CN115575983A - GNSS satellite signal simulator - Google Patents
GNSS satellite signal simulator Download PDFInfo
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- CN115575983A CN115575983A CN202211411079.8A CN202211411079A CN115575983A CN 115575983 A CN115575983 A CN 115575983A CN 202211411079 A CN202211411079 A CN 202211411079A CN 115575983 A CN115575983 A CN 115575983A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention mainly relates to a GNSS satellite signal simulator, which comprises: the first receiving module is used for acquiring simulation time and receiving the current coordinate and the motion model of the carrier; the second receiving module is used for acquiring ephemeris information of one or more GNSS satellites; the third receiving module is used for receiving correction information of the GNSS signal; the processing module is used for determining the visible satellites in the simulation process and calculating the signal transmission time of the satellites; and the output module is used for obtaining the navigation message according to the ephemeris information and outputting the navigation message and the signal transmission time as a quasi-real-time signal. The simulator outputs intermediate frequency signals and quasi-real-time signals, is suitable for verification of tracking, capturing and checking with low real-time requirements and verification of algorithms with high real-time requirements, takes local correction information and global correction information into consideration when calculating signal transmission time of the satellite, is beneficial to improving the accuracy of long-term simulation, and has good simulation degree.
Description
Technical Field
The invention mainly relates to the technical field of satellite signal simulation, in particular to a GNSS satellite signal simulator.
Background
The GNSS is called Global Navigation Satellite System (Global Navigation Satellite System), which refers to all Satellite Navigation systems in general, including Global, regional, and enhanced systems, such as GPS in the united states, glonass in russia, galileo in europe, and beidou Satellite Navigation System in china, and related enhanced systems, such as WAAS (wide area augmentation System) in the united states, EGNOS in europe (european geostationary Navigation overlay System), MSAS in japan (multi-functional transportation Satellite augmentation System), and the like, and also covers other Satellite Navigation systems to be built and later built. GNSS can provide users with all-weather information on three-dimensional coordinates, position, velocity, and time at any location on the earth's surface or in near-earth space using observations of pseudoranges, ephemeris, satellite launch times, etc. from a set of satellites. GNSS has now largely replaced ground-based radio navigation, traditional geodetic surveying and astronomical survey navigation and positioning technologies, and has pushed a new development in the field of geodetic surveying and navigation positioning.
In view of the strategic position and rapid development of the GNSS, a series of research works are developed on the compatibility and interoperability of the GNSS in all countries and regions, at the present stage, receiver research, satellite navigation teaching and development and research works of related satellite navigation technologies on the GNSS need to be developed through a satellite signal simulator, and the satellite signal simulator can be free from space-time limitation and provides simulation environments for related navigation systems, computing systems, transmitting and receiving systems, test systems and the like when the satellite navigation system is not completed in networking.
The realization form of the satellite signal simulator at the present stage mainly comprises a software form and a form of combining software and hardware, wherein all information related to navigation in the software form is obtained by computer processing, the simulation of various information, signals, models and the like is completed by computer software, the information, the signals, the models and the like are stored in a storage medium after operation, and a carrier reads the stored data and then carries out simulation research; the method has the advantages of low cost, high transportability and high expandability, but is limited by computer hardware, poor in instantaneity, difficult to verify an algorithm with high time relevance and low in long-term test accuracy. Computer software is used for information and signal operation in a software and hardware combined mode, and hardware is controlled to be simulated according to operation data, so that the algorithm support degree is high, and the simulation degree is good; however, the simulator has a complex structure, high cost and low expandability.
Disclosure of Invention
In order to solve at least one technical problem including the above background, there is provided a GNSS satellite signal simulator,
a GNSS satellite signal simulator comprising:
the first receiving module is used for acquiring simulation time and receiving the current coordinate and the motion model of the carrier;
the second receiving module is used for acquiring ephemeris information of one or more GNSS satellites;
the third receiving module is used for receiving correction information of the GNSS signal;
the processing module is used for determining a visible satellite in the simulation process according to the simulation time, the current coordinate and motion model of the carrier, ephemeris information and correction information of the GNSS satellite and a preset cut-off elevation angle and calculating the signal transmission time of the satellite;
and the output module is used for obtaining the navigation message according to the ephemeris information and outputting the navigation message and the signal transmission time as a quasi-real-time signal.
Further, the carrier is in particular an analogue satellite signal receiving device comprising an object to be positioned and/or an object to receive navigation services.
Further, the second receiving module may obtain the moving track of the corresponding satellite according to the ephemeris information.
Further, the correction information includes local correction information and global correction information.
Further, the local remediation information includes at least one of:
1) Raw data of a single reference station receiver;
2) Synthetic or semi-synthetic raw data generated for a location in the vicinity of the location to be determined;
3) Raw data from a network of reference stations.
Further, the global correction information includes at least one of satellite clock correction and satellite orbit correction.
Furthermore, the local correction information is received by the local source of the third receiving module.
Further, the local source is any one of a reference station and a network of reference stations.
Furthermore, the function of the output module also comprises modulating the navigation message by using the spreading code and the carrier intermediate frequency, and outputting the modulation result as an intermediate frequency signal.
Further, the GNSS satellite simulator uses carrier phase measurements of GNSS signals.
Further, the GNSS satellite simulator further includes a carrier position obtaining module, which is used for calculating the coordinate and the speed of the carrier at any time according to the motion model of the carrier and the corresponding simulation time before the processing module determines the visible satellite in the simulation process according to the simulation time, the current coordinate and the motion model of the carrier, the GNSS satellite transportation information, the correction information, and the preset cut-off elevation, so as to obtain the carrier position of the carrier at any time.
Further, the processing module calculates the signal transmission time of the satellite by:
1) Unifying the coordinates of the satellite and the coordinates of the carrier to the same coordinate system;
2) And calculating the distance between the satellite and the carrier, and dividing the distance by the speed of light to obtain the signal transmission time of the satellite.
Furthermore, the processing module corrects the signal transmission time of the satellite, specifically corrects the signal transmission time of the satellite according to the influence of the earth rotation, troposphere delay, multipath delay and ionosphere delay on the satellite signal transmission.
The technical scheme provided by the invention has the beneficial effects that: the GNSS satellite signal simulator outputs an intermediate frequency signal and a quasi-real-time signal, wherein the intermediate frequency signal can be used for verifying tracking, capturing and checking with low real-time requirement, the quasi-real-time signal is used for verifying an algorithm with high real-time requirement, and various simulations and algorithms of the simulator are verified on the basis of combination of software and hardware, so that the simulation cost is low; in addition, local correction information and global correction information are considered when the visible satellite in the simulation process is determined and the signal transmission time of the satellite is calculated, so that the long-term simulation accuracy is improved, and the simulation degree is good.
The invention adopts the technical scheme for realizing the purpose, makes up the defects of the prior art, and has reasonable design and convenient operation.
Drawings
The foregoing and/or other objects, features, advantages and embodiments of the invention will be more readily understood from the following description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a navigation simulation method based on the GNSS satellite signal simulator;
FIG. 2 is a flow chart for determining visible satellites and corrected signal transmission times for a simulation process;
fig. 3 is a time domain comparison diagram of embodiment 3 of the present invention and a prior art signal.
Detailed Description
Those skilled in the art can appropriately substitute and/or modify the process parameters to implement the present disclosure, but it is specifically noted that all similar substitutes and/or modifications will be apparent to those skilled in the art and are deemed to be included in the present invention. While the products and methods of making described herein have been described in terms of preferred embodiments, it will be apparent to those skilled in the art that variations and modifications, as well as appropriate variations and combinations, of the products and methods of making described herein may be made to implement and use the techniques of the invention without departing from the spirit and scope of the invention.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The present invention uses the methods and materials described herein; other suitable methods and materials known in the art may be used. The materials, methods, and examples described herein are illustrative only and not intended to be limiting. All publications, patent applications, patents, provisional applications, database entries, and other references mentioned herein, and the like, are incorporated herein by reference in their entirety. In case of conflict, the present specification, including definitions, will control.
The present invention is described in detail below.
Example 1:
a GNSS satellite signal simulator comprising:
the first receiving module is used for acquiring simulation time and receiving the current coordinate and the motion model of the carrier;
the second receiving module is used for acquiring ephemeris information of one or more GNSS satellites and acquiring the running track of the corresponding satellite according to the ephemeris information;
a third receiving module for receiving correction information of GNSS signals from a local source (any one of the reference station and the reference station network), wherein the correction information comprises
Local remediation information, in particular at least one of raw data of a single reference station receiver, synthetic or semi-synthetic raw data generated for a location in the vicinity of the location to be determined, and raw data from a network of reference stations; and
global correction information, specifically at least one of satellite clock correction and satellite orbit correction;
the processing module is used for determining a visible satellite in the simulation process according to the simulation time, the current coordinate and motion model of the carrier, the GNSS satellite transportation information, the correction information and the preset cut-off elevation angle, unifying the coordinate of the satellite and the coordinate of the carrier to the same coordinate system, calculating the distance between the satellite and the carrier, and dividing the distance by the light speed to obtain the signal transmission time of the satellite; then correcting the signal transmission time of the satellite according to the influence of earth rotation, troposphere delay, multipath delay and ionosphere delay on the satellite signal transmission;
an output module for serving as
1) Acquiring a navigation message according to the ephemeris information, and outputting the navigation message and the signal transmission time as a quasi-real-time signal;
2) Modulating the navigation message by using a spread spectrum code and a carrier intermediate frequency, and outputting a modulation result as an intermediate frequency signal;
and the carrier position acquisition module is used for calculating the coordinates and the speed of the carrier at any moment according to the motion model of the carrier and the corresponding simulation time before the processing module determines the visible satellites in the simulation process according to the simulation time, the current coordinates and the motion model of the carrier, the GNSS satellite transportation information, the correction information and the preset cut-off elevation, namely obtaining the carrier position of the carrier at any moment.
The GNSS satellite signal simulator outputs an intermediate frequency signal and a quasi-real-time signal, wherein the intermediate frequency signal can be used for verifying tracking, capturing and checking which have low real-time requirements, the quasi-real-time signal is used for verifying an algorithm which has high real-time requirements, and various simulations and algorithms of the simulator are verified on the basis of combination of software and hardware, so that the simulation cost is low; in addition, local correction information and global correction information are considered when the visible satellites in the simulation process are determined and the signal transmission time of the satellites is calculated, so that the long-term simulation accuracy is improved, and the simulation degree is good.
Example 2:
on the basis of the foregoing embodiment, a navigation simulation method based on the GNSS satellite signal simulator is provided, a flow of which is shown in fig. 1, and specifically includes the following steps:
s100, acquiring simulation time, and receiving a current coordinate and a motion model of a carrier;
s200, obtaining ephemeris information of one or more GNSS satellites;
s300, receiving correction information of the GNSS signal;
s400, determining a visible satellite in the simulation process according to the simulation time, the current coordinate and motion model of the carrier, ephemeris information and correction information of the GNSS satellite and a preset cut-off elevation angle, calculating the signal transmission time of the satellite and correcting the signal transmission time;
s500, obtaining a navigation message according to the ephemeris information, and outputting the navigation message and the signal transmission time as a quasi-real-time signal;
s600, the navigation message is modulated by using the spreading code and the carrier intermediate frequency, and the modulation result is output as an intermediate frequency signal.
Example 3:
on the basis of the foregoing embodiments, the navigation simulation method is improved, and specifically includes the following steps.
Step S100, obtaining simulation time, and receiving a current coordinate and a motion model of a carrier, where the carrier is a satellite signal receiving apparatus obtained through simulation, and includes a located object and/or an object receiving navigation service, and the current coordinate and the motion model include a speed and a coordinate of the carrier.
Step S200, obtaining ephemeris information of one or more GNSS satellites, and obtaining the running track of the corresponding satellite according to the ephemeris information, wherein the ephemeris information can be obtained by downloading and can also be obtained by modeling according to published ICD files.
Step S300, receiving correction information of GNSS signals, wherein the correction information comprises local correction information and global correction information, and the correction information comprises the local correction information and the global correction information
Local remediation information is received from a local source, the local source being any one of the reference station and the network of reference stations, the local remediation information including at least one of: 1) Raw data of a single reference station receiver; 2) Synthetic or semi-synthetic raw data generated for locations in the vicinity of the location to be determined; 3) Raw data from a network of reference stations;
the global correction information includes at least one of satellite clock correction and satellite orbit correction.
S400, as shown in FIG. 2, determining a visible satellite in the simulation process according to the simulation time, the current coordinate and motion model of the carrier, ephemeris information and correction information of the GNSS satellite and a preset cut-off elevation angle, unifying the coordinate of the satellite and the coordinate of the carrier in the same coordinate system, calculating the distance between the satellite and the carrier, dividing the distance by the light speed to obtain the signal transmission time of the satellite, and correcting the signal transmission time of the satellite according to the influence of the satellite signal transmission on the earth rotation, the troposphere delay, the multipath delay and the ionosphere delay to obtain the corrected signal transmission time.
S500, obtaining a navigation message according to the ephemeris information, and outputting the navigation message and the signal transmission time as a quasi-real-time signal; the quasi-real-time signal is used for verifying an algorithm with high real-time requirement.
S600, the navigation message is modulated by using the spreading code and the carrier intermediate frequency, and the modulation result is output as an intermediate frequency signal which can be used for verifying tracking, capturing and checking with low real-time requirement.
Conventional techniques in the above embodiments are known to those skilled in the art, and therefore, will not be described in detail herein. Fig. 3 is a time domain comparison diagram of signals of the embodiment of the present invention and the prior art, and it is obvious that the quality of the baseband signal of the embodiment is good.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments, or alternatives may be employed, by those skilled in the art, without departing from the spirit or ambit of the invention as defined in the appended claims.
While the invention has been described in detail and with reference to specific examples thereof, it will be apparent to one skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope thereof.
While the above detailed description has shown, described, and pointed out novel features as applied to various embodiments, it will be understood that various omissions, substitutions, and changes in the form and details of the device or method illustrated may be made without departing from the spirit of the disclosure. In addition, the various features and methods described above may be used independently of one another, or may be combined in various ways. All possible combinations and sub-combinations are intended to fall within the scope of the present disclosure. Many of the embodiments described above include similar components, and thus, these similar components are interchangeable in different embodiments. While the invention has been disclosed in the context of certain embodiments and examples, it will be understood by those skilled in the art that the invention extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses and obvious modifications and equivalents thereof. Accordingly, the invention is not intended to be limited by the specific disclosure of preferred embodiments herein.
The invention is not the best known technology.
Claims (7)
- A gnss satellite signal simulator, comprising:the first receiving module is used for acquiring simulation time and receiving the current coordinate and the motion model of the carrier;the second receiving module is used for acquiring ephemeris information of one or more GNSS satellites;the third receiving module is used for receiving correction information of the GNSS signal;the processing module is used for determining a visible satellite in the simulation process according to the simulation time, the current coordinate and motion model of the carrier, ephemeris information and correction information of the GNSS satellite and a preset cut-off elevation angle and calculating the signal transmission time of the satellite;and the output module is used for obtaining the navigation message according to the ephemeris information and outputting the navigation message and the signal transmission time as a quasi-real-time signal.
- 2. The GNSS satellite signal simulator of claim 1, wherein: the carrier is in particular an analogue satellite signal receiving device comprising an object to be positioned and/or an object to receive navigation services.
- 3. The GNSS satellite signal simulator of claim 1, wherein: the correction information comprises local correction information and global correction information.
- 4. The GNSS satellite signal simulator of claim 3, wherein: the local remediation information comprises at least one of:1) Raw data of a single reference station receiver;2) Synthetic or semi-synthetic raw data generated for a location in the vicinity of the location to be determined;3) Raw data from a network of reference stations.
- 5. The GNSS satellite signal simulator of claim 3, wherein: the global correction information includes at least one of satellite clock correction and satellite orbit correction.
- 6. The GNSS satellite signal simulator of claim 1, wherein: the output module is used for modulating the navigation message by using the spread spectrum code and the carrier intermediate frequency and outputting a modulation result as an intermediate frequency signal.
- 7. The GNSS satellite signal simulator of claim 1, wherein: the system further comprises a carrier position obtaining module which is used for calculating the coordinates and the speed of the carrier at any moment according to the motion model of the carrier and the corresponding simulation time before the processing module determines the visible satellites in the simulation process according to the simulation time, the current coordinates and the motion model of the carrier, the GNSS satellite transportation information, the correction information and the preset cut-off elevation, namely the carrier position of the carrier at any moment is obtained.
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