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CN109407121A - A kind of compatible acquisition and tracking device of configurable navigation signal - Google Patents

A kind of compatible acquisition and tracking device of configurable navigation signal Download PDF

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Publication number
CN109407121A
CN109407121A CN201811358195.1A CN201811358195A CN109407121A CN 109407121 A CN109407121 A CN 109407121A CN 201811358195 A CN201811358195 A CN 201811358195A CN 109407121 A CN109407121 A CN 109407121A
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module
code
navigation signal
tracking
chip
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CN109407121B (en
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张前南
陶磊岩
杨春景
尚佳栋
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Beijing Institute of Remote Sensing Equipment
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Beijing Institute of Remote Sensing Equipment
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

本发明公开了一种可配置的导航信号兼容捕获跟踪装置，在初始状态下，导航信号经过正交去频偏模块后进入相关模块，相关模块对导航信号进行相关解扩处理后送入FFT判决模块，FFT判决模块在判决成功下输出捕获成功标志，结束捕获过程并启动跟踪；在捕获失败下步进调整模块根据系统输入的导航信号类型选择不同的搜索步进，调节码生成模块进行下一次捕获过程；在启动跟踪后，早中晚相关器输出多路相关值，触发峰值跳跃模块进行副峰锁定判决，若锁定在副峰上则促使步进调整模块进行1/2码片相位跳跃，与此同时码环鉴相器和滤波器实现伪码的实时跟踪，载波环鉴相器和滤波器完成载波的实时跟踪。本装置具有处理难度低、兼容性及通道一致性好等优点。

The invention discloses a configurable navigation signal compatible acquisition and tracking device. In an initial state, the navigation signal enters a correlation module after passing through an orthogonal frequency de-offset module, and the correlation module performs correlation despread processing on the navigation signal and sends it to FFT judgment Module, the FFT decision module outputs the capture success flag when the decision is successful, ends the capture process and starts tracking; when the capture fails, the step adjustment module selects different search steps according to the type of navigation signal input by the system, and the adjustment code generation module performs the next step. Acquisition process; after starting the tracking, the early, middle and late correlators output multi-channel correlation values, trigger the peak jumping module to make the secondary peak locking judgment, and if it is locked on the secondary peak, the step adjustment module will be prompted to perform 1/2 chip phase jumping, At the same time, the code loop phase detector and filter realize the real-time tracking of the pseudo code, and the carrier loop phase detector and filter complete the real-time tracking of the carrier. The device has the advantages of low processing difficulty, good compatibility and channel consistency.

Description

A kind of compatible acquisition and tracking device of configurable navigation signal
Technical field
The present invention relates to navigation signal capture and tracking field, in particular to a kind of compatible capture of configurable navigation signal Tracking device is mainly used for capture and tracking to new and old systems satellite navigation signals.
Background technique
With the rapid development of Global Satellite Navigation System (GNSS), in original direct expansion navigation signal (DSSS-BPSK) On the basis of, people have developed binary offset carrier (BOC) modulation system, have effectively achieved that frequency range is public, frequency spectrum separation, The advantages that bringing preferably anti-interference, high-acruracy survey.
The design realization of GNSS navigation signal imparts the ability of compatible operation between multiple systems, the compatible behaviour of multisystem Mainly GPS, the signal of Beidou (BDS) and the big navigation system of Galileo (Galileo) three and the information processing for making to refer to have simultaneous Capacitive.Wherein the B1C signal of the E1 and BDS of L1C, Galileo of GPS share original GPS L1 frequency point, i.e. 1575.42MHz, data Component modulation system is (1,1) BOC, weight of pilot frequency be respectively TMBOC (6, Isosorbide-5-Nitrae/33), CBOC (6,1,1/11) and QMBOC (6, 1,4/33)；The B2a signal of the E5a and BDS of L5, Galileo of GPS use GPS L5 frequency point, i.e. 1176.45MHz, using or It is equivalent to BPSK (10) modulation.In the acquisition and tracking channel hardware of multisystem navigation neceiver is realized, designing parameter can match There are very big flexibility and versatility in the acquisition and tracking channel set, especially completes in three big navigation system not yet upgrading In the case of, the navigation signal algorithm that can be compatible with original BPSK modulation is particularly important.
Summary of the invention
It is an object of that present invention to provide the compatible acquisition and tracking devices of navigation signal that a kind of channel can configure, and solve new and old body The fast Acquisition of navigation signal processed and accurate tracking problem.Specifically, the present apparatus is mainly for New System navigation signal L1C/E1/ BPSK (1)/BPSK (2) of BOC (1,1) modulation of B1C, BPSK (10) modulation of L5/E5a/B2a and old system navigation signal is adjusted System provides a kind of acquisition and tracking device that parameter is configurable, and with the different signal type of flexible adaptation, realization is to navigation signal Integrated acquisition and tracking processing, improves the consistency in channel.
The present invention provides a kind of compatible acquisition and tracking device of configurable navigation signal comprising: it is orthogonal go frequency deviation module, Correlation module, FFT judging module, step by step modulating module, code generation module, in the morning, afternoon and evening correlator, peak value jump module, code ring mirror Phase device, carrier wave ring phase discriminator, Loop filter and carrier wave ring wave filter.
The orthogonal function of going frequency deviation module is that the carrier wave of the frequency word elimination navigation signal obtained according to capture and tracking is residual Stay frequency deviation；
The function of correlation module is the coherently despreading that navigation signal is carried out according to the length of capture time；
The function of FFT judging module is to carry out FFT operation according to the coherently despreading result of correlation module and decide whether to catch It succeeds；
The function of step by step modulating module is the discriminative information output chips provided according to navigation signal type and acquisition and tracking Step motion control word；
The function of code generation module is that the chip step motion control word provided according to step by step modulating module controls the step of spreading code Into generating the pseudo-random sequence of corresponding bit rate；
The function of correlator is to de-spread to navigation signal in the morning, afternoon and evening, is exported for code ring phase discriminator and carrier wave ring phase demodulation The multichannel correlation that device uses；
The function of peak value jump module is the submaximum false-lock for solving the problems, such as BOC (1,1) signal and occurring in acquisition procedure；
The function of code ring phase discriminator is to export pseudo-code offset according to the correlation of correlator in the morning, afternoon and evening；
The function of carrier wave ring phase discriminator is the correlation outgoing carrier offset according to correlator in the morning, afternoon and evening；
The function of Loop filter is the high-frequency noise filtered out in pseudo-code offset；
The function of carrier wave ring wave filter is the high-frequency noise filtered out in carrier shift amount.
The present apparatus takes navigation signal Direct Acquisition to handle, and solves BOC (1,1) using peak value jump technology in tracking process Acquisition phase ambiguity issue can effectively be suitable for GPS on the basis of compatible traditional BP SK acquisition and tracking algorithm The processing of L1C/Galileo E1/BDS B1C signal and GPS L5/Galileo E5a/BDS B2a signal processing, uniquely The difference is that tracking section increases peak value jump module, step by step modulating module is changed to that parameter is configurable, code generates mould Block supports spreading code and BOC local code simultaneously.The present apparatus realizes the smooth upgrade of navigation signal Processing Algorithm, has lower Algorithm complexity and preferable passage consistency have higher acquisition and tracking simultaneously because BOC signal uses Double Side-band Reception Performance.
Detailed description of the invention
Fig. 1 is the compatible acquisition and tracking structural schematic diagram of configurable navigation signal of the invention；
Fig. 2 is the compatible acquisition and tracking flow diagram of configurable navigation signal of the invention；
Fig. 3 is that BOC of the invention (1,1) signal auto-correlation function is three peak structures.
1. orthogonal remove frequency deviation module 2. correlation module 3.FFT judging module, 4. step by step modulating module, 5. yards of generation modules 6. 7. peak value of correlator jump module, 8. yards of 9. carrier wave ring phase discriminator of ring phase discriminator, 10. Loop filters 11. carry in the morning, afternoon and evening Wave ring wave filter
Specific embodiment
Detailed description of the preferred embodiments below.
A kind of specific steps of the compatible acquisition and tracking device of configurable navigation signal are as follows:
Step 1: the compatible acquisition and tracking structure of navigation signal that building is configurable, which includes: orthogonal to go frequency deviation module 1, correlation module 2, FFT judging module 3, step by step modulating module 4, code generation module 5, in the morning, afternoon and evening correlator 6, peak value jump module 7, code ring phase discriminator 8, carrier wave ring phase discriminator 9, Loop filter 10, carrier wave ring wave filter 11.
The orthogonal function of going frequency deviation module 1 is that the carrier wave of the frequency word elimination navigation signal obtained according to capture and tracking is residual Stay frequency deviation；
The function of correlation module 2 is the coherently despreading that navigation signal is carried out according to the length of capture time；
The function of FFT judging module 3 is to carry out FFT operation according to the coherently despreading result of correlation module 2 and decide whether Acquisition success；
The function of step by step modulating module 4 is the discriminative information output chips provided according to navigation signal type and acquisition and tracking Step motion control word；
The function of code generation module 5 is that the chip step motion control word provided according to step by step modulating module 4 controls spreading code Stepping generates the pseudo-random sequence of corresponding bit rate；
The function of correlator 6 is to de-spread to navigation signal in the morning, afternoon and evening, and output is reflected for code ring phase discriminator 8 and carrier wave ring The multichannel correlation that phase device 9 uses；
The function of peak value jump module 7 is the submaximum false-lock for solving the problems, such as BOC (1,1) signal and occurring in acquisition procedure；
The function of code ring phase discriminator 8 is to export pseudo-code offset according to the correlation of correlator 6 in the morning, afternoon and evening；
The function of carrier wave ring phase discriminator 9 is the correlation outgoing carrier offset according to correlator 6 in the morning, afternoon and evening；
The function of Loop filter 10 is the high-frequency noise filtered out in pseudo-code offset；
The function of carrier wave ring wave filter 11 is the high-frequency noise filtered out in carrier shift amount.
Step 2: orthogonal go frequency deviation module 1 by the way of digital carrier NCO and mixing, carrier wave NCO first is according to FFT The frequency word that judging module 3 and carrier wave ring wave filter 11 export generates the cosine and sine signal of corresponding frequencies；Secondly, by the sine and cosine Signal and the baseband digital signal of input are sent into digital mixer, complete complex multiplication, and frequency deviation function is gone in realization.
Step 3: correlation module 2, which will remove the navigation signal after carrier wave, is sent into 11 road parallel correlators, while by 11 tunnel sheets Ground code sequence is sent into parallel correlator, and correlator carried out integrating-clear operation according to given time, completes relevant despreading and handles To 11 tunnel coherent integration amounts.
Step 4: FFT judging module 3 combines zero padding FFT technique, 11 tunnels that correlation module 2 is exported using segmentation is related Coherent integration amount is accumulated to 256 groups, the Fast Fourier Transform (FFT) to being sent into after relevant value complement 256 zero of every road at 512 points (FFT), FFT operation uses the flow work mode, is sequentially completed the FFT fortune of 11 × 512 correlations of 11 groups of outs of phase It calculates and result modulus square, and completes maximum value search, using the maximum value that searches out as prize judgment amount, detection judgement amount is No is more than thresholding.If being not above, the search that local code phase restarts next phase is adjusted, otherwise terminates acquisition procedure, is opened Motion tracking.
Step 5: the jump of the court verdict of the comprehensive FFT judging module 3 of step by step modulating module 4, peak value jump module 7 makes Code generation module 5 can be sent into the tracking frequency word output chips step by step modulating control word of Loop filter 10.Specifically, exist Acquisition phase, step by step modulating module 4 provide different chips according to the modulation system type of signal to be captured and search for stepping length, Wherein the search stepping of BOC (1,1) signal is 1/6 chip, and BPSK (1)/BPSK (2)/BPSK (10) search stepping is 1/2 Chip；Decide whether to carry out front and back 1/ after acquisition success is transferred to tracking, and according to the jump that peak value jump module 7 provides is enabled The jump of 2 chips；During tenacious tracking, and the real-time tracking frequency word of comprehensive Loop filter 10 exports final control Word.
Step 6: code generation module 5 is under high frequency clock driving, according to chip step motion control word, by generator polynomial or Look-up table mode generates the local spread spectrum code sequence or BOC code sequence of bit rate identical as navigation signal.According to design, code is generated Pseudo-code is divided into 11 tunnels by module 5, the pseudo-code that the capture of 11 tunnel of parallel output needs, at the same export instant road, advanced 1/2 chip, 5 road pseudo-code sequences of 1/2 chip of advanced 1/6 chip, 1/6 chip of lag and lag are used for subsequent tracking.
Step 7: the realization of correlator 6 carries out relevant despreading to navigation signal in the morning, afternoon and evening, export for 8 He of code ring phase discriminator The 5 road correlations that carrier wave ring phase discriminator 9 uses.Instant road, advanced 1/2 chip, advanced 1/6 chip, 1/6 chip of lag might as well be set It is denoted as P respectively with the correlated results amplitude of lag 1/2 chip, 5 branches0、E-1/2、E-1/6、L+1/6、L+1/2, and the I on the instant road of note, Q branch correlated results is IP、QP。
Step 8: peak value jumps, module 7 is carried out the correlated results amplitude for 5 branches that correlator 6 in the morning, afternoon and evening exports big Small judgement, rewriting formula (1), formula (2) obtain following formula (6) and formula (7),
Start comparison result counter Lcount and Rcount, from subtracting 1, Rcount adds Lcount certainly if meeting formula (6) 1；Lcount is certainly if meeting formula (7) plus 1, Rcount subtracts 1 certainly；Lcount and Rcount value remains unchanged if being not satisfied. When Lcount be greater than 15 think current Phase Tracking be locked in left side submaximum on, when Rcount be greater than 15 think current phase with Track is locked on the submaximum of right side, and peak value jump module output phase answers the jump of opposite direction enabled, driving code generation module 5 jump 1/ 2 chips subsequently complete the clearing of counter Lcount and Rcount, start peak value jump detection next time.
Step 9: code ring phase discriminator 8 correlator 6 in the morning, afternoon and evening is provided advanced 1/6 chip, lag 1/6 chip two-way phase Amplitude is closed to carry out calculating output pseudo-code offset delta according to formula (3)cp。
Step 10: carrier wave ring phase discriminator 9 carries out instant road I, Q correlation that correlator 6 in the morning, afternoon and evening provides according to formula (4) Calculate outgoing carrier offset φe。
Step 11: Loop filter 10 carries out numeric field discretization to second order filter shown in formula (5), to input Pseudo-code offset carries out high-frequency noise and filters out, and obtains code tracking frequency word, wherein loop characteristics circular frequency ωnSelect 1rad/s.
Step 12: carrier wave ring wave filter 11 according to second order filter shown in formula (5) to the carrier shift amount of input into Row high-frequency noise filters out, and obtains carrier track frequency word, wherein loop characteristics circular frequency ωnSelect 16rad/s.
So far the compatible acquisition and tracking of configurable navigation signal is completed.
Specifically, the present apparatus is mainly for BOC (1, the 1) modulation of New System navigation signal L1C/E1/B1C, L5/E5a/ The BPSK (10) of B2a is modulated and the BPSK (1) of old system navigation signal/BPSK (2) modulation, provides that a kind of parameter is configurable to catch Tracking device is obtained, with the different signal type of flexible adaptation, realizes and the integrated acquisition and tracking of navigation signal is handled, improve logical The consistency in road.
The compatible acquisition and tracking device of a kind of configurable navigation signal proposed by the present invention include: it is orthogonal go frequency deviation module 1, Correlation module 2, FFT judging module 3, step by step modulating module 4, code generation module 5, in the morning, afternoon and evening correlator 6, peak value jump module 7, Code ring phase discriminator 8, carrier wave ring phase discriminator 9, Loop filter 10, carrier wave ring wave filter 11.
The orthogonal function of going frequency deviation module 1 is that the carrier wave of the frequency word elimination navigation signal obtained according to capture and tracking is residual Stay frequency deviation；
The function of correlation module 2 is the coherently despreading that navigation signal is carried out according to the length of capture time；
The function of FFT judging module 3 is to carry out FFT operation according to the coherently despreading result of correlation module 2 and decide whether Acquisition success；
The function of step by step modulating module 4 is the discriminative information output chips provided according to navigation signal type and acquisition and tracking Step motion control word；
The function of code generation module 5 is that the chip step motion control word provided according to step by step modulating module controls the step of spreading code Into generating the pseudo-random sequence of corresponding bit rate；
The function of correlator 6 is to de-spread to navigation signal in the morning, afternoon and evening, and output is reflected for code ring phase discriminator and carrier wave ring The multichannel correlation that phase device uses；
The function of peak value jump module 7 is the submaximum false-lock for solving the problems, such as BOC (1,1) signal and occurring in acquisition procedure；
The function of code ring phase discriminator 8 is to export pseudo-code offset according to the correlation of correlator in the morning, afternoon and evening；
The function of carrier wave ring phase discriminator 9 is the correlation outgoing carrier offset according to correlator in the morning, afternoon and evening；
The function of Loop filter 10 is the high-frequency noise filtered out in pseudo-code offset；
The function of carrier wave ring wave filter 11 is the high-frequency noise filtered out in carrier shift amount.
Preferably, orthogonal to go frequency deviation module 1 by the way of digital mixing, base-band digital is completed using given frequency word The purpose of signal removing carrier wave frequency deviation.It is orthogonal that go frequency deviation module include digital mixing and carrier wave digital oscillator (NCO) two parts, Carrier wave NCO according to capture and tracking input frequency word generate corresponding frequencies cosine and sine signal, digital mixing by the signal with The baseband digital signal of input carries out complex multiplication, and frequency deviation function is gone in realization.
Preferably, correlation module 2 completes the correlation product to the navigation signal after removing carrier wave according to the given time of integration Point, despread processing obtains coherent integration amount.In view of signal type difference, PN-code capture length is different, and the present apparatus uses frequency Domain parallel search capture technique, in order to accelerate chip linear search rate, correlation module 2 is using the completion pair of 11 road parallel correlators The parallel despreading of signal integrates, and exports 11 road correlations.
Preferably, FFT judging module 3 combines zero padding FFT technique, 11 tunnels that correlation module 2 is exported using segmentation is related Coherent integration amount mends appropriate zero successively progress Fast Fourier Transform (FFT) (FFT) after being accumulated to several groups, and FFT operation uses assembly line Operating mode is sequentially completed the FFT operation and result modulus square of 11 groups of out of phase correlations, subsequently completes maximum value and search Rope, the maximum value to search out detect whether judgement amount is more than thresholding θ as prize judgment amount Z.If being not above, adjust Local code phase restarts the search of next phase, otherwise terminates acquisition procedure, start-up trace.
Preferably, the court verdict of the comprehensive FFT judging module of step by step modulating module 4, the jump of peak value jump module are enabled With the tracking frequency word output chips step by step modulating control word of code ring, it is sent into code generation module.The core that can configure as parameter One of module specifically in acquisition phase, provides different chips according to the modulation system type of signal to be captured and searches for stepping Length, wherein the search stepping of BOC (1,1) signal is 1/6 chip, and BPSK (1)/BPSK (2)/BPSK (10) search stepping is equal For 1/2 chip；Decide whether to carry out after acquisition success is transferred to tracking, and according to the jump that peak value jump module 7 provides is enabled The jump of 1/2 chip of front and back；During tenacious tracking, and the real-time tracking frequency word of comprehensive coding ring exports final control word.
Preferably, code generation module 5 is under high frequency clock driving, according to chip step motion control word, by generator polynomial or Look-up table mode generates the local spread spectrum code sequence or BOC code sequence of bit rate identical as navigation signal.As needed, code generates Pseudo-code is divided into 11 tunnels by module 5, the pseudo-code that the capture of 11 tunnel of parallel output needs, at the same export instant road, advanced 1/2 chip, 5 road pseudo-code sequences of 1/2 chip of advanced 1/6 chip, 1/6 chip of lag and lag are used for subsequent tracking.
Preferably, the function of correlator 6 is relevant despreading to be carried out to navigation signal, while exporting for code ring mirror in the morning, afternoon and evening The 5 road correlations that phase device and carrier wave ring phase discriminator use.
Preferably, the function of peak value jump module 7 is the phase mode for solving BOC (1,1) signal and occurring in acquisition procedure Paste degree problem, it is possible to the submaximum false-lock phenomenon of appearance.As shown in figure 3, the single-peak structure relative to BPSK, BOC (1,1) signal Auto-correlation function is three peak structures, and main peak is relatively narrower, and two submaximums are in ± 1/2 chip position.
Instant road, advanced 1/2 chip, advanced 1/6 chip, 1/6 chip of lag and lag 1/2 chip, 5 branches might as well be set Correlated results amplitude be denoted as P respectively0、E-1/2、E-1/6、L+1/6、L+1/2.If current code tracking loop is locked on the submaximum of right side, Then there is following relationship:
Conversely, having following relationship if being locked on the submaximum of left side:
If being not satisfied, show Current lock on main peak, does not need to adjust.In order to further decrease noise shadow It rings, realizes tenacious tracking, continuous several times judgement need to be carried out to above-mentioned 5 groups of correlations, when the size for meeting formula (1) or formula (2) is closed System is just considered being locked on submaximum after being accumulated to certain number, and peak value jump module output jump is enabled, Xiang Xiangying opposite direction Jump 1/2 chip.
Preferably, the function of code ring phase discriminator 8 is to export pseudo-code offset, phase demodulation according to the correlation of correlator in the morning, afternoon and evening Device subtracts lag amplitude calculation formula using incoherent in advance, i.e.,
Wherein, δcpFor the pseudo-code offset of phase discriminator output.
Preferably, the function of carrier wave ring phase discriminator 9 is according to the correlation outgoing carrier offset of correlator in the morning, afternoon and evening, mirror The calculation formula that phase device uses for
φe=sign (IP)·QP (4)
Wherein, IPIndicate the road instant road I coherent integration value, QPIndicate the road instant road Q coherent integration value.Sign (x) is to take symbol Number function, returns to the sign of x, φeFor the carrier phase offset amount of phase discriminator output.
Preferably, the function of Loop filter 10 is that the high frequency filtered out in yard pseudo-code offset of ring phase discriminator output is made an uproar Sound, specifically, code ring select second order filter, and wherein the Laplace domain of filter transfer function H (s) is expressed as
Wherein, ωnFor the feature circular frequency of loop, s is Laplace operator.
Preferably, the function of carrier wave ring wave filter 11 is the high-frequency noise filtered out in carrier shift amount, and wherein filter selects With with the consistent second order filter of code ring.
The present apparatus takes navigation signal Direct Acquisition to handle, and solves BOC (1,1) using peak value jump technology in tracking process Acquisition phase ambiguity issue can effectively be suitable for GPS on the basis of compatible traditional BP SK acquisition and tracking algorithm The processing of L1C/Galileo E1/BDS B1C signal and GPS L5/Galileo E5a/BDS B2a signal processing, uniquely The difference is that tracking section increases peak value jump module, step by step modulating module is changed to that parameter is configurable, code generates mould Block supports spreading code and BOC local code simultaneously.The present apparatus realizes the smooth upgrade of navigation signal Processing Algorithm, has lower Algorithm complexity and preferable passage consistency have higher acquisition and tracking simultaneously because BOC signal uses Double Side-band Reception Performance.

Claims (13)

1.一种可配置的导航信号兼容捕获跟踪装置，其特征在于，所述装置包括：正交去频偏模块(1)、相关模块(2)、FFT判决模块(3)、步进调整模块(4)、码生成模块(5)、早中晚相关器(6)、峰值跳跃模块(7)、码环鉴相器(8)、载波环鉴相器(9)、码环滤波器(10)、载波环滤波器(11)；1. A configurable navigation signal compatible acquisition and tracking device, characterized in that the device comprises: an orthogonal frequency de-offset module (1), a correlation module (2), an FFT decision module (3), a step adjustment module (4), a code generation module (5), an early, middle and late correlator (6), a peak hopping module (7), a code loop phase detector (8), a carrier loop phase detector (9), a code loop filter ( 10), carrier loop filter (11); 正交去频偏模块(1)根据捕获及跟踪得到的频率字消除导航信号的载波残留频偏；The orthogonal frequency offset removal module (1) eliminates the carrier residual frequency offset of the navigation signal according to the frequency word obtained by capturing and tracking; 相关模块(2)根据捕获时间的长短进行导航信号的相关解扩；The correlation module (2) performs correlation despreading of the navigation signal according to the length of the acquisition time; FFT判决模块(3)根据相关模块(2)的相关解扩结果进行FFT运算并判决是否捕获成功；The FFT decision module (3) performs FFT operation according to the relevant despreading result of the correlation module (2) and judges whether the capture is successful; 步进调整模块(4)根据导航信号类型及捕获跟踪给出的判决信息输出码片步进控制字；The step adjustment module (4) outputs the chip step control word according to the navigation signal type and the judgment information given by the capture and tracking; 码生成模块(5)根据步进调整模块(4)给出的码片步进控制字控制扩频码的步进，产生相应码速率的伪随机序列；The code generation module (5) controls the stepping of the spread spectrum code according to the chip stepping control word given by the stepping adjustment module (4) to generate a pseudo-random sequence of the corresponding code rate; 早中晚相关器(6)对导航信号进行解扩，输出可供码环鉴相器(8)和载波环鉴相器(9)使用的多路相关值；The early, middle and late correlator (6) despreads the navigation signal, and outputs a multi-channel correlation value that can be used by the code loop phase detector (8) and the carrier loop phase detector (9); 峰值跳跃模块(7)解决BOC(1,1)信号在捕获过程中出现的副峰误锁问题；The peak hopping module (7) solves the problem of secondary peak mislocking that occurs in the acquisition process of the BOC (1,1) signal; 码环鉴相器(8)根据早中晚相关器(6)的相关值输出伪码偏移量；The code loop phase detector (8) outputs a pseudo code offset according to the correlation value of the early, middle and late correlators (6); 载波环鉴相器(9)根据早中晚相关器(6)的相关值输出载波偏移量；The carrier loop phase detector (9) outputs the carrier offset according to the correlation value of the early, middle and late correlators (6); 码环滤波器(10)滤除伪码偏移量中的高频噪声；A code loop filter (10) filters out high-frequency noise in the pseudo code offset; 载波环滤波器(11)滤除载波偏移量中的高频噪声。A carrier loop filter (11) filters out high frequency noise in the carrier offset. 2.根据权利要求1所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述正交去频偏模块(1)采用数字载波NCO和混频的方式，首先载波NCO根据FFT判决模块(3)和载波环滤波器(11)输出的频率字产生相应频率的正余弦信号；其次，将该正余弦信号与输入的基带数字信号送入数字混频器，完成复数相乘，实现去频偏功能。2. The configurable navigation signal-compatible acquisition and tracking device according to claim 1, wherein the orthogonal de-frequency offset module (1) adopts a digital carrier NCO and a frequency mixing mode, and first the carrier NCO is determined according to FFT The frequency word output by the module (3) and the carrier loop filter (11) generates a sine and cosine signal of the corresponding frequency; secondly, the sine and cosine signal and the input baseband digital signal are sent into the digital mixer to complete the complex multiplication to realize De-offset function. 3.根据权利要求1所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述相关模块(2)将剥离载波后的导航信号送入11路并行相关器，同时将11路本地码序列送入并行相关器，相关器根据给定时间进行积分-清零操作，完成相干解扩处理得到11路相干积分量。3. The configurable navigation signal-compatible acquisition and tracking device according to claim 1, wherein the correlation module (2) sends the navigation signal after the carrier is stripped into 11 parallel correlators, and simultaneously sends the 11 local The code sequence is sent to the parallel correlator, and the correlator performs the integration-clearing operation according to the given time, and completes the coherent despreading process to obtain 11 channels of coherent integration. 4.根据权利要求1所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述FFT判决模块(3)使用分段相关结合补零FFT技术，将相关模块(2)输出的11路相干积分量累计到256组，对每路的相干值补256个零后送入512点的快速傅里叶变换FFT，FFT运算采用流水线工作模式，依次完成11组不同相位的11×512个相关值的FFT运算和结果取模平方，并完成最大值搜索，以搜索出的最大值作为捕获判决量，检测判决量是否超过门限；若是没有超过则调整本地码相位重启下一相位的搜索，反之结束捕获过程，启动跟踪。4. The configurable navigation signal-compatible acquisition and tracking device according to claim 1, wherein the FFT decision module (3) uses segment correlation combined with zero-fill FFT technology, and the 11 output of the correlation module (2) is The coherent integration amount of each channel is accumulated to 256 groups, and the coherent value of each channel is filled with 256 zeros and then sent to the fast Fourier transform FFT of 512 points. The FFT operation of the correlation value and the result are modulo squared, and the maximum value search is completed, and the maximum value searched is used as the acquisition decision amount to detect whether the decision amount exceeds the threshold; if not, adjust the local code phase to restart the search for the next phase, Otherwise, end the capture process and start tracking. 5.根据权利要求1所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述步进调整模块(4)综合FFT判决模块(3)的判决结果、峰值跳跃模块(7)的跳跃使能和码环滤波器(10)的跟踪频率字输出码片步进调整控制字，送入码生成模块(5)。5. The configurable navigation signal-compatible acquisition and tracking device according to claim 1, wherein the step adjustment module (4) integrates the judgment result of the FFT judgment module (3), the peak value jump module (7) The tracking frequency word of the skip enable and code loop filter (10) outputs the chip step adjustment control word, which is sent to the code generation module (5). 6.根据权利要求5所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，在捕获阶段，步进调整模块(4)根据待捕获信号的调制体制类型给出不同的码片搜索步进长度，其中BOC(1,1)信号的搜索步进为1/6码片，BPSK(1)/BPSK(2)/BPSK(10)的搜索步进均为1/2码片；在捕获成功转入跟踪后，又根据峰值跳跃模块(7)给出的跳跃使能决定是否进行前后1/2码片跳跃；在稳定跟踪过程中，又综合码环滤波器(10)的实时跟踪频率字输出最终的控制字。6. The configurable navigation signal-compatible acquisition and tracking device according to claim 5, wherein in the acquisition stage, the step adjustment module (4) provides different chip search steps according to the modulation system type of the signal to be acquired The search step of BOC(1,1) signal is 1/6 chip, and the search step of BPSK(1)/BPSK(2)/BPSK(10) is 1/2 chip; After successfully transitioning to tracking, it is determined whether to perform 1/2 chip jumping before and after the jumping enable given by the peak jumping module (7). During the stable tracking process, the real-time tracking frequency of the code loop filter (10) is synthesized. word outputs the final control word. 7.根据权利要求1所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述码生成模块(5)在高频时钟驱动下，根据码片步进控制字，按生成多项式或查找表方式产生与导航信号相同码速率的本地扩频码序列或BOC码序列，码生成模块(5)将伪码等分成11路，并行输出11路捕获需要的伪码，同时输出即时路、超前1/2码片、超前1/6码片、滞后1/6码片和滞后1/2码片的5路伪码序列供后续跟踪使用。7. The configurable navigation signal-compatible capture and tracking device according to claim 1, wherein the code generation module (5) is driven by a high-frequency clock, according to the chip stepping control word, according to the generator polynomial or The look-up table method generates a local spread spectrum code sequence or BOC code sequence with the same code rate as the navigation signal. The code generation module (5) divides the pseudocode into 11 channels, and outputs the 11 channels in parallel to capture the required pseudocode, and simultaneously outputs the real-time channel, The 5-way pseudo-code sequence of leading 1/2 chip, leading 1/6 chip, lagging 1/6 chip and lagging 1/2 chip is used for follow-up tracking. 8.根据权利要求1所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述早中晚相关器(6)实现对导航信号进行相干解扩，输出可供码环鉴相器(8)和载波环鉴相器(9)使用的5路相关值，将即时路、超前1/2码片、超前1/6码片、滞后1/6码片和滞后1/2码片5个支路的相关结果幅值分别记为P0、E-1/2、E-1/6、L+1/6、L+1/2，且记即时路的I、Q支路相关结果为IP、QP。8. The configurable navigation signal-compatible acquisition and tracking device according to claim 1, wherein the early, middle and late correlator (6) realizes coherent despreading of the navigation signal, and the output is available for the code loop phase detector (8) and the 5-way correlation value used by the carrier ring phase detector (9), which will be the channel, lead 1/2 chip, lead 1/6 chip, lag 1/6 chip and lag 1/2 chip The amplitudes of the correlation results of the 5 branches are respectively recorded as P 0 , E -1/2 , E -1/6 , L +1/6 , L +1/2 , and the correlation between the I and Q branches of the channel is recorded. The results are IP , QP . 9.根据权利要求8所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述峰值跳跃模块(7)对早中晚相关器6输出的5个支路的相关结果幅值按照式(1)、式(2)大小判决，9. The configurable navigation signal-compatible acquisition and tracking device according to claim 8, characterized in that, the peak skip module (7) compares the amplitudes of the correlation results of the 5 branches output by the early, middle, and late correlators 6 according to: Formula (1), formula (2) size judgment, 启动比较结果计数器Lcount和Rcount，若满足式(1)则Lcount自减1，Rcount自加1；若满足式(2)则Lcount自加1，Rcount自减1；若均不满足则Lcount和Rcount值维持不变；当Lcount大于15则认为当前相位跟踪锁定在左侧副峰上，当Rcount大于15则认为当前相位跟踪锁定在右侧副峰上，峰值跳跃模块输出相应反方向的跳跃使能，驱动码生成模块(5)跳跃1/2码片，随后完成计数器Lcount和Rcount的清零，开始下一次的峰值跳跃检测。Start the comparison result counters Lcount and Rcount. If Equation (1) is satisfied, Lcount is decremented by 1, and Rcount is increased by 1; if Equation (2) is satisfied, Lcount is increased by 1, and Rcount is decreased by 1; if both are not satisfied, Lcount and Rcount The value remains unchanged; when Lcount is greater than 15, the current phase tracking is considered to be locked on the left side peak, and when Rcount is greater than 15, the current phase tracking is considered to be locked on the right side peak, and the peak skip module outputs the corresponding jump enable in the opposite direction. , the driving code generation module (5) jumps 1/2 chip, then completes the clearing of the counters Lcount and Rcount, and starts the next peak jump detection. 10.根据权利要求9所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述码环鉴相器(8)对早中晚相关器(6)给出的超前1/6码片、滞后1/6码片两路相关幅值按照式(3)进行计算输出伪码偏移量δcp。10. The configurable navigation signal-compatible acquisition and tracking device according to claim 9, wherein the code loop phase detector (8) provides an early 1/6 code to the early, middle and late correlator (6). The two-way correlation amplitude of chip and lag 1/6 chip is calculated according to formula (3) to output pseudo code offset δ cp . 11.根据权利要求1所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述载波环鉴相器(9)对早中晚相关器(6)给出的即时路I、Q相关值按照式(4)进行计算输出载波偏移量φe，其中sign(x)为取符号函数，返回x的正负号。11. The configurable navigation signal-compatible acquisition and tracking device according to claim 1, wherein the carrier loop phase detector (9) provides the real-time path I, Q for the early, middle and late correlators (6) The correlation value is calculated according to the formula (4) to output the carrier offset φ e , where sign(x) is a sign function, which returns the sign of x. φe＝sign(IP)·QP(4)φ e =sign( IP )·Q P ( 4) 12.根据权利要求1所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，所述码环滤波器(10)对式(5)所示的二阶滤波器进行数字域离散化，对输入的伪码偏移量进行高频噪声滤除，得到码跟踪频率字，其中环路特征圆频率ωn选择1rad/s，12. The configurable navigation signal-compatible acquisition and tracking device according to claim 1, wherein the code loop filter (10) performs digital domain discretization on the second-order filter shown in equation (5), Filter out the high-frequency noise of the input pseudo code offset to obtain the code tracking frequency word, where the loop characteristic circular frequency ω n is selected as 1rad/s, ωn为环路的特征圆频率，s为拉普拉斯算子。ω n is the characteristic circular frequency of the loop, and s is the Laplace operator. 13.根据权利要求12所述的可配置的导航信号兼容捕获跟踪装置，其特征在于，载波环滤波器(11)按照式(5)所示的二阶滤波器对输入的载波偏移量进行高频噪声滤除，得到载波跟踪频率字，其中环路特征圆频率ωn选择16rad/s。13. The configurable navigation signal-compatible acquisition and tracking device according to claim 12, wherein the carrier loop filter (11) performs the input carrier offset according to the second-order filter shown in equation (5). The high frequency noise is filtered out, and the carrier tracking frequency word is obtained, in which the loop characteristic circular frequency ω n is selected as 16rad/s.
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