CN112698373A - Device and method for realizing precise distance measurement of navigation signals generated on ground - Google Patents
Device and method for realizing precise distance measurement of navigation signals generated on ground Download PDFInfo
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- 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
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- 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
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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
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Abstract
The invention provides a device and a method for realizing precise distance measurement of a ground generated navigation signal, which adjust the ground generated navigation signal through an integrated baseband device, adjust the signal transmitting time to a phase center of a satellite forwarding load transmitting antenna, adjust the ground generated navigation signal pseudo code parameter through the integrated baseband device, keep the code frequency of a downlink navigation signal broadcasted by the phase center of the satellite forwarding load transmitting antenna consistent with the designed nominal frequency, adjust the ground generated navigation signal carrier parameter through the integrated baseband device, keep the phase of the downlink navigation signal broadcasted by the phase center of the satellite forwarding load transmitting antenna consistent with the pseudo code phase, and virtualize a high-performance ground clock to a satellite outlet.
Description
Technical Field
The invention relates to a navigation system, in particular to a precise distance measurement technology.
Background
The GPS in the united states, the BDS in our country, the GLONASS (Global Navigation satellite system, GLONASS) in the former soviet union, and the Gaileo system in europe are four major satellite Navigation systems that have provided Navigation, positioning, and time service to the world in the world at present. The built satellite navigation systems are all provided with high-performance satellite-borne atomic clocks on the satellites, navigation signals are generated on the satellites, the technical implementation difficulty is high, the risk is high, and the system construction cost is high and the period is long.
In 11 months in 2002, scientific research personnel of the academy of Chinese science propose that a Chinese area positioning system is constructed in a mode of forwarding navigation signals by a satellite, and a transponder on a commercial communication satellite is used for forwarding ground atomic clock signals and navigation messages for navigation and positioning. The system is called as a forwarding satellite navigation system for short, navigation signals are generated on the ground, the forwarding of the navigation signals generated on the ground is completed through forwarding loads on geosynchronous orbit (GEO) satellites or inclined orbit synchronous (IGSO) satellites, a high-precision satellite-borne atomic clock is not needed on the satellite, the design and implementation difficulty of the satellite is reduced, the system construction cost and the construction risk are greatly reduced, and the system construction period is shortened.
The forwarding satellite navigation system is composed of a constellation segment, a ground control segment and a user segment, and the composition structure is shown in fig. 1.
The constellation section of the system mainly comprises a geosynchronous orbit (GEO) satellite or an inclined orbit synchronous (IGSO) satellite with a satellite forwarding load.
The ground control is composed of a tracking station, a time frequency reference source and a navigation signal master control station (called a master control station for short).
The tracking stations are distributed all over the world and used for observing and tracking the satellite, obtaining the accurate orbit of the satellite, forming corresponding observed quantity data and transmitting the observed data to the main control station through a ground network.
The time-frequency unified reference source provides a unified time-frequency reference signal for the equipment of the whole ground control section.
The main control station is divided into a data management center, a data processing center, an operation monitoring center and a navigation signal uplink station according to functions. The data management center mainly receives original observation data sent by the tracking station through a network, and performs quality inspection and analysis; receiving ephemeris, virtual clock and large-ring time delay data sent by a data processing center, realizing the storage and management of all data of a satellite forwarding system, and receiving the unified management of an operation monitoring center; the data processing center is a data comprehensive processing center of the satellite forwarding system, receives observation data of the data management center, performs data processing on virtual clock error and orbit information, generates satellite broadcast ephemeris, virtual clock parameters, ionosphere model parameters and system integrity information, edits and generates navigation messages and transmits the navigation messages to the data uplink station; the operation monitoring center carries out real-time monitoring, centralized control and comprehensive analysis on all components of the data comprehensive processing center, including accessory equipment, software operation working state and working parameters; the navigation signal uplink station receives navigation message information of the data processing center, after spread spectrum modulation, up-conversion, power amplification, filtering and combining processing, the signal is sent to the GEO/IGSO satellite through the antenna equipment. And simultaneously, receiving the navigation signal transmitted by the station and forwarded by the satellite to complete message demodulation and ranging.
Regardless of an independent navigation system or an auxiliary GNSS (global navigation satellite system) enhancing system, the carrier phase ranging capability is realized, and the positioning, time service and speed measurement performances of the system can be greatly improved. However, in the repeater satellite navigation system, because the satellite forwards the navigation signal, the continuity of the carrier phase of the navigation signal and the phase relationship between the carrier and the code are damaged, so that the carrier phase ranging becomes a difficult problem, and the carrier phase is difficult to be applied to the repeater satellite navigation system.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a method for realizing precise distance measurement of a ground generated navigation signal, which can apply a carrier phase to a repeater satellite navigation system.
The technical scheme adopted by the invention for solving the technical problems is as follows: a device for realizing precise distance measurement of navigation signals generated on the ground comprises a comprehensive baseband device, a data management center, a data processing center and a time-frequency uniform reference source.
The comprehensive baseband device comprises a network communication module, a time-frequency module, a signal generation module, a signal receiving module and a signal control module, wherein the network communication module receives navigation message information sent by a data processing center and sends message information carried in demodulated satellite forwarding signals to the data processing center to complete error rate verification; the time frequency module receives a standard time frequency signal of a time frequency unified reference source, locks the standard time frequency signal by using a phase-locked loop and generates a standard time frequency source signal used in the integrated baseband equipment; the signal generation module is controlled by an internal standard time frequency signal, spread spectrum modulation is carried out on telegraph text information provided by the network communication module by a pseudo-random code sequence, orthogonal modulation is carried out on spread spectrum signals by utilizing intermediate frequency carriers, intermediate frequency analog signals are generated through digital-to-analog conversion, and then uplink transmission of signals to a satellite is realized through antenna equipment after up-conversion, power amplification, filtering and combination processing are carried out in sequence; an antenna receives a satellite downlink signal, and a simulated intermediate frequency signal is obtained after low-noise amplification, filtering and down-conversion processing; the signal receiving and processing module is used for capturing and tracking the intermediate-frequency analog signal into a digital intermediate-frequency signal, completing the analysis of navigation message and virtual clock information, obtaining carrier frequency, code pseudo-range, carrier phase and loop delay measurement, transmitting the analyzed information and various measurement quantities to the network communication module, and transmitting the information and various measurement quantities to the data management center by the network communication module; the signal control module calculates the adjustment quantity of the code frequency, the code phase and the carrier frequency parameter required by the signal generation module to generate the navigation signal according to the internal standard time frequency signal, the carrier frequency, the pseudo code rate, the code pseudo range and the carrier phase pseudo range observed quantity obtained by the signal receiving module and the resolved ephemeris and virtual clock information, supplies the adjustment quantity to the signal generation module, and the signal generation module adjusts the code frequency, the code phase and the carrier frequency parameter of the generated signal according to the adjustment quantity.
The invention also provides a method for realizing precise distance measurement of navigation signals generated on the ground by using the device, which comprises the following steps:
step 1, obtaining a pseudo-range time delay observed quantity tau of a navigation signal code of a satellite forwarding systemi(n)＝TRi(n)-TTi(n) wherein TRi(n) the reception time T corresponding to the nth epoch of the baseband receiver of the ground station based on the ith satelliteTi(n) represents the ground transmission time of the navigation signal based on the nth epoch of the ith satellite;
step 2, calculating the emission time deviation of the navigation signal
Wherein, RXi(n) denotes the nth epoch navigation signal downlink spatial link transmission delay, TX, for the ith satellitei(n) representing the uplink spatial link transmission delay of the navigation signal of the nth epoch of the ith satellite, and delta tau is the source tracing quantity deviation of the UTC (k) time-frequency source signal to the reference input of the main control ground station,
the time delays of the uplink and downlink devices of the ground station are respectively,
time delay caused by an uplink ionized layer and a downlink ionized layer respectively;
when the navigation signal is generated, the signal transmission time delay caused by the uplink is compensated at the transmitting end by adjusting and pre-biasing the transmitting time of the navigation signal by A, and the transmitting signal is virtualized to the satellite outlet n 1. The ground transmitting signal is adjusted to the phase center n1 of the satellite forwarding load transmitting antenna, and the pilot signal transmitting time pre-offset is
Step 3, adopting a PID control method to realize accurate control on the uplink signal, wherein the control model is
u(t)＝KP·e(t)-KI·e(t-1)+KD·e(t-2)
Wherein,
for pilot signal emission time pre-offset, u (t) pre-reference control quantity, KPIs the proportional term coefficient, K, of the PID control algorithmIAs integral term coefficient, KDIs a differential term coefficient;
step 4, the control residual error of the navigation signal transmitting time is compensated through the telegraph message information, the uplink station baseband controls the transmitting time of the navigation signal generated on the ground, and the deviation between the baseband receiving pseudo range and the downlink time delay
Wherein, tau'i(n) shows the pseudo range measured by the base band receiving equipment after the base band of the uplink station controls the transmitting time of the ground generated navigation signal;
respectively descending time delay caused by an ionized layer and a troposphere;
time delay is the geometric distance from the satellite transponder to the ground station;
step 5, adjusting the radio frequency of the uplink modulation signal to convert to the required downlink working frequency
Wherein f iscodeFrequency of downlink code, f, indicating uplink station reception baseband measurementsnormial,codeIndicating the nominal downlink code frequency of the system;
the consistency between the downlink signal code broadcast by the forwarding satellite and the carrier phase is adjusted,
wherein f iscarrierRepresenting downlink carrier frequency f 'measured by receiving baseband by uplink station'codeRepresenting the frequency observed value of the downlink code after the adjustment of the frequency of the transmission code, fnormial,carrierThe method comprises the steps of representing a system nominal downlink carrier frequency and a code frequency, wherein N represents the ratio of the downlink nominal carrier frequency to the code frequency;
adjustment f of uplink transmission frequency when navigation signals are generated on the groundcarrier,Adj＝fcarrier-N·fcode。
The invention has the beneficial effects that: the method realizes that the transmitting time of the navigation signal is controlled to the phase center of the satellite forwarding load transmitting antenna by adjusting the code phase, the code frequency and the carrier frequency of the generated navigation signal, and simultaneously realizes the consistency of the phase center code and the carrier phase of the satellite forwarding load transmitting antenna.
The invention makes the ground high-performance atomic clock virtually arrive at the satellite, so that the general satellite with the satellite forwarding load can be used as a navigation satellite under the condition of no high-performance satellite-borne atomic clock, thereby greatly reducing the development complexity and cost of the satellite.
The navigation signal of the invention is generated on the ground, and the performance and the flexibility of the system signal are improved.
From the user receiver, the received satellite forwarding navigation signal is the same as the direct-emitting navigation signal, so that the applicability of the system is improved, and the user receiving terminal of the satellite forwarding system and the receiving terminal of the general satellite navigation system are easy to fuse.
The invention enables the carrier phase to be applied to the satellite forwarding system, and the satellite forwarding system can provide a real-time high-precision navigation positioning service with low cost, low risk and based on the carrier phase for a user under the condition of a single frequency and single system.
Drawings
FIG. 1 is a block diagram of a transponder type satellite navigation system;
FIG. 2 is a block diagram of a navigation signal uplink station;
FIG. 3 is a block diagram of a navigation baseband signal generation and reception processing apparatus;
fig. 4 is a block diagram of a control flow for a ground station to generate satellite navigation signals.
Detailed Description
The present invention will be further described with reference to the following drawings and examples, which include, but are not limited to, the following examples.
In order to apply carrier phase to a transponder type satellite navigation system, the present invention needs to solve the following technical problems:
(1) the integrated processing equipment for precisely generating and receiving the navigation baseband signals, which is called integrated baseband equipment for short, can generate ground navigation signals and can adjust the code frequency, the code phase, the carrier frequency and the carrier phase parameters of the navigation signals.
(2) And adjusting the ground generated navigation signals through the integrated baseband equipment, and adjusting the signal transmission time to the phase center of the satellite forwarding load transmitting antenna.
(3) Adjusting the pseudo code parameters of the navigation signals generated on the ground through the comprehensive baseband equipment to ensure that the code frequency of the downlink navigation signals broadcast by the satellite forwarding load transmitting antenna phase center is consistent with the designed nominal frequency;
(4) the comprehensive baseband equipment adjusts the parameters of the carrier wave of the ground generated navigation signal, so that the phase of the downlink navigation signal carrier wave broadcast by the phase center of the satellite forwarding load transmitting antenna is consistent with the phase of the pseudo code, and a high-performance ground clock is virtualized to a satellite outlet.
(5) The novel navigation frequency band ITUC wave band or other navigation communication frequency bands in the space can be used for the system to broadcast navigation signals, and high-precision carrier phase positioning, speed measurement and time service are provided for users;
finally, a single-frequency single system is realized to provide low-cost, low-risk, real-time and high-precision navigation positioning service for users.
The invention provides a device for realizing the carrier phase measurement of a forwarding type satellite navigation system, which is used for providing single-system single-frequency low-cost and high-precision satellite forwarding navigation service and comprises the following components:
the integrated baseband device comprises a network communication module, a time-frequency module, a signal generation module, a signal receiving module and a signal control module, and the block diagram of the integrated baseband device is shown in fig. 3.
And the network communication module receives navigation message (data) information sent by the data processing center and sends message information carried in the demodulated satellite forwarding signal to the data processing center to complete error rate verification.
The time frequency module receives the standard time frequency signal of the forwarding system, locks the standard frequency signal of the forwarding system by utilizing a phase-locked loop and generates a standard frequency source signal used in the unit, triggers and gates the internal frequency source signal of the unit by the standard pulse-per-second signal of the forwarding system, and then carries out frequency doubling or frequency division processing on the internal frequency source signal of the unit to generate a synchronous frequency signal in the unit.
The signal generation module is controlled by an internal standard time frequency signal, spread spectrum modulation is carried out on telegraph text information provided by the network communication module by a pseudo-random code sequence, orthogonal modulation is carried out on spread spectrum signals by utilizing intermediate frequency carriers, intermediate frequency analog signals are generated through digital-to-analog conversion, and then uplink transmission of signals to a satellite is realized through antenna equipment after up-conversion, power amplification, filtering and combination processing are carried out in sequence;
the antenna receives a satellite downlink signal, and a simulated intermediate frequency signal is obtained after low-noise amplification, filtering and down-conversion processing. The signal receiving and processing module takes the intermediate frequency analog signal as a digital intermediate frequency signal, captures and tracks the signal, completes the analysis of navigation message and virtual clock information, obtains carrier frequency, code pseudo-range, carrier phase and various loop time delay measurement quantities, delivers the analyzed information and various measurement quantities to the communication module, and the communication module sends the information and various measurement quantities to the data management center.
The signal control module calculates the adjustment quantity of code frequency, code phase and carrier frequency parameters required by the signal generation module to generate navigation signals according to reference frequency signals and time information provided by a system, carrier frequency, pseudo code rate, code pseudo range and carrier phase pseudo range observed quantity obtained by the receiving module and resolved ephemeris and virtual clock information, and provides the adjustment quantity to the signal generation module, and the signal generation module adjusts the code frequency, code phase and carrier frequency parameters of the generated signals according to the adjustment quantity so as to realize that the navigation signals transmitted by a satellite forwarding load transmitting antenna phase center have the following characteristics:
(1) the signal broadcasting time and the ground system reference time are kept synchronous;
(2) the code frequencies and carrier frequency ratios carried in the signal are consistent with the nominal code frequencies and carrier frequency ratios for the system design.
The composition of the satellite navigation system based on the forwarding type is shown in fig. 1, the integrated baseband equipment realizes the synchronization of the signal broadcasting time and the ground system reference time at the phase center of a satellite forwarding load transmitting antenna, and the specific implementation steps are as follows:
step 1: establishing a pseudo-range observation model of the system, including
In a satellite navigation system, the time when a signal leaves from a phase center of a satellite transmitting antenna is strictly consistent with the system reference time 1pps (pps: pulse per second), so that a user can obtain accurate signal transmitting time from a received signal, obtain signal transmission time according to the arrival time and the transmitting time of the signal, and obtain the distance from the satellite to the user according to the signal transmission time.
In the forwarding satellite navigation system, signals are generated and transmitted from the ground, and are broadcasted to users after being forwarded by a satellite, and the transmission flow of the forwarding satellite navigation signals is shown in fig. 4.
The integrated baseband device receiving module obtains the pseudo-range time delay observed quantity of the navigation signal code of the satellite forwarding system, and can be represented as follows:
τi(n)＝TRi(n)-TTi(n) (1)
TRi(n) represents the receiving time corresponding to the nth epoch of the ground station baseband receiving device based on the satellite Vi;
TTi(n) represents the time of terrestrial transmission of the navigation signal based on the nth epoch of the satellite Vi;
τi(n) indicating the location of the nth epoch navigation signal from the ground stationThe band device transmits, and the signal transmission delay is transmitted through a radio frequency transmitting channel, a space uplink, a satellite forwarding, a space downlink, a radio frequency receiving channel and a comprehensive baseband receiving terminal, and is called as a large-ring pseudo range. Depending on the signal transmission path, the large loop delay can be decomposed into:
delta tau is the source tracing magnitude deviation of UTC (k) time frequency source signals to the reference input of the master control ground station,
time delay is respectively carried out on uplink equipment and downlink equipment of the ground station;
time delays caused by the upper and lower tropospheres respectively;
time delay caused by an uplink ionized layer and a downlink ionized layer respectively;
time delay brought to the satellite transponder; the uplink and downlink delay additive amount caused by the sagnac effect is equal in size and opposite in direction, and the delay additive amount caused by the factor is almost completely counteracted after the signals are transmitted in an uplink and a downlink manner under the observation of a navigation signal uplink ground station;
respectively, the time delay from the ground station to the satellite transponder and from the satellite transponder to the ground station, wherein i represents the ground station transmitting signals to the ith satellite, and n represents the nth epoch.
Step 2: calculating the deviation between the emission time of the navigation signal and the reference time of the system (referred to as the emission time deviation)
As shown in step 1, in the forwarding satellite navigation system, the ground uplink station works in a self-sending and self-receiving manner, the integrated baseband transmitting module generates and transmits navigation signals, and the receiving module receives the baseband transmitting signals of the station forwarded and looped back by the satellite, forms a closed loop for the signals, and obtains the time delay τ of the signals propagating in the closed loopi(n)。
Because the position of the ground station is unchanged, the distance between the GEO/IGSO high-orbit satellite and the ground is about 36000km, the time for the signal to be transmitted from the ground station and transmitted back to the ground station through the satellite is not more than 0.3s, the change of the space medium of the signal uplink and downlink propagation links in 0.3s can be ignored, and the time delay caused by the geometrical distance between the uplink and downlink troposphere and the space can be approximately considered to be equal, namely:
the navigation signal transmission time offset is:
RXi(n) represents the downlink spatial link transmission delay of the navigation signal of the nth epoch of the satellite Vi;
TXiand (n) represents the uplink space transmission time delay of the navigation signal of the nth epoch of the satellite Vi, and the time delay refers to the time delay of the navigation signal from the phase center of the transmitting antenna of the ground master control station to the propagation path of the satellite retransmission load.
When the navigation signal is generated, the signal transmission time delay caused by the uplink is compensated at the transmitting end by adjusting and pre-biasing the transmitting time of the navigation signal by A, and the transmitting signal is virtualized to the satellite outlet n 1. And adjusting the ground transmitting signal to the phase center n1 of the satellite forwarding load transmitting antenna, wherein the pilot signal transmitting time pre-offset is as follows:
and step 3: compensation for pilot signal transmission time offset
Since the satellite moves in a figure 8 manner relative to the ground station, the deviation amount of the transmitting time of the navigation signal is a time variable. For this, we use the PID control method to realize the precise control of the uplink signal, and the control implementation block diagram is shown in fig. 4. The control model is as follows:
u(t)＝KP·e(t)-KI·e(t-1)+KD·e(t-2) (6)
e (t) is pilot signal emission time pre-offset, u (t) pre-control quantity, KPIs the proportional term coefficient, K, of the PID control algorithmIAs integral term coefficient, KDThe coefficients are differential coefficients, the specific values of the coefficients need to be adjusted according to the real-time variation trend of the pre-deviation, and the optimal values are obtained through repeated tests and experiments.
And 4, step 4: navigation signal transmit time control residual compensation
As can be seen from the pre-offset calculation process of the navigation signal transmission time, the time delay of the satellite transponder is not considered, so that the pre-offset of the navigation signal transmission time is an approximate quantity, and a calculation residual exists; in addition, when the compensation of the navigation signal emission time is compensated by adopting a control algorithm, the pseudo-range value of the next moment is predicted after the existing observed quantity is adopted for fitting, and fitting control residual exists; in order to ensure that the measured pseudorange of the user receiver is consistent with the broadcast ephemeris, the residual error caused by the two conditions is compensated by the telegraph message, and the calculation is as follows:
τerr(n) shows that the base band of the uplink station receives pseudo-range after controlling the transmitting time of the ground generated navigation signalDeviation from downlink delay;
τ′i(n) shows the pseudo range measured by the base band receiving equipment after the base band of the uplink station controls the transmitting time of the ground generated navigation signal;
Based on a block diagram (fig. 3) formed by the navigation baseband signal generating and receiving processing equipment, the integrated baseband equipment realizes that the code frequency and carrier frequency ratio carried in the received navigation signal are consistent with the nominal code frequency and carrier frequency ratio designed by the system, and the specific steps are as follows:
and 5: carrier phase control
The navigation signal of the transponding satellite navigation system is generated on the ground, and the signal is transmitted to the satellite by the ground uplink station antenna after the radio frequency conversion and amplification, and is broadcast to the user by the satellite. Compared with the general GPS navigation signal, the satellite retransmission navigation signal has more propagation paths from the ground transmission to the phase center of the satellite retransmission load transmission antenna,
the influence of the uplink and the satellite transponder is added to the signal received by the user receiver of the system, and in order to enable the user receiver to perform ranging positioning by adopting a carrier phase signal as a receiver of a common navigation system, the influence generated by the part needs to be compensated at a signal transmitting end, so that the high-performance index of the system can be reflected to a user receiving end. The method comprises the following concrete implementation steps:
(1) code frequency adjustment
The satellite forwarding is to carry out spectrum shifting on a navigation signal transmitted to a satellite by a ground station and convert the radio frequency of an uplink modulation signal into a required downlink working frequency, so that the satellite forwarding load only changes the frequency of a carrier wave, and no operation is carried out on the code frequency, therefore, the code frequency of a downlink signal is only increased by the Doppler frequency caused by the satellite motion in the uplink transmission process relative to a general navigation system, and the code frequency is not changed in the transmission process, so that the uplink Doppler frequency and the downlink Doppler frequency caused by the satellite motion are equal. The adjusted uplink doppler is then half of the actual received signal doppler, i.e.:
fcodeindicating the frequency of the downlink code measured by the uplink station receiving baseband;
fnormial,codeindicating the nominal downlink code frequency of the system
(2) Code-carrier consistency adjustment
The implementation method is to ensure the consistency of the downlink signal code broadcast by the forwarding satellite and the carrier phase, and the implementation method specifically comprises the following steps:
fcarrierindicating the downlink carrier frequency measured by the uplink station receiving baseband;
f'coderepresenting the downlink code frequency observed value after the transmission code frequency is adjusted;
fnormial,carrierindicating the nominal downlink carrier frequency and code frequency of the system; n represents the ratio of the downlink nominal carrier frequency to the code frequency, which should be a fixed value after the system design is complete.
In order to keep the code carrier phase of the actual downlink operation consistent, when the navigation signal is generated on the ground, the transmitted carrier frequency is adjusted, so that the ratio of the actual carrier frequency broadcast by the satellite to the code frequency is kept constant, and then the adjustment amount of the uplink transmission frequency can be obtained:
fcarrier,Adj＝fcarrier-N·fcode (11)
step 6: method for controlling parameters
Because the movement of the satellite relative to the ground station, the change of the ionosphere and meteorological parameters above the ground station will cause the change of the adjustment quantity of uplink time delay, code rate and carrier frequency along with the time, if the uplink signal is directly adjusted according to the adjustment quantity obtained by real-time measurement, the step jump of each parameter will be caused, the phase of the output signal is discontinuous, the quality of the signal of the whole system is deteriorated, in order to ensure that the speed of signal adjustment can follow the change of the signal in time, and simultaneously solve the problems of phase discontinuity and signal quality deterioration, the system provides to adopt a PID control method to control each parameter.
u(t)＝KP·e(t)-KI·e(t-1)+KD·e(t-2) (12)
KI＝KPT/TI (13)
KD＝KPTD/T (14)
TIIs the integration time; t isDIs the differential time; kPProportional gain is adopted, the value is not too large in order to ensure the continuity of the signals in the adjusting process, and the value is 0.1-0.5; kITaking the integral factor of 0.01-0.5; kDThe differential factor is a value of 0.01-0.5; the specific value can be adjusted in actual use according to the adjustment effect. T is a time constant, the adjustment is carried out according to the satellite movement rate, the slow value of the satellite movement can be amplified, the adjustment precision is high, the satellite movement is fast, the value is reduced, the adjustment speed can be increased, and the adjustment time is 10 ms-10 s; e (t) adjusting the residual amount, i.e. PR in steps 1-3AdjOr fcode,AdjOr fcarri,AdjAnd finally, u (t) is the real-time adjustment quantity of the link delay, the code rate and the carrier frequency.
According to the embodiment of the invention, the transmitting time of the navigation signal is preset to the phase center of the transmitting antenna of the satellite transponder by adjusting the navigation signal parameter generated on the ground, the consistency of the navigation signal code and the carrier phase in the phase center of the transmitting antenna of the satellite transponder is realized, and the real-time high-precision PVT capability of the satellite forwarding system based on the carrier phase is realized. The method is carried out under the following conditions: 1. at least 4 satellites with a transponded load; 2. the system comprises 4 ground stations capable of receiving and transmitting corresponding 4 satellite signals; 3. the ground station comprehensive baseband equipment has the function of adjusting the transmitted navigation signal codes and the carrier parameters; 4. ephemeris of corresponding satellites, meteorological data and ionosphere data above the ground stations can be obtained for the ground stations of different satellites.
In the specific implementation process, a forwarding satellite navigation test system constructed by a National Time Service Center (NTSC) in Western Ann is used as a test platform to test and verify the feasibility and effectiveness of the method provided by the invention. The invention is characterized in that the signal generated on the ground is pre-adjusted to the phase center of the transmitting antenna of the satellite transponder, namely, the time and the signal frequency of signal transmission generated by a baseband are adjusted, and the influence of the signal generated on the phase center link from the ground to the transmitting antenna of the satellite transponder is eliminated. The adjustment comprises two parts: firstly, the transmission time is adjusted to enable the signal to be transmitted in advance, and the advance is the signal transmission time delay from the ground station baseband transmitting port to the satellite transponder transmitting antenna phase center. Secondly, the code frequency and the carrier frequency are adjusted, and code Doppler and carrier Doppler caused by the movement of the satellite relative to the ground station to the uplink are eliminated. As shown in fig. 3, the specific implementation steps are as follows:
step 1: accurate measurement of time delay of ground station equipment
The time delay of the ground station equipment can be measured in sections by adopting a vector network and an oscilloscope, or the time delay of the ground station equipment can be measured by adopting a method for calculating the known path time delay based on the working characteristic that the ground station of a satellite forwarding system can receive the navigation signal by self and self, the navigation signal transmitted by the ground station can be forwarded by adopting a simulated satellite, and the detailed measurement method is not repeated here. The time delay of the uplink and downlink equipment of the ground station can be obtained through the step
Step 2: and receiving broadcast ephemeris of each satellite provided by the orbit determination system and uplink and downlink ionosphere and troposphere time delay of each satellite to the ground station.
And step 3: calculating and controlling navigation signal emission time
When the ground station integrated baseband equipment generates a navigation signal, signal transmission time delay caused by an uplink is compensated at a transmitting end by adjusting and pre-offsetting the transmitting time of the navigation signal, the transmitting signal is virtually transmitted to a phase center of a transmitting antenna of a satellite transponder, and the initial pre-offset amount of the transmitting time of the navigation signal is as follows:
because the satellite does 8-shaped motion relative to the ground station, the control quantity of the emission time of the uplink signal is a time variable, the system realizes a block diagram according to the control shown in fig. 3, and adopts a PID control method to realize the accurate control of the uplink signal, and the control model is as follows:
u(t)＝KP·e(t)-KI·e(t-1)+KD·e(t-2) (5)
e(t)＝RXi(n)+TXi(n) (6)
and 4, step 4: navigation signal transmit time control residual compensation
As can be seen from the pre-offset calculation process of the navigation signal transmission time, the time delay of the satellite transponder is not considered, so that the pre-offset of the navigation signal transmission time is an approximate quantity, and a calculation residual exists; in addition, when the signal is controlled, after the existing observed quantity is adopted for fitting, a pseudo range value of the next moment is predicted, and a fitting control residual exists; in order to ensure that the measured pseudorange of the user receiver is consistent with the broadcast ephemeris, the residual error caused by the two conditions is compensated by the telegraph message, and the calculation is as follows:
τerr(n) shows that the base band of the uplink station controls the transmitting time of the ground generated navigation signalAfter the delay is made, the baseband receives the deviation between the pseudo range and the downlink delay;
τ′i(n) shows the pseudo range measured by the base band receiving equipment after the base band of the uplink station controls the transmitting time of the ground generated navigation signal;
And 5: calculating and controlling pseudo code and carrier frequency of navigation signal
The navigation signal of the transponding satellite navigation system is generated on the ground, and the signal is transmitted to the satellite by the ground uplink station antenna after the radio frequency conversion and amplification, and is broadcast to the user by the satellite. Compared with the general GPS navigation signal, the satellite retransmission navigation signal has more propagation paths from the ground transmission to the phase center of the satellite retransmission load transmission antenna,
the influence of the uplink and the satellite transponder is added to the signal received by the user receiver of the system, and in order to enable the user receiver to perform ranging positioning by adopting a carrier phase signal as a receiver of a common navigation system, the influence generated by the part needs to be compensated at a signal transmitting end, so that the high-performance index of the system can be reflected to a user receiving end. Therefore, when the emission time of the navigation signal is controlled, the pseudo code and the carrier frequency of the navigation signal are adjusted, and the method comprises the following specific implementation steps:
(1) code frequency adjustment
The satellite forwarding is to carry out spectrum shifting on a navigation signal transmitted to a satellite by a ground station and convert the radio frequency of an uplink modulation signal into a required downlink working frequency, so that the satellite forwarding load only changes the frequency of a carrier wave, and no operation is carried out on the code frequency, therefore, the code frequency of a downlink signal is only increased by the Doppler frequency caused by the satellite motion in the uplink transmission process relative to a general navigation system, and the code frequency is not changed in the transmission process, so that the uplink and downlink pseudo code Doppler caused by the satellite motion are equal. The adjusted uplink doppler is then half of the actual received signal doppler, i.e.:
fcodeindicating the frequency of the downlink code measured by the uplink station receiving baseband;
fnormial,codeindicating the nominal downlink code frequency of the system
(2) Carrier frequency adjustment
The implementation method is to ensure that the carrier frequency of the downlink radio frequency signal broadcast by the forwarding satellite is consistent with the carrier frequency value preset by the system, and the implementation method specifically comprises the following steps:
fcarrierindicating the downlink carrier frequency measured by the uplink station receiving baseband;
f'coderepresenting the downlink code frequency observed value after the transmission code frequency is adjusted;
fnormial,carrierindicating the nominal downlink carrier frequency and code frequency of the system; n represents the ratio of the downlink nominal carrier frequency to the code frequency, which should be a fixed value after the system design is complete.
In order to keep the carrier frequency of the downlink actual work consistent with the preset value, when the ground generates a navigation signal, the transmitted carrier frequency is adjusted, so that the ratio of the actual carrier frequency broadcast by the satellite to the code frequency is kept constant, and the adjustment amount of the uplink transmission frequency can be obtained:
fcarrier,Adj＝fcarrier-N·fcode
therefore, the adjustment amount of the pseudo code and the carrier frequency is obtained, the adjustment can be implemented by methods such as PID and kalman filter algorithms, and the PID algorithm adopted in the step 4 is only an adjustment example and is not used to limit the protection scope of the present disclosure.
The invention describes a navigation baseband signal generating and receiving processing device in a navigation signal uplink station, and provides a specific implementation step for moving a ground clock to a satellite transponder transmitting antenna phase center by the device, so that the system has a condition of using carrier phase to carry out distance measurement, and the positioning, time service and speed measurement capability of the system is greatly improved by adopting carrier phase distance measurement.
The above-described embodiments are further intended to illustrate the objects, aspects and advantages of the present technology, and it should be understood that the above-described embodiments are only exemplary embodiments of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (2)
1. A device for realizing precise distance measurement of ground generated navigation signals comprises integrated baseband equipment, a data management center, a data processing center and a time-frequency uniform reference source, and is characterized in that the integrated baseband equipment comprises a network communication module, a time-frequency module, a signal generation module, a signal receiving module and a signal control module, wherein the network communication module receives navigation message information sent by the data processing center and sends message information carried in demodulated satellite forwarding signals to the data processing center to finish error rate verification; the time frequency module receives a standard time frequency signal of a time frequency unified reference source, locks the standard time frequency signal by using a phase-locked loop and generates a standard time frequency source signal used in the integrated baseband equipment; the signal generation module is controlled by an internal standard time frequency signal, spread spectrum modulation is carried out on telegraph text information provided by the network communication module by a pseudo-random code sequence, orthogonal modulation is carried out on spread spectrum signals by utilizing intermediate frequency carriers, intermediate frequency analog signals are generated through digital-to-analog conversion, and then uplink transmission of signals to a satellite is realized through antenna equipment after up-conversion, power amplification, filtering and combination processing are carried out in sequence; an antenna receives a satellite downlink signal, and a simulated intermediate frequency signal is obtained after low-noise amplification, filtering and down-conversion processing; the signal receiving and processing module is used for capturing and tracking the intermediate-frequency analog signal into a digital intermediate-frequency signal, completing the analysis of navigation message and virtual clock information, obtaining carrier frequency, code pseudo-range, carrier phase and loop delay measurement, transmitting the analyzed information and various measurement quantities to the network communication module, and transmitting the information and various measurement quantities to the data management center by the network communication module; the signal control module calculates the adjustment quantity of the code frequency, the code phase and the carrier frequency parameter required by the signal generation module to generate the navigation signal according to the internal standard time frequency signal, the carrier frequency, the pseudo code rate, the code pseudo range and the carrier phase pseudo range observed quantity obtained by the signal receiving module and the resolved ephemeris and virtual clock information, supplies the adjustment quantity to the signal generation module, and the signal generation module adjusts the code frequency, the code phase and the carrier frequency parameter of the generated signal according to the adjustment quantity.
2. A method for implementing precise distance measurement of ground generated navigation signals by using the device of claim 1, which comprises the following steps:
step 1, obtaining a pseudo-range time delay observed quantity tau of a navigation signal code of a satellite forwarding systemi(n)＝TRi(n)-TTi(n) wherein TRi(n) the reception time T corresponding to the nth epoch of the baseband receiver of the ground station based on the ith satelliteTi(n) represents the ground transmission time of the navigation signal based on the nth epoch of the ith satellite;
step 2, calculating the emission time deviation of the navigation signal
Wherein, RXi(n) denotes the nth epoch navigation signal downlink spatial link transmission delay, TX, for the ith satellitei(n) representing the uplink spatial link transmission delay of the navigation signal of the nth epoch of the ith satellite, and delta tau is the traceability value deviation of the UTC (k) time-frequency source signal to the reference input of the main control ground stationThe difference is that the number of the first and second,
the time delays of the uplink and downlink devices of the ground station are respectively,
time delay caused by an uplink ionized layer and a downlink ionized layer respectively;
when the navigation signal is generated, the signal transmission time delay caused by the uplink is compensated at the transmitting end by adjusting and pre-biasing the transmitting time of the navigation signal by A, and the transmitting signal is virtualized to the satellite outlet n 1. The ground transmitting signal is adjusted to the phase center n1 of the satellite forwarding load transmitting antenna, and the pilot signal transmitting time pre-offset is
Step 3, adopting a PID control method to realize accurate control on the uplink signal, wherein the control model is
u(t)＝KP·e(t)-KI·e(t-1)+KD·e(t-2)
Wherein,
for pilot signal emission time pre-offset, u (t) pre-reference control quantity, KPIs the proportional term coefficient, K, of the PID control algorithmIAs integral term coefficient, KDIs a differential term coefficient;
step 4, the control residual error of the navigation signal transmitting time is compensated through the telegraph message information, the uplink station baseband controls the transmitting time of the navigation signal generated on the ground, and the deviation between the baseband receiving pseudo range and the downlink time delay
Wherein, taui' (n) shows pseudo range measured by base band receiving equipment after the base band of the uplink station controls the transmitting time of the ground generated navigation signal;
respectively descending time delay caused by an ionized layer and a troposphere;
time delay is the geometric distance from the satellite transponder to the ground station;
step 5, adjusting the radio frequency of the uplink modulation signal to convert to the required downlink working frequency
Wherein f iscodeFrequency of downlink code, f, indicating uplink station reception baseband measurementsnormial,codeIndicating the nominal downlink code frequency of the system;
the consistency between the downlink signal code broadcast by the forwarding satellite and the carrier phase is adjusted,
wherein f iscarrierRepresenting downlink carrier frequency f 'measured by receiving baseband by uplink station'codeRepresenting the frequency observed value of the downlink code after the adjustment of the frequency of the transmission code, fnormial,carrierThe method comprises the steps of representing a system nominal downlink carrier frequency and a code frequency, wherein N represents the ratio of the downlink nominal carrier frequency to the code frequency;
adjustment f of uplink transmission frequency when navigation signals are generated on the groundcarrier,Adj＝fcarrier-N·fcode。
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