技术领域technical field
本发明属于卫星导航接收机信号基带处理技术领域，特别涉及一种基于补零算法和差分相干算法的北斗弱信号捕获方法。The invention belongs to the technical field of signal baseband processing of a satellite navigation receiver, and in particular relates to a Beidou weak signal acquisition method based on a zero-padding algorithm and a differential coherence algorithm.
背景技术Background technique
随着卫星导航系统的发展，高性能接收机的研制成为国内外研究热点，针对弱信号的高灵敏度接收机是其中的热点之一。近年来国内外许多专家学者开展高灵敏度GPS接收机的研究。随着北斗导航系统的发展，针对弱信号的高灵敏度北斗导航接收机具有一定的理论价值和应用前景。With the development of satellite navigation systems, the development of high-performance receivers has become a research hotspot at home and abroad, and the high-sensitivity receiver for weak signals is one of the hotspots. In recent years, many experts and scholars at home and abroad have carried out research on high-sensitivity GPS receivers. With the development of the Beidou navigation system, the high-sensitivity Beidou navigation receiver for weak signals has certain theoretical value and application prospects.
延长相干积分时间是高灵敏度接收机常用的提高信噪比的方法，同时可以降低环路中的数据率和所需的运算量。但是延长积分时间受到数据比特跳变的限制：Prolonging the coherent integration time is a commonly used method for high-sensitivity receivers to improve the signal-to-noise ratio, and at the same time, it can reduce the data rate and the required calculation amount in the loop. But extending the integration time is limited by data bit transitions:
北斗MEO和IGSO卫星信号播发的D1导航电文二次编码调制了速率为1kbps的NH码(纽霍夫曼码)，能够提高窄带干扰的抵抗能力，并改善卫星信号间的互相关特性，但同时导致相干积分时间受NH码相位跳变的影响，在不去除NH码的情况下相干积分时间被限制为1ms。The D1 navigation message broadcast by the Beidou MEO and IGSO satellite signals is re-coded and modulated with an NH code (New Hoffman code) with a rate of 1kbps, which can improve the resistance to narrow-band interference and improve the cross-correlation characteristics between satellite signals, but at the same time As a result, the coherent integration time is affected by the NH code phase jump, and the coherent integration time is limited to 1 ms without removing the NH code.
因此，较GPS信号，北斗信号中包含更多的数据比特跳变，需要针对北斗信号的结构特点，设计合适的捕获算法消除或削弱数据比特跳变的影响，以延长积分时间来提高北斗弱信号捕获的灵敏度。Therefore, compared with the GPS signal, the Beidou signal contains more data bit transitions. It is necessary to design a suitable acquisition algorithm to eliminate or weaken the impact of data bit transitions according to the structural characteristics of the Beidou signal, so as to extend the integration time to improve the Beidou weak signal. capture sensitivity.
发明内容Contents of the invention
本发明的目的，在于提供一种基于补零算法和差分相干算法的北斗弱信号捕获方法，其可极大地削弱NH码跳变和比特跳变的影响，延长积分时间，提高信号信噪比。The purpose of the present invention is to provide a Beidou weak signal acquisition method based on zero padding algorithm and differential coherence algorithm, which can greatly weaken the influence of NH code hopping and bit hopping, prolong the integration time, and improve the signal-to-noise ratio.
为了达成上述目的，本发明的解决方案是：In order to achieve the above object, the solution of the present invention is:
一种基于补零算法和差分相干算法的北斗弱信号捕获装置，包括：A Beidou weak signal acquisition device based on zero padding algorithm and differential coherence algorithm, including:
北斗接收机天线，用于接收北斗卫星信号；Beidou receiver antenna for receiving Beidou satellite signals;
射频模块，将北斗接收机天线接收的北斗卫星信号进行射频处理得到数字中频采样信号；以及，The radio frequency module performs radio frequency processing on the Beidou satellite signal received by the Beidou receiver antenna to obtain a digital intermediate frequency sampling signal; and,
基带处理模块，对前述数字中频采样信号进行捕获过程。The baseband processing module is used to capture the aforementioned digital intermediate frequency sampling signal.
一种基于补零算法和差分相干算法的北斗弱信号捕获方法，包括如下步骤：A Beidou weak signal acquisition method based on zero padding algorithm and differential coherence algorithm, comprising the following steps:
步骤1，利用北斗接收机天线接收北斗卫星信号，对北斗卫星信号进行混频下变频到中频，并进行采样获得采样信号；Step 1, use the Beidou receiver antenna to receive the Beidou satellite signal, perform frequency mixing and down-conversion to the Beidou satellite signal to an intermediate frequency, and perform sampling to obtain the sampling signal;
步骤2，将步骤1中的采样信号与本地载波进行混频，采用补零算法对本地伪码进行补零后，与采样信号进行相关运算，获得相关结果；Step 2, mixing the sampled signal in step 1 with the local carrier, using the zero padding algorithm to pad the local pseudo code with zero, and then performing a correlation operation with the sampled signal to obtain a correlation result;
步骤3，对步骤2得到的相关结果进行差分相干运算，并进行10毫秒一次的积分求和运算；Step 3, performing a differential coherent operation on the correlation results obtained in step 2, and performing an integral summation operation every 10 milliseconds;
步骤4，对步骤3得到的积分结果进行峰值检测，如果峰值超过阈值，则根据峰值位置获得载波多普勒频率估计值，捕获过程完成。Step 4. Perform peak detection on the integration result obtained in step 3. If the peak value exceeds the threshold, obtain the carrier Doppler frequency estimation value according to the peak position, and the capture process is completed.
上述步骤2的具体过程是：The specific process of the above step 2 is:
步骤21，将采样信号按先进先出的原则存入长度为2毫秒的第一寄存器；Step 21, storing the sampling signal into the first register whose length is 2 milliseconds according to the first-in-first-out principle;
步骤22，生成1毫秒本地伪码序列，在其后补充1毫秒零值，对扩充后的2毫秒序列进行傅里叶变换；Step 22, generate a 1 millisecond local pseudocode sequence, add a 1 millisecond zero value thereafter, and perform Fourier transform on the expanded 2 millisecond sequence;
步骤23，将步骤21中2毫秒采样信号与本地载波信号进行混频，对结果进行傅里叶变换；Step 23, mixing the 2 millisecond sampling signal in step 21 with the local carrier signal, and performing Fourier transform on the result;
步骤24，将步骤22的结果与步骤23的结果进行共轭相乘，对结果进行反傅里叶变换，将前1毫秒结果存入第二寄存器中，由第二寄存器的输出获得相关结果；Step 24, performing conjugate multiplication of the result of step 22 and the result of step 23, performing inverse Fourier transform on the result, storing the result in the first 1 millisecond into the second register, and obtaining the relevant result from the output of the second register;
步骤25，每毫秒重复进行步骤21至步骤24，每次将步骤21中采样信号按先进先出原则移动1毫秒，将获得的结果存入第二寄存器中，由第二寄存器的输出获得每毫秒的相关结果。Step 25, repeat step 21 to step 24 every millisecond, move the sampling signal in step 21 by 1 millisecond according to the first-in-first-out principle each time, store the obtained result in the second register, and obtain the output of the second register every millisecond related results.
上述步骤23中，频率搜索带宽设置为小于等于500赫兹。In the above step 23, the frequency search bandwidth is set to be less than or equal to 500 Hz.
上述步骤3的具体过程是：The specific process of the above step 3 is:
步骤31，取第二寄存器中当前最新1毫秒结果与延迟20毫秒的结果进行共轭相乘；Step 31, taking the current latest 1 millisecond result in the second register and performing conjugate multiplication with the result delayed by 20 milliseconds;
步骤32，每毫秒重复进行步骤31，将获得的结果存入第三寄存器中；Step 32, repeat step 31 every millisecond, and store the obtained result in the third register;
步骤33，对步骤32获得的结果按照10个一组进行求和。In step 33, sum the results obtained in step 32 in groups of 10.
上述步骤4中，对步骤3得到的积分结果，每相邻2个一组，取2个中较大者进行峰值检测。In the above step 4, for the integration results obtained in step 3, for each group of two adjacent ones, the larger of the two is used for peak detection.
采用上述方案后，本发明与现有技术相比，具有以下技术效果：After adopting the above scheme, compared with the prior art, the present invention has the following technical effects:
(1)本发明针对北斗信号比特跳变和NH码跳变频繁的特殊性，将补零算法和差分相干算法进行结合，并分别对传统的补零算法和差分相干算法进行改进，提出将差分延迟时间改进为20毫秒，能够极大地削弱NH码跳变和比特跳变的影响，延长积分时间，提高信号信噪比。(1) Aiming at the particularity of Beidou signal bit hopping and NH code hopping frequently, the present invention combines the zero-filling algorithm and the differential coherence algorithm, and improves the traditional zero-filling algorithm and the differential coherent algorithm respectively, and proposes that the differential The delay time is improved to 20 milliseconds, which can greatly weaken the influence of NH code hopping and bit hopping, prolong the integration time, and improve the signal-to-noise ratio.
(2)本发明采用差分相干形式进行积分，频率搜索带宽最大可设置为500赫兹，相比传统的相干积分算法，频率搜索带宽大，频率搜索次数大大减小。(2) The present invention uses a differential coherent form for integration, and the maximum frequency search bandwidth can be set to 500 Hz. Compared with the traditional coherent integration algorithm, the frequency search bandwidth is larger and the number of frequency searches is greatly reduced.
(3)本发明适用于含有NH码的北斗民用信号捕获。(3) The present invention is applicable to Beidou civil signal acquisition containing NH codes.
附图说明Description of drawings
图1是本发明的流程图；Fig. 1 is a flow chart of the present invention;
图2是实施本发明捕获方法的装置结构示意图；Fig. 2 is a schematic diagram of the device structure implementing the capture method of the present invention;
图3是本发明捕获方法仿真得到的捕获结果图。Fig. 3 is a capture result diagram obtained by simulation of the capture method of the present invention.
具体实施方式Detailed ways
以下将结合附图，对本发明的技术方案及有益效果进行详细说明。The technical solutions and beneficial effects of the present invention will be described in detail below in conjunction with the accompanying drawings.
如图1所示，本发明提供一种基于补零算法和差分相干算法的北斗弱信号捕获方法，该方法对1毫秒本地伪码进行补零扩充到2毫秒，再与输入信号进行相关，取前1毫秒结果作为相关结果，再对相关结果进行差分相干积分，其中差分延迟时间改进为20毫秒，积分时间为10毫秒，最后取相邻积分值较大者进行峰值检测，获得伪码相位和载波频率估计值。As shown in Figure 1, the present invention provides a Beidou weak signal acquisition method based on zero-padding algorithm and differential coherence algorithm. The method performs zero-padding on the 1 millisecond local pseudocode and expands it to 2 milliseconds, and then correlates with the input signal to obtain The result of the first 1 millisecond is used as the correlation result, and then differential coherent integration is performed on the correlation result, where the differential delay time is improved to 20 milliseconds, and the integration time is 10 milliseconds. Finally, the peak detection is performed with the larger adjacent integral value, and the pseudo code phase and Carrier frequency estimate.
如图2所示，是本发明实施例的装置结构示意图，本发明捕获方法可以用图2所示装置实现，但不局限于图2所示装置。整个装置包括：天线、射频模块和基带处理模块。基带处理模块由DSP(数字信号处理器)、FPGA(现场可编程门阵列)及外围芯片组成。其中，FPGA和DSP共同配合完成本发明的信号捕获功能，由FPGA实现多通道并行处理，DSP控制流程的运行和外围信息的收发。由北斗天线接收卫星信号，经过射频处理得到数字中频采样信号，进入基带处理模块进行捕获过程，实现对码相位和载波多普勒频率的估计。As shown in FIG. 2 , it is a schematic diagram of the device structure of the embodiment of the present invention. The capture method of the present invention can be realized by the device shown in FIG. 2 , but is not limited to the device shown in FIG. 2 . The whole device includes: antenna, radio frequency module and baseband processing module. The baseband processing module is composed of DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array) and peripheral chips. Wherein, FPGA and DSP work together to complete the signal capture function of the present invention, the FPGA realizes multi-channel parallel processing, and the DSP controls the operation of the flow and the sending and receiving of peripheral information. The satellite signal is received by the Beidou antenna, and the digital intermediate frequency sampling signal is obtained through radio frequency processing, and enters the baseband processing module for the acquisition process to realize the estimation of the code phase and carrier Doppler frequency.
具体的步骤如下：The specific steps are as follows:
步骤1，利用北斗接收机天线接收北斗卫星信号，对北斗卫星信号进行混频下变频到中频，并进行采样获得采样信号；Step 1, use the Beidou receiver antenna to receive the Beidou satellite signal, perform frequency mixing and down-conversion to the Beidou satellite signal to an intermediate frequency, and perform sampling to obtain the sampling signal;
步骤2，将步骤1中的采样信号与本地载波进行混频，采用补零算法对本地伪码进行补零后，与采样信号进行相关运算，获得相关结果。具体如下：Step 2: Mix the sampled signal in step 1 with the local carrier, use the zero padding algorithm to pad the local pseudocode with zeros, and perform a correlation operation with the sampled signal to obtain a correlation result. details as follows:
21)将采样信号按先进先出的原则存入长度为2毫秒的第一寄存器；21) storing the sampling signal into the first register whose length is 2 milliseconds according to the principle of first-in-first-out;
22)生成1毫秒本地伪码序列，在其后补充1毫秒零值，对扩充后的2毫秒序列进行傅里叶变换；22) Generate a 1 millisecond local pseudocode sequence, add a 1 millisecond zero value thereafter, and perform Fourier transform on the expanded 2 millisecond sequence;
23)将步骤21中长度为2毫秒的采样信号与本地载波信号进行混频，频率搜索带宽设置为500赫兹(也可低于500赫兹)，对结果进行傅里叶变换；23) mixing the sampling signal with a length of 2 milliseconds and the local carrier signal in step 21, setting the frequency search bandwidth to 500 Hz (also lower than 500 Hz), and performing Fourier transform on the result;
24)将步骤22的结果与步骤23的结果进行共轭相乘，对结果进行反傅里叶变换，将前1毫秒结果存入第二寄存器中，由第二寄存器的输出端得到相关结果；24) carry out conjugate multiplication with the result of step 22 and the result of step 23, carry out inverse Fourier transform to the result, store the result in the first 1 millisecond in the second register, obtain the relevant result by the output terminal of the second register;
25)每毫秒重复进行步骤21、22、23和24，每次将步骤21中采样信号按先进先出原则移动1毫秒，将获得的结果存入第二寄存器中，由第二寄存器的输出端得到每毫秒的相关结果；25) Steps 21, 22, 23 and 24 are repeated every millisecond, each time the sampling signal in step 21 is moved by 1 millisecond according to the first-in-first-out principle, and the obtained result is stored in the second register, and the output terminal of the second register Get relevant results per millisecond;
步骤3，对步骤2得到的相关结果进行差分相干运算，并进行10毫秒一次的积分求和运算。具体如下：Step 3, performing differential coherent operation on the correlation result obtained in step 2, and performing integration and summation once every 10 milliseconds. details as follows:
31)取第二寄存器中当前最新1毫秒结果与延迟20毫秒的结果进行共轭相乘；31) Take the current latest 1 millisecond result in the second register and perform conjugate multiplication with the result delayed by 20 milliseconds;
32)每毫秒重复进行步骤31，将获得的结果存入第三寄存器中；32) Step 31 is repeated every millisecond, and the obtained result is stored in the third register;
33)对第三寄存器输出的结果按照10个一组进行求和；33) The results output by the third register are summed in groups of 10;
步骤4，对步骤3得到的积分结果，每相邻2个一组，取2个中较大者进行峰值检测，如果峰值超过阈值，则根据峰值位置获得载波多普勒频率估计值，捕获过程完成。Step 4, for the integration results obtained in step 3, every two adjacent groups, take the larger of the two for peak detection, if the peak value exceeds the threshold, obtain the carrier Doppler frequency estimation value according to the peak position, the capture process Finish.
基于以上装置和方法步骤，利用CCS软件进行在线仿真，卫星捕获仿真结果如图3所示。由仿真结果可以看出本发明的捕获方法能够稳定可靠地实现北斗信号码相位和载波频率的估计，实现卫星捕获功能。Based on the above devices and method steps, CCS software is used for online simulation, and the satellite capture simulation results are shown in Figure 3. It can be seen from the simulation results that the acquisition method of the present invention can realize the estimation of the Beidou signal code phase and carrier frequency stably and reliably, and realize the satellite acquisition function.
以上实施例仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明保护范围之内。The above embodiments are only to illustrate the technical ideas of the present invention, and can not limit the protection scope of the present invention with this. All technical ideas proposed in accordance with the present invention, any changes made on the basis of technical solutions, all fall within the protection scope of the present invention. Inside.
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| CN201711082495.7ACN107991695A (en) | 2017-11-07 | 2017-11-07 | Big Dipper weak signal catching method based on zero padding algorithm and differential coherence algorithm |
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| CN201711082495.7ACN107991695A (en) | 2017-11-07 | 2017-11-07 | Big Dipper weak signal catching method based on zero padding algorithm and differential coherence algorithm |
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| CN201711082495.7APendingCN107991695A (en) | 2017-11-07 | 2017-11-07 | Big Dipper weak signal catching method based on zero padding algorithm and differential coherence algorithm |
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