CN101435866B - Carrier wave tracking system and method of GPS coarse / capturing code signal - Google Patents
Carrier wave tracking system and method of GPS coarse / capturing code signal Download PDFInfo
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Abstract
The invention provides a carrier tracking system of a GPS coarse/acquisition code signal and a method thereof. The system comprises an input signal, a loop circuit, a frequency discriminator in the loop circuit, a phase discriminator, a loop circuit filter and a numerical controlled oscillator (NCO), wherein the loop circuit is used for processing the input signal, and is combined by a frequency locked loop and a phase locked loop; the loop filter filters the output of the phase discriminator and phase discriminator; the numerical controlled oscillator (NCO) is connected with the output of the loop circuit filter. The system combines the frequency locked loop and the phase locked loop, when a frequency error is larger, the frequency locked loop plays the major role to be favorable for improving the bandwidth of a tracked loop, so that phase locking can be more easily; when the frequency error is smaller, the phase locked loop dominates to make the loop bandwidth smaller, so as to reduce noise influence and improve tracking precision.
Description
Technical field
The present invention relates to GPS (Global Positioning System; GPS) receive Signal Processing system and method thereof in; Relate in particular to a kind of GPS thick/catch code (Coarse/Acquisition, C/A) the carrier track disposal system and the method thereof of signal.
Background technology
The GPS GPS is used by US military exploitation and confession the armies of navy, army and air force as the new generation satellite navigation positioning system at first.Through years development; The Current GPS system has become the dual-use system that a kind of quilt extensively adopts; Its application and application prospect head and shoulders above this system designer imagination originally; In nearly all field such as Aeronautics and Astronautics, military affairs, traffic, transportation, resource exploration, communication, meteorology, all be used as a very important technological means and method, be used for navigating, regularly, location, geophysical parameters measure and atmospheric physics parametric measurement etc.The GPS GPS is a radio space positioning system; It utilizes Navsat and land station for the whole world round-the-clock, high precision, continuous, real-time three-dimensional coordinate (latitude to be provided; Longitude; Height above sea level), three-dimensional velocity and locating information, earth surface is taken up an official post where to put and all can be used for location and navigation.Gps system comprises three parts: space segment-gps satellite constellation; Ground Control part-ground monitoring system; Customer equipment part-gps signal receiver.The GPS space segment uses the satellite of 24 highly about 2.02 ten thousand kms to form satellite constellation; Wherein form the gps satellite constellation at the rail backup satellite by 21 work satellites and 3; The distribution of satellite makes and all can observe the satellite more than four Anywhere, any time in the whole world; And can keep the geometric figure of good location calculation accuracy, continuous in time worldwide navigation ability is provided.Ground monitoring partly comprises between four monitoring, a upload station and a master station, is used to monitor, control, revise and inject the navigation data of each gps satellite.The GPS receiver can receive following information: the accurate temporal information to nanosecond that is used for time service; Be used to forecast the forecast ephemeris of satellite general location of living in coming few months; The broadcast ephemeris of required co-ordinates of satellite when being used for compute location, precision are several meters to tens meters (each satellite is different, changes at any time); And gps system information, like satellite situation etc.The carrier signal of two kinds of frequencies of gps satellite emission, promptly frequency is the L1 carrier wave of 1575.42 megahertzes and the L2 carrier wave that frequency is 1227.60 megahertzes, modulates multiple signal respectively.Mainly contain:
The C/A sign indicating number
The C/A sign indicating number is modulated on the L1 carrier wave, is that (Pseudo-randomNumber, PRN), its code length is 1023 (cycle is 1ms) for the Pseudo-Random Noise Code of 1MHz.Because the C/A sign indicating number of every satellite is all different, therefore, we distinguish them through their PRN number commonly used.The C/A sign indicating number is that domestic consumer is in order to measure a kind of main signal of survey station to intersatellite distance.
The P sign indicating number
The P sign indicating number is otherwise known as smart yard, is modulated on L1 and the L2 carrier wave, and be the Pseudo-Random Noise Code of 10MHz, the cycle is seven days.Because privacy restriction, domestic consumer can't utilize the P sign indicating number to carry out navigator fix.
Navigation information
Navigation information is that numeric data code is modulated on the L1 carrier wave, and its signal frequency is 50 hertz, comprises orbit parameter, satellite clock correction number and some other systematic parameter of gps satellite.The user generally need utilize this navigation information to calculate the position of a certain moment gps satellite on Earth's orbit, and navigation information also is called as broadcast ephemeris.
For domestic consumer, gps system provides the standard setting service, and (Standard PositioningService, SPS), this generally realizes through the C/A sign indicating number information that parsing is modulated at the different satellites on the L1 carrier wave.Because the position of satellite knows in advance, and according to the distribution of gps satellite constellation, random time anywhere at the earth's surface generally can receive the signal of 4 to 11 satellites simultaneously.And under three-dimensional situation, utilize 3 satellites can form 3 equations, parse current location coordinate (X, Y, Z).In fact consider the clocking error between satellite and the receiver, therefore need to introduce the 4th satellite, form 4 equations, find the solution the coordinate figure and the clocking error of current point, thereby obtain the longitude and latitude and the elevation of current location.Certainly, in fact receiver can receive the satellite-signal that surpasses more than 4, therefore can further revise the result that the signal resolution through 4 satellites goes out, to reduce error as far as possible.
Can know that by top introduction the standard setting service that GPS provides needs the information on the C/A sign indicating number on the demodulation L1 carrier wave.Signal on the frequency of L1 can be expressed as
S
L1＝A
pP(t)D(t)cos(2πf
1t+φ)+A
cC(t)D(t)sin(2πf
1t+φ) (1)
S in the formula
L1Be the signal on the carrier wave L1, A
pBe the amplitude of P sign indicating number, the phase place of P (t)=± 1 expression P sign indicating number, i.e. P sign indicating number pseudo-random sequence, D (t)=± 1 representes numeric data code, i.e. navigation message information, f
1Be the frequency on the L1, i.e. 1575.42MHz, φ is an initial phase, A
cBe the amplitude of C/A sign indicating number, the phase place of C (t)=± 1 expression C/A sign indicating number, i.e. C/A sign indicating number pseudo-random sequence.Synthetic gps signal is launched to the whole world, supplies receiver to resolve navigator fix information whenever and wherever possible and uses.
Fig. 1 is the ultimate principle figure of GPS receiver; The signal of gps satellite emission is received by antenna; Through radio frequency (Radio Frequency, RF) chain input signal is amplified to suitable amplitude and with frequency inverted to the output frequency of needs, will export signal through A/D converter (ADC) again and become digital signal; The entering numeric field is handled, and calculates through signal capture, tracking, subframe identification, ephemeris and pseudorange parsing, satellite position and customer location.Wherein, catch the signal that is meant the some satellites of discovery; Tracking is the phase change that obtains navigation data; And, can obtain subframe and navigation data according to the phase hit of navigation data, in navigation data, just can obtain ephemeris and pseudorange; The last position that goes out the user according to the position and its computation of pseudoranges of satellite.
In order to follow the tracks of gps signal and to carry out information decoding, just must be earlier with catching the existence of handling detection signal.Start prize procedure and seek satellites in view,, perhaps can calculate the signal of usable satellite through the broadcast ephemeris of nearest record if roughly known the rough position and the time of satellite with respect to receiver; At this moment, only need the several satellites of search, certainly; If the satellite of initial setting up is wrong; Then the time of satnav can be long, because this moment, prize procedure was searched at the beginning is wrong satellite, said method is called warm start.Also have a kind of satellite signal reception method that is called cold start-up in addition, promptly receiver is not known the specifying information of satellite, must catch all satellites, and this can be very consuming time, the method that therefore general always glad selection can be caught fast.
In case prize procedure detects signal, just must offer some necessary parameter of tracking module, like the reference position in C/A sign indicating number cycle and the carrier frequency of input signal.The data that generally collect comprise the signal of several satellites, and the C/A sign indicating number reference position of each signal is different, and the start time is different, and Doppler shift is also different.Trapping module need find the reference position of C/A sign indicating number, and collects mail with this information butt joint and number to carry out despreading, exports a continuous wave signal, obtains carrier frequency.In order to accelerate acquisition speed, receiver can carry out parallel capture to a plurality of satellites, promptly simultaneously N satellite is caught.Simultaneously; The acquisition procedure of gps signal is a two-dimensional search process, and is as shown in Figure 2, and each square is represented the signal of specific C/A sign indicating number reference position and specific carriers skew; Receiver produces the corresponding this locality reproduction signal of each square; And with receive signal and carry out relevantly, through relatively receiving the correlated results of signal and local reproduction signal, judge whether signal catches.
Can know by top introduction; Through catching after the processing, can obtain the estimated value of the carrier frequency of input signal, and the difference of estimated value and actual frequency values remains in the search unit scope of carrier frequency; But this difference seems bigger for the navigation data demodulation; And in dynamic environment, because the relative motion between satellite and the receiver can produce Doppler effect, therefore need follow the tracks of the carrier wave of input signal, make local carrier wave and the actual carrier that produces consistent.
The basic skills of tracking signal is that when the frequency of input signal changed in time, the centre frequency of wave filter changed with signal according to narrow band filter of input signal structure.But in the tracing process of reality, the centre frequency of narrow band filter is fixed, and the local carrier signal that produces changes with the variation of frequency input signal.Compare through the phase place of phase detector, and the output of phase detector is connected to narrow band filter input signal and local signal.Typical carrier tracking loop is as shown in Figure 3; Catch operation and confirm the initial value of carrier frequency, and input signal and digital controlled oscillator (Numerically Controlled Oscillator, the local carrier that NCO) produces multiplies each other; Obtain the relevant output valve in I road with the Q road; The two-way correlation passes through low-pass filter respectively, then through an arc tangent (atan (Q/I)) comparer, their phase place is compared.Because arc tangent is insensitive to the phase hit that navigation data causes, can regard section's Stas ring as.Section's Stas ring is a kind of to the insensitive phaselocked loop of phase hit.The output of comparer produces a control signal through filtering once more, is used to regulate oscillator and makes it to produce a new reference carrier frequency, from input signal, to peel off carrier signal.
In above-mentioned carrier tracking loop scheme, adopt phase error as input source, in order to obtain accurate phase change, require the bandwidth of loop filter narrow, so that the noise ratio of entering bandwidth is lower.Yet when Doppler shift was big, the carrier doppler frequency displacement possibly exceed the acquisition bandwidth of phaselocked loop, can not guarantee reliably catching and following the tracks of carrier wave.The general width of catching that adopts frequency-tracking to increase Doppler frequency, perhaps adopting increases the following range that bandwidth strengthens Doppler shift.Can cause adding more noise yet increase bandwidth, and prescribe a time limit above the cleaning door of loop, can make the carrier tracking loop losing lock when noise level, thus can't the demodulation restore data.Therefore the GPS receiver need be compromised between loop bandwidth and dynamic property, to satisfy the requirement of tracking accuracy and dynamic property.
In addition, the existence of Doppler shift has probabilistic characteristics in the real system, therefore follows the tracks of relatively difficulty of carrier phase with fixing bandwidth.
In sum, be necessary to provide a kind of GPS thick/carrier wave tracking system and the method thereof of coarse/capturing code signal, to solve above-mentioned deficiency.
Summary of the invention
The object of the present invention is to provide a kind of GPS thick/carrier wave tracking system of coarse/capturing code signal, with the stabilized speed of accelerating to follow the tracks of, reduce the tracking error shake, improve tracking performance.
This technical scheme comprises: comprise an input signal; Be used for the loop that combines and form by FLL and phaselocked loop that input signal is handled; Frequency discriminator in the loop, phase detector is exported the loop filter that carries out filtering to frequency discriminator and phase detector; And the digital controlled oscillator (NCO) that links to each other with loop filter output, it is characterized in that this FLL comprises four phase frequency discriminators and cross product frequency discriminator.
Further, on the basis of technique scheme, also comprise following technical scheme:
The output frequency error expression of this four phases frequency discriminator is E (k)=[atan2 (Q (k), I (k))-atan2 (Q (k-1), I (k-1))]/T, and atan2 () is four phase arctan functions in the formula, and T is an integration time interval.
The output frequency error expression of this cross product frequency discriminator is E (k)=I (k-1) Q (k)-I (k) Q (k-1).
The output frequency error expression of this cross product frequency discriminator is E (k)=sign [I (k-1) I (k)-Q (k) Q (k-1)]. [I (k-1) Q (k)-I (k) Q (k-1)], sign () is-symbol function in the formula is to eliminate the influence of numeric data code symbol.
The output phase error expression formula of phaselocked loop phase detector is P (k)=atan (Q (k), I (k)), and atan () is an arctan function in the formula.
Phaselocked loop is section's Stas ring.
Another object of the present invention is to provide a kind of GPS thick/carrier wave tracing method of coarse/capturing code signal, specifically may further comprise the steps:
Step S500: the inphase quadrature integrated value is used cross product method calculated rate deviation, forward step S501 to;
Step S501: whether the determination frequency deviation less than preset value f1, if, then forward step S503 to, otherwise, forward step S502 to;
Step S502: use four phase frequency discriminator tracking frequencieies, forward step S507 to;
Step S503: use arctan function to calculate phase deviation, forward step S504 to;
Step S504: whether judge phase deviation less than preset value p1, if, then forward step S505 to, otherwise, forward step S506 to;
Step S505: use the cross product frequency discriminator tracking frequencies of no symbols influence, forward step S507 to;
Step S506: use the arc tangent phase detector to follow the tracks of phase place, forward step S507 to;
Step S507: loop filtering is carried out in the output to frequency discriminator or phase detector, forwards step S508 to;
Step S508: according to the output control NCO of loop filter, the local carrier wave that produces of adjustment returns step S500.
Further, also comprise following technical scheme on the basis in technique scheme:
The expression formula of the cross product method calculated rate error among the step S500 is E (k)=I (k-1) Q (k)-I (k) Q (k-1).
The output frequency error expression of four phase frequency discriminators among the step S502 is E (k)=[atan2 (Q (k), I (k))-atan2 (Q (k-1), I (k-1))]/T, and atan2 () is four phase arctan functions in the formula, and T is an integration time interval.
The output frequency error expression of the cross product frequency discriminator of the no symbols influence among the step S505 is E (k)=sign [I (k-1) I (k)-Q (k) Q (k-1)]. [I (k-1) Q (k)-I (k) Q (k-1)], sign () is-symbol function in the formula.
The output phase error expression formula of the arc tangent phase detector among the step S506 is P (k)=atan (Q (k), I (k)), and atan () is an arctan function in the formula.
Owing to adopt technique scheme, carry out loop design with the variable bandwidth technology, phase change that can the dynamic tracking carrier wave realizes the carrier wave of HDR is realized following the tracks of fast, and the while is not introduced too many noise again.
Description of drawings
Fig. 1 is GPS receiver ultimate principle figure.
Fig. 2 is that the two dimension in the GPS receiver is caught pattern.
Fig. 3 be traditional GPS thick/the carrier wave tracking system schematic diagram of coarse/capturing code signal.
Fig. 4 is a carrier wave tracking system schematic diagram of the present invention.
Fig. 5 is a carrier wave tracing method schematic flow sheet of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further description.
Like Fig. 4; GPS of the present invention is thick/and the carrier wave tracking system of coarse/capturing code signal comprises an input signal; Be used for the loop that combines and form by FLL and phaselocked loop that input signal is handled, frequency discriminator in the loop, phase detector; Frequency discriminator and phase detector are exported the loop filter that carries out filtering, and the digital controlled oscillator (NCO) that links to each other with loop filter output.Only to adopt phase-locked loop to carry out carrier track different with tradition, and the present invention combines frequency-locked loop with phase-locked loop, when frequency error is big, mainly be that frequency-locked loop works, and helps increasing the loop bandwidth of tracking, and phase locking is more prone to; And when frequency error hour, it is leading that phase-locked loop occupies, and can make loop bandwidth littler, reduces noise effect, improves tracking accuracy.
Follow the tracks of because the essence of frequency-tracking is the difference of carrier phase, so the frequency discriminator of frequency-locked loop is mainly through measuring the variable quantity of carrier phase in Fixed Time Interval.Suppose through after catching; Obtain k the inphase quadrature integrated value on the integration interval and be respectively I (k); Q (k), this moment, remaining carrier frequency error maybe be bigger, when frequency error is not less than predeterminated frequency value f1; Frequency discriminator in the frequency-locked loop adopts four phase frequency discriminators, and the frequency error of four phase frequency discriminators output does
E(k)＝[atan2(Q(k)，I(k))-atan2(Q(k-1)，I(k-1))]/T
Atan2 () is four phase arctan functions in the formula, and T is an integration time interval, in the present embodiment, and the desirable 1ms of T.With frequency error process loop filtering filtering noise, then send into digital controlled oscillator NCO then, the local carrier signal that produces of adjustment.
When frequency error was not less than preset phase value p1 less than predeterminated frequency value f1 and phase error, frequency discriminator adopted the cross product frequency discriminator, and promptly frequency discriminator is output as
E(k)＝I(k-1)Q(k)-I(k)Q(k-1)
And in order to eliminate the influence of numeric data code symbol, can above-mentioned expression formula further be expressed as
E(k)＝sign[I(k-1)I(k)-Q(k)Q(k-1)].[I(k-1)Q(k)-I(k)Q(k-1)]
When frequency error was very little, carrier track was mainly followed the tracks of phase error, when frequency error less than predeterminated frequency value f1 and phase error during less than preset phase value p1, the phase error of phase-locked loop phase detector output does
P(k)＝atan(Q(k)，I(k))
Atan () is an arctan function in the formula, and promptly phaselocked loop is section's Stas ring.
In addition with reference to Fig. 5, the carrier wave tracing method of implementing according to above-mentioned carrier wave tracking system, f1=10Hz wherein, p1=0.2 specifically may further comprise the steps:
Step S500: the inphase quadrature integrated value is used cross product method calculated rate deviation, forward step S501 to;
Step S501: whether the determination frequency deviation less than preset value f1, if, then forward step S503 to, otherwise, forward step S502 to;
Step S502: use four phase frequency discriminator tracking frequencieies, forward step S507 to;
Step S503: use arctan function to calculate phase deviation, forward step S504 to;
Step S504: whether judge phase deviation less than preset value p1, if, then forward step S505 to, otherwise, forward step S506 to;
Step S505: use the cross product frequency discriminator tracking frequencies of no symbols influence, forward step S507 to;
Step S506: use the arc tangent phase detector to follow the tracks of phase place, forward step S507 to;
Step S507: loop filtering is carried out in the output to frequency discriminator or phase detector, forwards step S508 to;
Step S508: according to the output control digital controlled oscillator (NCO) of loop filter, the local carrier wave that produces of adjustment returns step S500.
The expression formula of the cross product method calculated rate error among the above-mentioned steps S500 is E (k)=I (k-1) Q (k)-I (k) Q (k-1).
The output frequency error expression of four phase frequency discriminators among the above-mentioned steps S502 is E (k)=[atan2 (Q (k), I (k))-atan2 (Q (k-1), I (k-1))]/T, and atan2 () is four phase arctan functions in the formula, and T is an integration time interval.
The output frequency error expression of the cross product frequency discriminator of the no symbols influence among the above-mentioned steps S505 is E (k)=sign [I (k-1) I (k)-Q (k) Q (k-1)]. [I (k-1) Q (k)-I (k) Q (k-1)], sign () is-symbol function in the formula.
The output phase error expression formula of the arc tangent phase detector among the above-mentioned steps S506 is P (k)=atan (Q (k), I (k)), and atan () is an arctan function in the formula.
Adopting carrier wave tracking system of the present invention and method thereof, when frequency error is big, mainly is that frequency-locked loop works, and helps increasing the loop bandwidth of tracking, and phase locking is more prone to; And when frequency error hour, it is leading that phase-locked loop occupies, and can make loop bandwidth littler, reduces noise effect, improves tracking accuracy, is fit to very much dynamic receiver use, and can satisfy the requirement of tracking accuracy and dynamic property simultaneously.
The foregoing description provides to those of ordinary skills and realizes or use of the present invention; Those of ordinary skills can be under the situation that does not break away from invention thought of the present invention; The foregoing description is made various modifications or variation; Thereby protection scope of the present invention do not limit by the foregoing description, and should be the maximum magnitude that meets the inventive features that claims mention.
Claims (6)
- A GPS thick/carrier wave tracking system of coarse/capturing code signal, comprise an input signal; Be used for the loop that is combined and formed by FLL and phaselocked loop that input signal is handled, wherein FLL comprises frequency discriminator, and phaselocked loop comprises phase detector; Frequency discriminator and phase detector are exported the loop filter that carries out filtering; And the digital controlled oscillator (NCO) that links to each other with loop filter output; It is characterized in that this frequency discriminator comprises four phase frequency discriminators and cross product frequency discriminator; The output frequency error expression of this four phases frequency discriminator is E (k)=[atan2 (Q (k), I (k))-atan2 (Q (k-1), I (k-1))]/T; Atan2 () is four phase arctan functions in the formula, and T is an integration time interval; The output frequency error expression of this cross product frequency discriminator is E (k)=I (k-1) Q (k)-I (k) Q (k-1).
- 2. GPS according to claim 1 is thick/carrier wave tracking system of coarse/capturing code signal, it is characterized in that the output phase error expression formula of this phase detector is P (k)=atan (Q (k), I (k)), and atan () is an arctan function in the formula.
- 3. GPS according to claim 1 is thick/carrier wave tracking system of coarse/capturing code signal, it is characterized in that this phaselocked loop is section's Stas ring.
- A GPS thick/carrier wave tracing method of coarse/capturing code signal, comprising:Step S500: the inphase quadrature integrated value is used cross product method calculated rate deviation, and the expression formula of cross product method calculated rate error is E (k)=I (k-1) Q (k)-I (k) Q (k-1), forwards step S501 to;Step S501: whether the determination frequency deviation less than predeterminated frequency value f1, if, then forward step S503 to, otherwise, forward step S502 to;Step S502: use four phase frequency discriminator tracking frequencieies, the output frequency error expression of four phase frequency discriminators is E (k)=[atan2 (Q (k), I (k))-atan2 (Q (k-1); I (k-1))]/T; Atan2 () is four phase arctan functions in the formula, and T is an integration time interval, forwards step S507 to;Step S503: use arctan function to calculate phase deviation, forward step S504 to;Step S504: whether judge phase deviation less than preset value p1, if, then forward step S505 to, otherwise, forward step S506 to;Step S505: use the cross product frequency discriminator tracking frequencies of no symbols influence, forward step S507 to;Step S506: use the arc tangent phase detector to follow the tracks of phase place, forward step S507 to;Step S507: loop filtering is carried out in the output to frequency discriminator or phase detector, forwards step S508 to;Step S508: according to the output control digital controlled oscillator (NCO) of loop filter, the local carrier wave that produces of adjustment returns step S500.
- 5. GPS according to claim 4 is thick/carrier wave tracing method of coarse/capturing code signal; It is characterized in that; The output frequency error expression of the cross product frequency discriminator of the no symbols influence among the step S505 is E (k)=sign [I (k-1) I (k)-Q (k) Q (k-1)]. [I (k-1) Q (k)-I (k) Q (k-1)], sign () is-symbol function in the formula.
- 6. GPS according to claim 4 is thick/carrier wave tracing method of coarse/capturing code signal, it is characterized in that the output phase error expression formula of the arc tangent phase detector among the step S506 is P (k)=atan (Q (k), I (k)), and atan () is an arctan function in the formula.
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| CN103152043A (en) * | 2013-02-05 | 2013-06-12 | 北京邮电大学 | Method and system for generating indoor signal frequency sources |
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| CN104242928B (en) * | 2014-08-20 | 2017-04-19 | 北京遥测技术研究所 | Frequency locking detector processing method based on cross product algorithm in frequency locking loop |
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| US10009167B2 (en) * | 2015-11-11 | 2018-06-26 | Taiwan Semiconductor Manufacturing Co., Ltd. | Carrier synchronization device |
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