baseband processing circuit, respectively carrying out digital down-conversion processing on the GPS system signals and BD2 system signals, storing the signals in the same memory by time division multiplexing, and compressing input data of a correlator of BD2 and GPS during correlation processing; wherein the direct sampling frequency of the broadband analog radio frequency front end channel is
The maximum speed of the relative movement speed between satellite and receiver is 929 m/s, the spreading code is 1.023MHz for GPS system, and the maximum correlation processing time is +.>
ms, for BD2 system, its spreading code is 2.046MHz, and the maximum correlation processing time is +.>
ms, when the data rate of the GPS system signal after extraction is A and the data rate of the BD2 system signal after extraction is 2A, the memory size required for the GPS system signal correlation is +.>
The memory size required for signal-dependent processing of the BD2 system is +.>
The memory size required by the two is the same, so that the input data memory is multiplexed, and the BD2 and the GPS correlator are multiplexed during correlation processing;
the correlation processing is to perform three-dimensional traversal of satellite signals, doppler channels and chip positions, each chip has two sampling points, the data of the two adjacent sampling points are directly added before the correlation processing, the data rate of the processed input signal is the same as the spreading code rate of baseband signals of BD2 and GPS, and 2 times of sampling is actually realized under the condition that the data rate of the input signal is the same as the spreading code rate, so that the data compression processing is completed;
the directly adding two adjacent sampling point data before the correlation processing includes: setting a state variable OFFSET, setting offset=1 when the input data is processed for the first time, if the data processed for the first time is d1+d2, d3+d4, d5+d6, …, wherein D1 represents the first sampling point data, capturing the satellite by using the data starting position, which indicates that the data starting position used this time is the correct addition mode condition, if the satellite is not captured, re-performing correlation operation is needed, at this time, moving the original reading data starting position backwards by one data or an odd number of data to obtain the second time processed data as d2+d3, d4+d5, d6+d7, …, and capturing the satellite by using the data starting position processed for the second time.
2. The data processing method based on the dual-mode navigation SOC chip of claim 1, wherein sampling data into the baseband processing circuit and then respectively performing digital down-conversion processing on the GPS system signal and the BD2 system signal includes: the direct sampling frequency of the broadband analog radio frequency front end channel for the GPS system signal and the BD2 system signal is
The order of the FIR filter is set to be an integer multiple of the sampling frequency, the FIR filter coefficient is configured by a CPU and is sent to a digital down-conversion circuit sub-unit in the baseband processing circuit through an AMBA bus, the digital down-conversion circuit sub-unit is a GPS and BD2 multiplexing circuit unit, and different control time sequences are set for a GPS system and a BD2 system.
3. The data processing method based on the dual-mode navigation SOC chip of claim 2, wherein for the GPS system, the data stream sampled during digital down-conversion is
The carrier frequency data stream of GPS is +.>
The data stream after carrier frequency removal is +.>
Input data +.>
The extraction process is performed with an interval of extraction being T.
4. The data processing method based on the dual-mode navigation SOC chip of claim 2, wherein for BD2 system, the data stream sampled at the time of digital down-conversion is
Carrier frequency data stream of BD2 is
The data flow after carrier frequency removal is that
Input data +.>
The extraction process is performed with an interval of T/2.
5. The dual-mode navigation SOC chip based data processing method of claim 1, wherein the receiving, amplifying, filtering and sampling the BD2 and GPS dual-mode system signals using the wideband analog radio frequency front-end channel includes: the BD2 and GPS navigation signals are received and coupled to a low noise amplifying unit by an antenna, noise is suppressed, the low noise amplifying unit enters a broadband filtering unit, the broadband filtering unit enables the navigation signals to smoothly pass through and suppresses out-of-band noise, the filtered navigation signals and a small amount of noise enter a radio frequency amplifying unit, the radio frequency amplifying unit amplifies the received navigation signals and noise, the radio frequency amplifying unit enables the received navigation signals and noise to enter a sampling unit to conduct navigation signals and noise amplitude layering, quantization is achieved, and quantized digital signals are sent to a baseband processing circuit.
6. A data processing system based on a dual-mode navigation SOC chip, the system comprising:
the radio frequency front end processing module is used for respectively receiving, amplifying, filtering and sampling BD2 and GPS dual-mode system signals by adopting a broadband analog radio frequency front end channel;
the digital down-conversion processing module is used for inputting sampling data into the baseband processing circuit and then respectively carrying out digital down-conversion processing on signals of the GPS system and signals of the BD2 system;
the multiplexing module is used for storing the obtained baseband signals in the same memory through time division multiplexing, and compressing input data of the correlators of the BD2 and the GPS during correlation processing;
wherein the direct sampling frequency of the broadband analog radio frequency front end channel is
The maximum speed of the relative movement speed between satellite and receiver is 929 m/s, the spreading code is 1.023MHz for GPS system, and the maximum correlation processing time is +.>
ms, for BD2 system, its spreading code is 2.046MHz, and the maximum correlation processing time is +.>
ms, when the data rate of the GPS system signal after extraction is A and the data rate of the BD2 system signal after extraction is 2A, the memory size required for the GPS system signal correlation is +.>
The memory size required for signal-dependent processing of the BD2 system is +.>
The memory size required by the two is the same, so that the input data memory is multiplexed, and the BD2 and the GPS correlator are multiplexed during correlation processing;
the correlation processing is to perform three-dimensional traversal of satellite signals, doppler channels and chip positions, each chip has two sampling points, the data of the two adjacent sampling points are directly added before the correlation processing, the data rate of the processed input signal is the same as the spreading code rate of baseband signals of BD2 and GPS, and 2 times of sampling is actually realized under the condition that the data rate of the input signal is the same as the spreading code rate, so that the data compression processing is completed;
the directly adding two adjacent sampling point data before the correlation processing includes: setting a state variable OFFSET, setting offset=1 when the input data is processed for the first time, if the data processed for the first time is d1+d2, d3+d4, d5+d6, …, wherein D1 represents the first sampling point data, capturing the satellite by using the data starting position, which indicates that the data starting position used this time is the correct addition mode condition, if the satellite is not captured, re-performing correlation operation is needed, at this time, moving the original reading data starting position backwards by one data or an odd number of data to obtain the second time processed data as d2+d3, d4+d5, d6+d7, …, and capturing the satellite by using the data starting position processed for the second time.
7. The dual mode navigation SOC chip based data processing system of claim 6, wherein the digital down conversion processing module is further configured to: the direct sampling frequency of the broadband analog radio frequency front end channel for the GPS system signal and the BD2 system signal is
The order of the FIR filter is set to be an integer multiple of the sampling frequency, the FIR filter coefficient is configured by a CPU and is sent to a digital down-conversion circuit sub-unit in the baseband processing circuit through an AMBA bus, the digital down-conversion circuit sub-unit is a GPS and BD2 multiplexing circuit unit, and different control time sequences are set for a GPS system and a BD2 system. />
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