CN118068384B - Method for measuring rotating carrier rotating speed based on satellite navigation signals - Google Patents
Method for measuring rotating carrier rotating speed based on satellite navigation signals Download PDFInfo
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- CN118068384B CN118068384B CN202410464417.7A CN202410464417A CN118068384B CN 118068384 B CN118068384 B CN 118068384B CN 202410464417 A CN202410464417 A CN 202410464417A CN 118068384 B CN118068384 B CN 118068384B
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
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Abstract
The invention discloses a method for measuring the rotating speed of a rotating carrier based on satellite navigation signals, which comprises the following steps: s1, squaring and summing a correlation value iP and a correlation value qP of an input satellite navigation receiver, and taking an envelope of the sum to obtain a signalAnd then to the signalRemoving DC to obtain signal; S2, performing low-pass filtering on the down-converted signal to obtain a filtered signal; S3, filtering the filtered signalsPerforming n-segment integration to obtain segment integrated data; S4, integrating the segmented dataPerforming FFT of j points to obtain j point FFT data; S5, taking the FFT data of j pointsFirst half data of absolute value, and obtain index value of maximum value in the first half dataThe index value is setMultiplying the FFT resolution to obtain the rotation speed N. According to the invention, an additional device is not required to be added, the correlation value is introduced into the module, and the FFT calculation amount is reduced in a sectional integration mode, so that the rotation speed measurement of the high-speed rotating carrier can be completed.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a method for measuring the rotating speed of a rotating carrier based on satellite navigation signals.
Background
As shown in fig. 1, which is an internal structure and a signal flow of a typical GNSS receiver signal tracking loop, a processing procedure of a received signal by the receiver tracking loop can be simply described as: after down-conversion filtering, an input signal is subjected to frequency mixing multiplication on a carrier wave copied by a carrier wave ring, wherein the input signal is multiplied by a sine copy carrier wave on an I branch and a cosine copy carrier wave on a Q branch, and then frequency mixing structural signals I and Q on the I branch and the Q branch are respectively subjected to related operation with three C/A codes of leading, instant and lagging (E, P, L) of code ring copy to produce related values iE, iP, iL, qE, qP and qL; then, correlation values iE, iP, iL, qE, qP and qL output coherent integration values IE, IP, IL, QE, QP, QL after passing through an integration remover; and then the code is sent to a carrier loop and a code loop respectively, so that the carrier copied by the carrier loop is consistent with the receiving carrier, and the code copied by the C/A code loop is consistent with the receiving C/A code.
When the receiver spins at a high speed, the power of the signal received by the navigation antenna is a process of continuously changing, and the signal can be normally tracked by adjusting the loop parameters of the GNSS receiver or installing a plurality of antennas. When the high-dynamic carrier is launched, the high-dynamic carrier can rotate at a high speed for ensuring stability, and an IMU is generally adopted for measuring the rotation speed, but the IMU for measuring the high rotation speed has the defects of high cost, large volume, limited measurement range and the like. For this purpose, it is indeed necessary to develop a method for measuring the rotational speed of a rotating carrier based on satellite navigation signals.
Disclosure of Invention
The invention aims to provide a method for measuring the rotating speed of a rotating carrier based on satellite navigation signals, which overcomes the defects in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
A method for measuring the rotational speed of a rotating carrier based on satellite navigation signals, the method being implemented based on a satellite navigation antenna and a navigation receiver, the satellite navigation antenna being mounted on a side of the rotating carrier, the method comprising the steps of:
S1, squaring and summing a correlation value iP and a correlation value qP of an input satellite navigation receiver, and taking an envelope of the sum to obtain a signal And then to the signalRemoving DC to obtain signal；
S2, performing low-pass filtering on the down-converted signal to obtain a filtered signal；
S3, filtering the filtered signalsPerforming n-segment integration to obtain segment integrated data；
S4, integrating the segmented dataPerforming FFT of j points to obtain j point FFT data；
S5, taking the FFT data of j pointsFirst half data of absolute value, and obtain index value of maximum value in the first half dataThe index value is setMultiplying the FFT resolution to obtain the rotation speed N.
Further, in the step S1, the correlation value iP and the correlation value qP of the input satellite navigation receiver are squared and enveloped to obtain a signalThe formula of (2) is:
；
In the method, in the process of the invention, Selecting the length L of each calculated data according to the hardware processing capacity for signal envelope, wherein k=0 to (L-1);
For signals Removing DC to obtain signalThe formula of (2) is:；
Wherein k=0 to (L-1), L is the length of each calculated data selected according to the processing capacity of the hardware, Mean is the average value for the signal after dc removal.
Further, the formula of performing low-pass filtering on the down-converted signal in the step S2 is as follows:；
In the method, in the process of the invention, In order to obtain the data after the filtering,For signal pairLow pass filtering is performed.
Further, the step S3 is performed on the filtered signalThe formula for performing n-segment integration is:；
where n is the number of segments, each segment having a number of points m=l/n, =0~(n-1)，Is a signalAnd segmenting the integration result.
Further, the step S4 integrates the segmented dataThe formula for performing the FFT at point j is:；
Wherein j is FFT point number, k=0 to (j-1), Is a signalAnd (5) performing a j-point FFT transformation.
Further, the step S5 specifically includes:
s50, taking the j-point FFT data Absolute value is used to obtain a set of data：；
Wherein k=0 to (j-1),For signal pairThe result of taking the absolute value is carried out,Taking an absolute value for the signal;
S51, obtaining Index value of maximum value in first half data：；
Wherein, max is the maximum value,Is obtained byFirst half data;
S52, indexing the values Multiplying the FFT resolution to obtain the rotation speed N:；
In the method, in the process of the invention, Starting from the point of 0 and,And j is the number of FFT points for the sampling rate after the segment integration.
Compared with the prior art, the invention has the advantages that: the antenna is arranged on the side surface of the carrier, when the carrier rotates, the signal power received by the receiver is periodically changed along with the rotating speed, the change frequency is consistent with the rotating speed, and the rotating speed of the carrier can be calculated by utilizing the relation through the related value data received by the navigation receiver.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a diagram of a navigation receiver inner tracking loop.
FIG. 2 is a GNSS antenna mounting and rotation pattern.
FIG. 3 is a diagram showing the connection positions of the rotational speed testing module according to the present invention.
Fig. 4 is an internal block diagram of the relay measurement module of the present invention.
Fig. 5 is a diagram of a turret test setup in accordance with the present invention.
FIG. 6 is a graph showing correlation values of iP and qP in the present invention.
FIG. 7 is a diagram of the output data after signal processing in the present inventionSchematic diagram.
FIG. 8 is a schematic illustration of the present inventionOutput the result after filteringSchematic diagram.
FIG. 9 is a block diagram of the output of the segment integration of the filtered data in the present inventionSchematic diagram.
Fig. 10 is a schematic diagram of FFT operation result in the present invention.
Fig. 11 is a schematic diagram of the rotation speed value obtained from the first half of the FFT in the present invention.
Fig. 12 is a flow chart of a method of measuring rotational speed of a rotating carrier based on satellite navigation signals in accordance with the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 2 and 12, the present embodiment discloses a method for measuring a rotational speed of a rotating carrier based on a satellite navigation signal, the method is implemented based on a satellite navigation antenna and a navigation receiver, the satellite navigation antenna is installed on a side surface of the rotating carrier, and the method includes the following steps:
Step S1, signal processing: selecting a correlation value iP and a correlation value qP of a satellite, squaring and summing the correlation value iP and the correlation value qP of an input satellite navigation receiver, and taking the envelope of the squaring and summation to obtain a signal And then to the signalRemoving DC to obtain signalAs shown in formula (1):
；
（1）
wherein k=0 to (L-1), and L is the length of each calculated data selected according to the hardware processing capacity.
Step S2, filtering: low-pass filtering the down-converted signal to reduce noise power and obtain a filtered signalAs shown in formula (2):
（2）
Step S3, segment integration: for filtered signals N segments of segment integration are carried out to reduce FFT calculation amount and obtain data after segment integrationAs shown in formula (3):
（3）
where n is the number of segments, each segment having a number of points m=l/n, =0~(n-1)。
Let the original output sampling rate beAfter the sectional integration, the data sampling rate is reduced toThe calculation amount is reduced.
Step S4, FFT calculation: data after segmentation integrationPerforming FFT of j points to obtain j point FFT dataAs shown in formula (4):
（4）
wherein j is FFT point number, and k=0 to (j-1).
S5, taking j-point FFT dataFirst half data of absolute value, and obtain index value of maximum value in the first half dataThe index value is setMultiplying the FFT resolution to obtain the rotation speed N.
Specifically, the step S5 specifically includes:
step S50, taking the j-point FFT data Absolute value is used to obtain a set of dataAs shown in formula (5):
（5）
Wherein k=0 to (j-1).
Step S51, obtainIndex value of maximum value in first half dataAs shown in formula (6):
（6）
Step S52, index value is obtained Multiplying the FFT resolution to obtain the rotation speed N, as shown in formula (7):
（7）
In the method, in the process of the invention, Starting from the point of 0 and,And j is the number of FFT points for the sampling rate after the segment integration.
The rotation speed measuring range is related to the sampling rate, and if the high rotation speed is required to be measured, the adoption rate of the related value is only required to be improved.
The invention is further verified by experiments as follows:
after the data are collected through the outdoor rotation actual measurement, the data are analyzed and verified through experiments, the test is carried out through the turntable outdoors, and the installation and rotation modes are shown in fig. 5.
Setting the rotating speed of the rotary table to 7 turns, and taking 2s data to store 2000 points for analysis when the rotary table rotates.
The experimental selection parameters are shown in the following table:
table 1 table test experimental parameter selection table
The experimental results are: selecting relevant value data of a normally tracked satellite in the receiver for acquisition, wherein the acquired relevant value data of iP and qP are shown in fig. 6; the data is obtained after signal square sum DC removalAs shown in fig. 7; will beFiltering to obtainAs shown in fig. 8; the filtered data is output by segment integrationAs shown in fig. 9; will beTaking the absolute value of the FFT operationAs shown in fig. 10; the first half of the points are taken for calculation to obtain the rotation speed, as shown in fig. 11. From FIG. 11, it can be derivedThe FFT resolution is 0.3906, the calculation result is 7.0308, the actual rotating speed of the turntable is 7 turns, and the comparison error is small through the result, so that the method is effective and accurate in measuring the rotating speed.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, the patentees may make various modifications or alterations within the scope of the appended claims, and are intended to be within the scope of the invention as described in the claims.
Claims (1)
1. A method for measuring the rotational speed of a rotating carrier based on satellite navigation signals, the method being implemented based on a satellite navigation antenna and a navigation receiver, the satellite navigation antenna being mounted on a side of the rotating carrier, the method comprising the steps of:
S1, squaring and summing a correlation value iP and a correlation value qP of an input satellite navigation receiver, and taking an envelope of the sum to obtain a signal And then to the signalRemoving DC to obtain signal；
S2, performing low-pass filtering on the down-converted signal to obtain a filtered signal；
S3, filtering the filtered signalsPerforming n-segment integration to obtain segment integrated data；
S4, integrating the segmented dataPerforming FFT of j points to obtain j point FFT data；
S5, taking the FFT data of j pointsFirst half data of absolute value, and obtain index value of maximum value in the first half dataThe index value is setMultiplying the FFT resolution to obtain a rotation speed N;
in the step S1, the correlation value iP and the correlation value qP of the input satellite navigation receiver are squared and the envelope thereof is taken to obtain a signal The formula of (2) is:
；
In the method, in the process of the invention, Selecting the length L of each calculated data according to the hardware processing capacity for signal envelope, wherein k=0 to (L-1);
For signals Removing DC to obtain signalThe formula of (2) is:；
Wherein k=0 to (L-1), L is the length of each calculated data selected according to the processing capacity of the hardware, Mean is the average value of the signals after DC removal;
the formula for performing low-pass filtering on the down-converted signal in the step S2 is as follows: ；
In the method, in the process of the invention, In order to obtain the data after the filtering,For signal pairPerforming low-pass filtering;
The filtered signal is subjected to the step S3 The formula for performing n-segment integration is:；
where n is the number of segments, each segment having a number of points m=l/n, =0~(n-1)，Is a signalSegmenting an integration result;
the data integrated in the segmentation in the step S4 The formula for performing the FFT at point j is:
；
Wherein j is FFT point number, k=0 to (j-1), Is a signalPerforming a j-point FFT transformation result;
The step S5 specifically includes:
s50, taking the j-point FFT data Absolute value is used to obtain a set of data：
；
Wherein k=0 to (j-1),For signal pairThe result of taking the absolute value is carried out,Taking an absolute value for the signal;
S51, obtaining Index value of maximum value in first half data：
；
Wherein, max is the maximum value,Is obtained byFirst half data;
S52, indexing the values Multiplying the FFT resolution to obtain the rotation speed N: in which, in the process, Starting from the point of 0 and,And j is the number of FFT points for the sampling rate after the segment integration.
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| CN113820731A (en) * | 2021-11-24 | 2021-12-21 | 湖南跨线桥航天科技有限公司 | Method and system for capturing non-periodic long code signal of satellite navigation receiver |
| CN114779308A (en) * | 2022-04-14 | 2022-07-22 | 湖南中森通信科技有限公司 | Method for measuring attitude of rotating projectile body by single-antenna satellite receiver |
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| US4578678A (en) * | 1983-11-14 | 1986-03-25 | The United States Of America As Represented By The United States National Aeronautics And Space Administration | High dynamic global positioning system receiver |
| JP2785592B2 (en) * | 1992-07-13 | 1998-08-13 | 日本電気株式会社 | Target position calculator for synthetic aperture radar |
| JP2006098246A (en) * | 2004-09-30 | 2006-04-13 | Nippon Seiki Co Ltd | Vehicle position detection system |
| KR101015890B1 (en) * | 2008-09-24 | 2011-02-23 | 한국전자통신연구원 | Signal acquisition method and apparatus of GNSS receiver |
| US8384592B1 (en) * | 2009-09-30 | 2013-02-26 | Qualcomm Incorporated | FFT based acquisition techniques for satellite based navigation systems |
| CN104280750B (en) * | 2014-10-23 | 2016-08-17 | 西安电子科技大学 | Long code capture systems based on partial matched filter fft algorithm and method |
| CN107390235B (en) * | 2017-08-02 | 2020-03-27 | 北京华力创通科技股份有限公司 | Rotating attitude estimation method and device of rotating carrier and electronic equipment |
| CN114236578B (en) * | 2021-11-24 | 2024-06-14 | 北方雷科(安徽)科技有限公司 | Satellite navigation signal tracking method under non-omnidirectional single-antenna rotation condition |
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| CN113820731A (en) * | 2021-11-24 | 2021-12-21 | 湖南跨线桥航天科技有限公司 | Method and system for capturing non-periodic long code signal of satellite navigation receiver |
| CN114779308A (en) * | 2022-04-14 | 2022-07-22 | 湖南中森通信科技有限公司 | Method for measuring attitude of rotating projectile body by single-antenna satellite receiver |
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