技术领域technical field
本发明属于卫星应用领域，涉及一种多频多模通用导航星捕获方法，可用于GPSL1CA/L5I/L5Q、BD2B1/B2/B3、GalileoE5a/E5b、GlonassL1f/L2f等多种导航信号的快速捕获。The invention belongs to the field of satellite applications, and relates to a multi-frequency and multi-mode universal navigation star acquisition method, which can be used for fast acquisition of GPSL1CA/L5I/L5Q, BD2B1/B2/B3, GalileoE5a/E5b, GlonassL1f/L2f and other navigation signals.
背景技术Background technique
随着人类活动探索范围的扩大和科技水平的提高，全球卫星导航系统凭借其全球、全天候、连续和高精度的特点，在国防、国家安全、经济安全和社会生活中发挥着重要的作用。目前，世界主要航天大国不惜巨资发展卫星导航系统，其中已经建成的系统包括美国的GPS、俄罗斯的GLONASS、以及我国的北斗一号(BD-1)区域卫星导航系统；正在实施开发建设的系统包括欧盟的Galileo(伽利略)系统，以及我国的北斗二号(BD-2)卫星导航系统等。With the expansion of the exploration scope of human activities and the improvement of the level of science and technology, the global satellite navigation system plays an important role in national defense, national security, economic security and social life by virtue of its global, all-weather, continuous and high-precision characteristics. At present, the world's major aerospace powers are spending huge sums of money to develop satellite navigation systems. The systems that have been built include the GPS of the United States, the GLONASS of Russia, and the Beidou-1 (BD-1) regional satellite navigation system of China; the systems that are under development and construction Including the EU's Galileo (Galileo) system, and my country's Beidou-2 (BD-2) satellite navigation system, etc.
目前世界上应用最广泛的是GPS接收机，但未来的GNSS接收机及其相关技术将向着多功能、高性能、集成化、软件化、多星座兼容等方向发展。GNSS接收机的设计融合了卫星导航、无线通信、嵌入式系统、空间信息技术等多个专业领域的知识，其技术门槛相对较高，需要大量长期的投入。新一代多系统兼容的高性能接收机不断显现出复杂程度加深和开发周期紧迫两大特点，要在更短的时限内将更多的功能、更高的性能、丰富的技术含量集成于所开发的产品之中，必须依赖于先进的设计开发及测试验证方法、平台和工具。此外，随着卫星扩频技术在导航、定位以及通信方面的广泛应用，针对卫星扩频信号具备大多普勒频偏、大动态条件等特点，对信号捕获的要求也越来越高。在此背景下，GNSS软件接收机平台快速捕获技术全面兴起。At present, the GPS receiver is the most widely used in the world, but the future GNSS receiver and related technologies will develop in the direction of multi-function, high performance, integration, software, and multi-constellation compatibility. The design of GNSS receiver integrates the knowledge of satellite navigation, wireless communication, embedded system, space information technology and other professional fields. Its technical threshold is relatively high and requires a lot of long-term investment. The new generation of multi-system compatible high-performance receivers continues to show the two characteristics of deepening complexity and tight development cycle. It is necessary to integrate more functions, higher performance, and rich technical content into the developed receiver within a shorter time limit. Among the products, it must rely on advanced design, development and test verification methods, platforms and tools. In addition, with the wide application of satellite spread spectrum technology in navigation, positioning and communication, satellite spread spectrum signals have the characteristics of large frequency deviation and large dynamic conditions, and the requirements for signal acquisition are getting higher and higher. In this context, the rapid acquisition technology of the GNSS software receiver platform has emerged in an all-round way.
目前已经公开的基于星载导航接收机基带信号处理的导航星快速捕获方法，要么只支持一种或两种导航星座的导航信号，要么是只在多普勒或码相位的其中一个方面并行搜索，运算复杂度大，无论哪种方式都有其不足之处，通用性差或搜索速度慢，具有一定的局限性。The currently disclosed navigation star fast acquisition method based on the baseband signal processing of the spaceborne navigation receiver either only supports the navigation signals of one or two navigation constellations, or only searches in parallel in one of the aspects of Doppler or code phase , the computational complexity is large, no matter which method has its shortcomings, such as poor versatility or slow search speed, it has certain limitations.
发明内容Contents of the invention
为了解决上述至少一个问题和/或不足，并提供下述至少一个优点。本发明提供了一种通用导航星捕获方法及系统，采用本发明可以对GPSL1CA/L5I/L5Q、BD2B1/B2/B3、GalileoE5a/E5b、GlonassL1f/L2f等频点的卫星信号实现快速捕获，采用载波多普勒和码相位同时并行搜索的方式，实时获取输入信号的载波多普勒和码相位信息，使码相位具有很低的模糊度。In order to solve at least one of the above-mentioned problems and/or disadvantages, and provide at least one of the following advantages. The invention provides a general navigation star capture method and system. By adopting the invention, the satellite signals of GPSL1CA/L5I/L5Q, BD2B1/B2/B3, GalileoE5a/E5b, GlonassL1f/L2f and other frequency points can be quickly captured, and the carrier wave Doppler and code phase are simultaneously searched in parallel to obtain carrier Doppler and code phase information of the input signal in real time, so that the code phase has very low ambiguity.
为解决上述技术问题，本发明一方面公开了一种通用导航星捕获方法，包括：In order to solve the above-mentioned technical problems, the present invention discloses a general navigation star capture method on the one hand, comprising:
根据伪码控制字生成本地码同步信号，并根据所述本地码同步信号生成本地码组和实际码，其中所述本地码组具有M路码片，所述实际码用于表示被捕获卫星的实际载波多普勒、码多普勒和码相位的大概值Generate a local code synchronization signal according to the pseudo code control word, and generate a local code group and an actual code according to the local code synchronization signal, wherein the local code group has M road chips, and the actual code is used to represent the captured satellite Approximate values of actual Carrier Doppler, Code Doppler and Code Phase
生成本地中频载波，并利用所述中频载波对导航信号进行下变频；Generate a local intermediate frequency carrier, and use the intermediate frequency carrier to down-convert the navigation signal;
利用所述本地码组和所述实际码对经所述下变频后的导航信号进行第一相关累加运算；performing a first correlation accumulation operation on the down-converted navigation signal by using the local code group and the actual code;
对所述第一相关累加运算的结果进行FFT运算，并对所述FFT运算的结果进行第二相关累加，确定整个周期中的所述第二相关累加最大值对应的载波多普勒和码相位，利用所述载波多普勒对所述实际码的码频率控制字进行码多普勒补偿，并将将所述载波多普勒和所述码相位信息输出。performing an FFT operation on the result of the first correlation accumulation operation, and performing a second correlation accumulation on the result of the FFT operation, and determining the carrier Doppler and code phase corresponding to the second correlation accumulation maximum value in the entire cycle , using the carrier Doppler to perform code Doppler compensation on the code frequency control word of the actual code, and output the carrier Doppler and the code phase information.
进一步的，在上述方法中，所述本地码组的M路码片中的每一路具有相同的码值和不同的码相位。Further, in the above method, each of the M chips of the local code group has the same code value and different code phases.
进一步的，在上述方法中，所述第一相关累加为：Further, in the above method, the first correlation accumulation is:
在所述下变频后的导航信号中任意选取第一时间长度的数据，并进行分段划分；Randomly selecting data of a first time length from the down-converted navigation signal, and performing segment division;
对所述分段划分后的每一段进行相关累加，分别得到对应所述每一段的相关累加值。Correlation accumulation is performed on each section after the segmentation to obtain a correlation accumulation value corresponding to each section.
进一步的，在上述方法中，所述FFT运算为对经第一相关累加后的每一段进行FFT运算。Further, in the above method, the FFT operation is to perform an FFT operation on each segment after the first correlation accumulation.
进一步的，在上述方法中，所述第二相关累加为多次非相干累加。Further, in the above method, the second correlation accumulation is multiple times of non-coherent accumulation.
另一方面，本发明公开了一种通用导航星捕获系统，包括：通用快捕伪码生成模块、载波累加处理模块和频谱分析模块，On the other hand, the present invention discloses a general navigation star acquisition system, comprising: a general quick capture pseudocode generation module, a carrier accumulation processing module and a spectrum analysis module,
所述通用快捕伪码生成模块，用于根据伪码控制字生成本地码同步信号，并根据所述本地码同步信号生成本地码组和实际码，其中，所述本地码组具有M路码片，所述实际码用于表示被捕获卫星的实际载波多普勒、码多普勒和码相位的大概值The general fast-catching pseudo-code generation module is used to generate a local code synchronization signal according to the pseudo-code control word, and generate a local code group and an actual code according to the local code synchronization signal, wherein the local code group has M codes slice, the actual code is used to represent the approximate values of the actual carrier Doppler, code Doppler and code phase of the acquired satellite
所述载波累加处理模块，用于根据输入的载波频率生成本地中频载波，并利用所述中频载波对导航信号进行下变频，利用所述本地码组对经所述下变频后的导航信号进行第一相关累加运算；The carrier accumulation processing module is configured to generate a local intermediate frequency carrier according to the input carrier frequency, and use the intermediate frequency carrier to down-convert the navigation signal, and use the local code group to perform the first step on the down-converted navigation signal a correlation accumulation operation;
所述频谱分析模块，用于对所述相关累加运算的结果进行FFT运算，并对所述FFT运算的结果进行第二相关累加，确定整个周期中的所述第二相关累加最大值对应的载波多普勒和码相位，利用所述载波多普勒对所述实际码的码频率控制字进行码多普勒补偿，并将将载波多普勒和码相位信息输出。The spectrum analysis module is configured to perform an FFT operation on the result of the correlation accumulation operation, and perform a second correlation accumulation on the result of the FFT operation, and determine the carrier corresponding to the second correlation accumulation maximum value in the entire cycle Doppler and code phase, using the carrier Doppler to perform code Doppler compensation on the code frequency control word of the actual code, and output the carrier Doppler and code phase information.
进一步的，在上述系统中，所述本地码组的M路码片中的每一路具有相同的码值和不同的码相位。Further, in the above system, each of the M chips of the local code group has the same code value and different code phases.
进一步的，在上述系统中所述第一相关累加为：Further, the first correlation accumulation in the above system is:
在所述下变频后的导航信号中任意选取第一时间长度的数据，并进行分段划分；Randomly selecting data of a first time length from the down-converted navigation signal, and performing segment division;
对所述分段划分后的每一段进行相关累加，分别得到对应所述每一段的相关累加值。Correlation accumulation is performed on each section after the segmentation to obtain a correlation accumulation value corresponding to each section.
进一步的，在上述系统中，所述FFT运算为对经所述第一相关累加后的每一段进行FFT运算。Further, in the above system, the FFT operation is to perform an FFT operation on each segment after the first correlation accumulation.
进一步的，在上述系统中，所述第二相关累加为多次非相干累加。Further, in the above system, the second correlation accumulation is multiple times of non-coherent accumulation.
采用本发明上述技术方案，可适用于对GPS、BD2、Galileo、Glonass四大导航星座的导航信号进行快速捕获，具有很强的兼容性和实用性。同时，在捕获时，本发明同时在载波频率和码相位两个维度同时并行搜索，并将捕获的载波多普勒结果实时辅助码捕获，操作灵活，搜索速度快。Adopting the above-mentioned technical solution of the present invention, it is applicable to quickly capture the navigation signals of the four major navigation constellations of GPS, BD2, Galileo and Glonass, and has strong compatibility and practicability. At the same time, when capturing, the present invention simultaneously searches in two dimensions of carrier frequency and code phase in parallel, and uses the captured carrier Doppler result to assist code capture in real time, with flexible operation and fast search speed.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对本发明实施例描述中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据本发明实施例的内容和这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments of the present invention. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention , for those skilled in the art, other drawings can also be obtained according to the content of the embodiment of the present invention and these drawings without any creative effort.
图1为本发明实施例通用导航星捕获系统示意图；Fig. 1 is the schematic diagram of general navigation star acquisition system of the embodiment of the present invention;
图2a～2b为本发明实施例通用导航星捕获系统模块操作示意图Figures 2a to 2b are schematic diagrams of the operation of the general navigation star acquisition system module of the embodiment of the present invention
图3为本发明实施例通用导航星捕获方法示意图。Fig. 3 is a schematic diagram of a general navigation star acquisition method according to an embodiment of the present invention.
具体实施方式detailed description
为使本发明解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面将结合附图对本发明实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the technical solutions of the present invention. Some, but not all, embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.
下面结合附图对本发明做进一步详细描述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
本发明实施例的通用导航星快速捕获方法及系统可适用于多频多模的导航卫星系统，从而可用于设计利用多个导航星座进行导航信号快速捕获的导航接收机。本发明通过向通用快捕模块置入针对不同导航星座、不同卫星号的码频率控制字、初始相位信息、搜索码片调整控制字等控制信息，可支持针对GPSL1CA/L5I/L5Q、BD2B1/B2/B3、GalileoE5a/E5b、GlonassL1f/L2f等频点10种伪码导航信号的快速捕获操作。The general navigation star fast acquisition method and system of the embodiment of the present invention can be applied to a multi-frequency multi-mode navigation satellite system, and thus can be used to design a navigation receiver that utilizes multiple navigation constellations for quick acquisition of navigation signals. The present invention can support the GPSL1CA/L5I/L5Q, BD2B1/B2 /B3, GalileoE5a/E5b, GlonassL1f/L2f and other frequency points to quickly capture 10 kinds of pseudo-code navigation signals.
图1为本发明实施例通用导航星捕获系统示意图。Fig. 1 is a schematic diagram of a general navigation star acquisition system according to an embodiment of the present invention.
图2a～2b为本发明实施例通用导航星捕获系统模块操作示意图。2a-2b are schematic diagrams of the operation of the modules of the universal navigation star acquisition system according to the embodiment of the present invention.
参考图1，本发明实施例中通用导航星捕获系统包括通用快捕伪码生成模块、载波累加处理模块、频谱分析模块。Referring to FIG. 1 , the general navigation star acquisition system in the embodiment of the present invention includes a general fast capture pseudocode generation module, a carrier accumulation processing module, and a spectrum analysis module.
参考图2a，通用快捕伪码生成模块，可用于生成不同导航星座调制的伪码。在本发明实施例中，可向通用快捕伪码生成模块输入码频率控制字、初始相位信息、搜索码片调整控制字等伪码控制字，并对其进行码NCO累加操作得到码NCO累加量，进而产生本地码同步信号，在码同步信号的驱动下生成本地码码组和实际码，其中本地码码组有M路码片，代表M个码相位，M个码相位为连续相位，M路码片的间距相差约在半个码片内，实际码代表所捕获卫星的实际载波多普勒、码多普勒和码相位的大概值，在快速捕获完成以后使码相位的模糊度达到最小，实际码通过快捕得到的载波多普勒获得码多普勒补偿。在本实施例中，M路码片的数量选取M＝28，从而28路码片进行延迟处理，使得码片的间距相差约在半个码片内。Referring to Fig. 2a, the generic quick capture pseudocode generation module can be used to generate pseudocodes modulated by different navigation constellations. In the embodiment of the present invention, the code frequency control word, initial phase information, search chip adjustment control word and other pseudo code control words can be input to the general quick capture pseudo code generation module, and the code NCO accumulation operation is performed on it to obtain the code NCO accumulation amount, and then generate the local code synchronization signal, and generate the local code code group and the actual code under the drive of the code synchronization signal, wherein the local code code group has M chips, representing M code phases, and the M code phases are continuous phases. The distance between the M code chips is about half a chip, and the actual code represents the approximate value of the actual carrier Doppler, code Doppler and code phase of the captured satellite. After the fast capture is completed, the ambiguity of the code phase When the minimum value is reached, the actual code obtains code Doppler compensation through the carrier Doppler obtained by fast capture. In this embodiment, M=28 is selected as the number of M chips, so that the delay processing is performed on 28 chips, so that the difference between the chips is within half a chip.
载波累加处理模块，用于对导航星的载波进行累加，参考图2b，在本实施例中，根据中频导航信号的频率，向载波累加处理模块输入载波频率控制字生成本地载波，复现本地中频正弦载波、余弦载波，并通过与导航信号(AD数据)混频完成导航信号的数字下变频至基带，得到I、Q两路混频数据。对于I、Q两路混频数据利用通用快捕伪码生成模块产生的本地码和实际码对该两路混频数据进行第一相关累加运算。The carrier accumulation processing module is used to accumulate the carrier of the navigation star. With reference to Fig. 2b, in this embodiment, according to the frequency of the intermediate frequency navigation signal, the carrier frequency control word is input to the carrier accumulation processing module to generate a local carrier, and the local intermediate frequency is reproduced Sine carrier, cosine carrier, and complete the digital down-conversion of the navigation signal to the baseband by mixing with the navigation signal (AD data) to obtain I and Q two-way mixing data. For I, Q two-way mixed-frequency data, the first correlation and accumulation operation is performed on the two-way mixed-frequency data by using the local code and the actual code generated by the general fast-catch pseudo-code generation module.
在本发明实施例中，利用本地码和实际码进行第一相关累加运算时，针对本地码码组中的M路码片，以I路混频数据为例，在该路混频数据中任意选取第一时间长度的数据，然后对该第一时间长度的数据进行分段划分，得到与M段分段后的数据，对于M段分段分别利用M路码片分别进行相关累加运算。对于Q路混频数据，采用与I路混频数据相同的操作。第一相关累加运算后产生的多个结果，可利用存储器进行保存，在完成一个完整周期的第一相关累加运算后，可由载波累加处理模块做进一步的处理。In the embodiment of the present invention, when using the local code and the actual code to perform the first correlation accumulation operation, for the M chips in the local code group, taking the I mixed frequency data as an example, any The data of the first time length is selected, and then the data of the first time length is divided into segments to obtain the data segmented with M segments, and the M segments are respectively used to perform correlation and accumulation operations with M chips. For the mixed frequency data of the Q channel, the same operation as that of the mixed frequency data of the I channel is adopted. The multiple results generated after the first correlation accumulation operation can be stored in the memory, and can be further processed by the carrier accumulation processing module after a complete cycle of the first correlation accumulation operation is completed.
载波累加处理模块，对存储在存储器中的第一相关累加运算后的结果进行读取，并对读取的结果进行FFT运算，在利用FFT运算将读取的结果变换到频域后，进行第二累加运算。对应于载波累加处理模块生成的I、Q之路混频数据的M个第一相关累加结果，在完成第二相关运算后，可同样获得M个第二相关累加运算结果，对该M个第二相关累加运算结果进行判断，确定第二相关累加运算获得的第二相关累加最大值。利用该确定的第二相关累加最大值确定载波多普勒和码相位。对于载波多普勒对上述获得的实际码的码频率控制字进行码多普勒补偿，然后可将补偿后的载波多普勒和码相位输出。The carrier accumulation processing module reads the result of the first correlation accumulation operation stored in the memory, and performs an FFT operation on the read result, and performs the second step after transforming the read result into the frequency domain by using the FFT operation. Two accumulation operations. Corresponding to the M first correlation accumulation results of the I and Q path mixed frequency data generated by the carrier accumulation processing module, after completing the second correlation operation, M second correlation accumulation results can be obtained in the same way. The result of the second correlation accumulation operation is judged to determine the second correlation accumulation maximum value obtained by the second correlation accumulation operation. The carrier Doppler and code phase are determined using the determined second correlation cumulative maximum. For carrier Doppler, code Doppler compensation is performed on the code frequency control word of the actual code obtained above, and then the compensated carrier Doppler and code phase can be output.
在本发明实施例中，对读取的结果进行FFT运算时，针对M个第一相关累加结果分别进行FFT运算。且对经FFT运算的M个第一相关累加结果分别平方后与其对应的下一组第一相关累加结果的平方值再相加，此次第二相关累加运算为多次非相干累加。In the embodiment of the present invention, when the FFT operation is performed on the read results, the FFT operation is performed on the M first correlation accumulation results respectively. And the M first correlation accumulation results after the FFT operation are respectively squared and then added to the squared values of the corresponding next set of first correlation accumulation results. This second correlation accumulation operation is multiple times of non-coherent accumulation.
图3为本发明实施例通用导航星捕获方法示意图。Fig. 3 is a schematic diagram of a general navigation star acquisition method according to an embodiment of the present invention.
参考图3，在步骤301中，根据伪码控制字生成本地码同步信号，该伪码控制字包括针对不同星座伪码的码频率控制字和码相位控制字。对伪码控制字进行码NCO累加操作，生成码NCO累加量，对码NCO累加量求取跳变沿，生成本地码同步信号。Referring to FIG. 3 , in step 301 , a local code synchronization signal is generated according to a pseudocode control word, which includes a code frequency control word and a code phase control word for different constellation pseudocodes. The code NCO accumulation operation is performed on the pseudo-code control word to generate the code NCO accumulation amount, and the jump edge is obtained for the code NCO accumulation amount to generate the local code synchronization signal.
在上述本地码同步信号的驱动下，进行G1状态计数，当计数值达到预先置入的G1状态数初值时，G1状态计数器清零，并复位G1。同时，在码同步信号的驱动下进行G1G2状态计数，当计数值达到预先置入的G1G2状态数初值时，G1G2状态计数器清零，并复位G1和G2，产生清零信号。本地码同步信号驱动G1和G2进行移位操作，G1和G2的移出位通过异或相加运算生成本地码。捕获完成后，根据捕获得到的多普勒值获得实际码频率控制字，通过码NCO累加生成实际码同步信号，驱动G1和G2进行移位操作，G1和G2的移出位通过异或相加运算生成实际码。该实际码用于在快速捕获完成以后使码相位的模糊度达到最小，实际码能够获得载波的多普勒补偿。Driven by the above-mentioned local code synchronization signal, the G1 state counting is carried out. When the count value reaches the pre-set initial value of the G1 state number, the G1 state counter is cleared and G1 is reset. At the same time, G1G2 state counting is performed under the drive of the code synchronization signal. When the count value reaches the pre-set G1G2 state number initial value, the G1G2 state counter is cleared, and G1 and G2 are reset to generate a clear signal. The local code synchronous signal drives G1 and G2 to perform a shift operation, and the shifted bits of G1 and G2 generate a local code through an XOR addition operation. After the capture is completed, the actual code frequency control word is obtained according to the captured Doppler value, and the actual code synchronization signal is generated through the accumulation of the code NCO, and the G1 and G2 are driven to perform a shift operation, and the shifted bits of G1 and G2 are calculated by exclusive OR addition Generate actual code. The actual code is used to minimize the ambiguity of the code phase after the fast acquisition is completed, and the actual code can obtain Doppler compensation of the carrier.
在步骤302中，通过载波频率控制字完成本地正弦载波和余弦载波的中频复现，利用复现的本地载波对接收的中频导航信号进行数字下变频.In step 302, the intermediate frequency reproduction of the local sine carrier and cosine carrier is completed through the carrier frequency control word, and the received intermediate frequency navigation signal is digitally down-converted using the reproduced local carrier.
在步骤303中，利用上述步骤301产生的本地码对经步骤302处理后生成的下变频后的导航信号进行第一相关累加操作，该第一相关累加操作与上述记载相同。In step 303, the local code generated in step 301 is used to perform a first correlation and accumulation operation on the down-converted navigation signal generated after processing in step 302, and the first correlation and accumulation operation is the same as described above.
在步骤304中，进一步对经第一相关累加后的结果进行频谱分析，即对经第一相关累加后的结果进行FFT运算。然后，对FFT运算后的结果进行第二相关累加，从而根据第二相关累加结果的最大值确定对应的载波多普勒和码相位，从而实现对载波多普勒和码相位的捕获。其中，载波多普勒还用于对实际码的码频率进行补偿。该步骤304中，第二相关累加操作与上述记载的第二相关累加操作相同。In step 304, spectrum analysis is further performed on the result after the first correlation accumulation, that is, an FFT operation is performed on the result after the first correlation accumulation. Then, the second correlation accumulation is performed on the result after the FFT operation, so as to determine the corresponding carrier Doppler and code phase according to the maximum value of the second correlation accumulation result, thereby realizing the acquisition of the carrier Doppler and code phase. Wherein, the carrier Doppler is also used to compensate the code frequency of the actual code. In this step 304, the second correlation accumulation operation is the same as the second correlation accumulation operation described above.
(1)以上实施例提供的技术方案中的全部或部分内容可以通过软件编程实现，其软件程序存储在可读取的存储介质中，存储介质例如：计算机中的硬盘、光盘或软盘。(1) All or part of the technical solutions provided by the above embodiments can be realized by software programming, and the software program is stored in a readable storage medium, such as a hard disk, an optical disk or a floppy disk in a computer.
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.
本发明未详细说明部分属于本领域技术人员公知常识。Parts not described in detail in the present invention belong to the common knowledge of those skilled in the art.
| Application Number | Priority Date | Filing Date | Title |
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| CN201410364138.XACN105467409B (en) | 2014-07-28 | 2014-07-28 | Universal navigation star capturing method and system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410364138.XACN105467409B (en) | 2014-07-28 | 2014-07-28 | Universal navigation star capturing method and system |
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| CN105467409Atrue CN105467409A (en) | 2016-04-06 |
| CN105467409B CN105467409B (en) | 2018-03-23 |
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| CN201410364138.XAActiveCN105467409B (en) | 2014-07-28 | 2014-07-28 | Universal navigation star capturing method and system |
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