CN100526910C - Platform system for researching and developing satellite navigation receiver - Google Patents
Platform system for researching and developing satellite navigation receiver Download PDFInfo
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- CN100526910C CN100526910C CNB2006100119745A CN200610011974A CN100526910C CN 100526910 C CN100526910 C CN 100526910C CN B2006100119745 A CNB2006100119745 A CN B2006100119745A CN 200610011974 A CN200610011974 A CN 200610011974A CN 100526910 C CN100526910 C CN 100526910C
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Abstract
This invention provides a platform system used in satellite navigation receiver having a hardware part and a software part of a satellite navigation receiver characterizing that said software part operates on a computer, said hardware part is connected to said computer via a computer interface, which has the advantage of long time testing and can process signals of satellites and observe results on real time, compared with the present mode of debugging software directly on an inserted processor, it can get the final result of the operation of the software on real time and see any middle result.
Description
Technical field
The present invention relates to the satellite navigation field, particularly a kind of plateform system that is used for researching and developing satellite navigation receiver, this system has open, programmable satellite navigation receiver software, algorithm development environment, can be used for the research and development of any satellite navigation receiver, comprise GPS, Galileo system, dipper system, GLONASS system etc.
Background technology
Satellite navigation system is a kind of by many navigation satellite signals of receiver reception, and receiver carries out the system that computing obtains receiver location according to the satellite-signal that receives.General satellite navigation system is made up of the multi-satellite that is distributed in different orbit planes, to guarantee at any time, any place in the range of application can receive the signal of multi-satellite, such as the range of application for GPS (the Global Positioning System GPS) system of present operation is the whole world, will guarantee at any time, any place in the whole world can receive the signal of at least four satellites.Satellite navigation receiver is exactly a receiving satellite signal, and according to the satellite-signal process computing that receives, obtains the device of position, time, speed.
Fig. 1 is the theory diagram of the composition of satellite navigation receiver.Satellite navigation receiver is made up of hardware and software two parts usually.
Hardware components comprises antenna, radio frequency part, Base-Band Processing.Antenna changes the Navsat electromagnetic wave in the space into electric signal.Radio frequency part is exported digital signal at last with navigation satellite signal amplification, down coversion, filtering, digital to analog conversion.Down coversion is meant the signal of satellite band (frequency is generally 1GHz to 2GHz) is dropped to the intermediate-freuqncy signal of several MHz to tens MHz that intermediate-freuqncy signal just can further be done signal Processing.Filtering partly is a bandpass filter, with the out-of-band noise filtering.Digital to analog conversion is that process down coversion and filtered analog intermediate frequency signal are become digital signal, and digital signal can further be carried out digital signal processing.Base-Band Processing generally is a digital circuit, handles the digital intermediate frequency signal from radio frequency part, mainly comprises parts such as correlator, intermediate frequency carrier generate, the generation of sign indicating number clock.Navigation satellite signal is the direct sequence spread-spectrum signal, and correlator is that the signal that will receive carries out related operation with the local direct sequence that produces, to remove the hardware of direct sequence.The intermediate frequency carrier generating portion produces intermediate frequency carrier according to the frequency of software setting, and intermediate-freuqncy signal is carried out down coversion, becomes carrier free baseband signal.Sign indicating number clock generating portion is according to the sign indicating number clock frequency of software setting, and control figure NCO (digital controlled oscillator) produces the clock of local direct sequence.
For general satellite navigation receiver product, software section operates on the flush bonding processor, and result partly carries out computing according to Base-Band Processing, writes controlled variable simultaneously to the Base-Band Processing part.Software section is by signal Processing and resolve two parts and form.Signal processing software mainly comprises parts such as satellite signal acquisition, tracking, bit synchronous, bit information extraction.When receiving the direct sequence spread-spectrum signal, need the direct sequence in the received signal identical with the zero-time of the local direct sequence that produces, the intermediate frequency carrier frequency of the intermediate-freuqncy signal of Jie Shouing (being the input signal of Base-Band Processing part) is in full accord with the local intermediate frequency carrier frequency that produces simultaneously, at this moment, the result of correlator just is not a noise, but a peak value is arranged, this peak value is called as relevant peaks.When beginning to receive, need carry out acquisition procedure, this process is exactly zero-time and the local intermediate frequency carrier frequency that produces that constantly changes the local direct sequence that produces, carry out two-dimensional search, up to consistent with received signal, find till the relevant peaks, the program of this process of control is exactly the satellite signal acquisition part in the software.Find the relevant peaks of signal at receiver after, because the influence of Navsat orbital motion and receiver motion itself, the zero-time of direct sequence and carrier frequency have continuous variation, the continuous variation of carrier frequency and then can cause the continuous variation that the intermediate frequency carrier frequency is same, tracking section is exactly that zero-time and the intermediate frequency carrier frequency of controlling the local direct sequence that produces are done same continuous variation, to keep relevant peaks.Modulation has message information in the navigation satellite signal, message information comprises ephemeris and almanac, mainly comprise precise information in short-term in the ephemeris, as the orbit parameter of satellite, ionosphere parameter, satellite clock error etc., this is an information indispensable in the location compute process, and generally be a few hours the effective time of a certain ephemeris.Mainly be long rough satellite orbit parameter in the almanac,, can not be used for locating because error is bigger.Message information is pursued bit modulation to direct sequence, and bit synchronous partly is exactly that the bit reference position is found in control, and bit information extracts and obtain bit information exactly after bit synchronous.Resolve part and comprise that mainly observed reading extraction, packet parsing, wide area strengthen parts such as data extract, location compute, receiver channel control.Observed reading extraction part is to obtain the observed reading that pseudorange, Doppler etc. are used for location compute according to information such as the reference position of direct sequence and intermediate frequency carrier frequencies.Packet parsing partly obtains ephemeris and almanac exactly from bit information.It is to obtain the data that wide area strengthens satellite (as WAAS and EGNOS) that wide area strengthens data extract.It generally is the static synchronous satellite that operates in the terrestrial equator sky that wide area strengthens satellite, except that the message information difference, signal structure and navigation satellite signal are identical, strengthen satellite-signal so the signal processing in the radio frequency part in the satellite navigation receiver, Base-Band Processing part and the software can be used for receiving wide area.The state and the ionospheric more precise parameters of ground monitoring station monitoring Navsat, then these information codings are delivered to wide area and strengthen satellite, wide area strengthens satellite and gives the user with these information broadcasts again, and it partly is exactly the software that extracts these information that wide area strengthens data extract.Location compute partly utilizes the message information and the observed reading of extraction, and the substitution Equation for Calculating goes out the position of receiver.Because Navsat is a low-orbit satellite, so in a certain place, variation along with the time, Navsat on the sky has relative motion, promptly can constantly there be satellite to disappear below the horizon, thereby receiver can't be received the signal of this satellite, also has new satellite and rises down from the local horizon, receives thereby signal can be received machine.So receiver otherwise be completely cured according to the variation and the satellite orbit parameter in time, place deletes, changes, increases the satellite that is receiving, receiver channel control is exactly the software module of controlling this process.
At present, exploitation, development satellite navigation receiver also do not have good methods, are things more time-consuming, effort, and main method has two kinds.First method is to utilize the software satellite navigation receiver.Software receiver is meant fully realizes receiver shown in Figure 1 on computers with software, comprises that the hardware components among Fig. 1 is also realized with software simulation.This method is utilized the environment of debugging software on the computing machine fully, and debugging method is convenient complete, can see any M signal and data easily.But its weak point is: 1, can't handle navigation satellite signal in real time, for the computing machine of the highest configuration at present, processing speed is also wanted slow about 20 times, thus can only aftertreatment through over-sampling, leave the satellite-signal data file; 2, because original data volume is big and arithmetic speed is slow, test receiver characteristic for a long time, generally the maximum data that can only handle tens minutes can't be done the test of a few hours even a couple of days.Second method is for the people who develops satellite navigation receiver hardware, directly debugging software on flush bonding processor.This method has real-time, also can test for a long time, but its weak point is: 1, the software debugging difficulty on the flush bonding processor, and debugging enironment, particularly debugging algorithm are not difficult more easily; 2,, can't adopt this method for the people who does not also have the receiver hardware components; 3, can't see the numerical value of a lot of M signals or data, be difficult to problem identificatioin.
Summary of the invention
The present invention is directed to the defective or the deficiency that exist in the prior art, a kind of plateform system that is used for researching and developing satellite navigation receiver is provided, adopt this plateform system, compare with full software emulation type aftertreatment pattern of the prior art, characteristics with long-time test satellite navigation receiver software, and have real-time, can handle satellite-signal, real-time monitored result in real time; With of the prior art directly on flush bonding processor the pattern of debugging software compare, have the characteristics easily of debugging, not only can obtain the net result of software real time execution, and can see any intermediate result; Thereby for exploitation, development satellite navigation receiver provide advanced means.
Technical conceive of the present invention is, run on the computing machine by software section satellite navigation receiver, and hardware components is connected with computing machine by computer interface, so just make software programming under the real time execution environment, debugging, modification, replacement etc. to finish on computers, simple and convenient, be the technological means of developing, the development satellite navigation receiver provides a kind of advanced person.
Technical solution of the present invention is as follows:
The plateform system that is used for researching and developing satellite navigation receiver has the hardware components and the software section of satellite navigation receiver, and it is characterized in that: described software section runs on the computing machine, and described hardware components is connected in described computing machine by computer interface.
Described computer interface comprises EISA interface, pci interface and/or USB interface.
Described software section comprises the computer interface driver, and signal processing software resolves software, and demonstration and output software.
Described computer interface driver is meant the software that drives various computing machine interface hardware, comprises EISA interface drive program, pci interface driver and USB interface driver; Described signal processing software is finished seizure in the satellite navigation receiver, tracking, bit synchronous and bit information abstraction function; The described software that resolves comprises that observed reading extraction, packet parsing, wide area strengthen the functional module of data extract, location compute and receiver channel control; Described demonstration and output software can be presented at intermediate data, receiver state and operation result in real time on the computer screen or preserve hereof, for user's debugged program, analysis operation result, the output content displayed can increase according to user's needs, revise or reduce.
The program of described software section, except the computer interface driver, other program is all open to the user, and the so-called user is opened is meant: the source code that software is provided is to the user; The user can revise these source programs, adds algorithm and the program of oneself; The user can write brand-new program and substitute original program.
The software of described software section all is the standard C language program, and debugging acid then is the debugging acid of standard C language, and debugging enironment also is the development environment of standard C language.
Described hardware components comprises antenna, radio frequency part and Base-Band Processing.
Described antenna changes the electromagnetic wave signal of Navsat into electric signal, and the frequency of signal is the satellite-signal wave band; Described radio frequency part is exported digital signal at last with navigation satellite signal amplification, down coversion, filtering, digital to analog conversion, and output signal frequency has not been the satellite-signal wave band, is the intermediate-freuqncy signals of several MHz to tens MHz but become carrier frequency; Described Base-Band Processing partly is a digital circuit, comprises that mainly correlator, intermediate frequency carrier generate and the sign indicating number clock generates, and the result that the Base-Band Processing part will be exported delivers to computer interface, also receives the order of input and the parameter of setting from this computer interface simultaneously.
Described plateform system also comprises one with reference to satellite navigation receiver, but this receiver is the satellite navigation receiver of an operate as normal, stable operation, its input signal also is from antenna, correct reference location result and the satellitosis of demonstration on another computing machine received in output, debugs the reference and the contrast of the program of oneself as the user.
The technology of the present invention effect is as follows:
The plateform system that is used for researching and developing satellite navigation receiver of the present invention, be open, the programmable satellite navigation receiver software of a cover, algorithm development environment, can be used for the research and development of any satellite navigation receiver, comprise GPS, Galileo system, dipper system, GLONASS system etc.This platform has the ability that Navsat and wide area enhancing satellite-signal are handled in real-time reception, platform has been opened the software module that live signal search, tracking, real-time navigation data decode, wide area strengthen that differential data decoding and position and speed time resolve etc. to the user, the user can write or revise said procedure on this platform, and can see the operation result of program by the data file of display and storage in real time.On this platform, the user can develop satellite navigation receiver and kernel software thereof, algorithm.In a word, provide advanced means for exploitation, development satellite navigation receiver.
Description of drawings
Fig. 1 is the theory diagram of the composition of satellite navigation receiver.
Fig. 2 is the hardware components structural representation of plateform system of the present invention.
Fig. 3 is the software section functional module structure synoptic diagram of plateform system of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is intended to solve the deficiency of above-mentioned exploitation, development satellite navigation receiver means, proposes a kind of new researching and developing satellite navigation receiver platform.This platform has been opened software modules such as real-time search, tracking, real-time navigation data decode, the decoding of wide area enhancing differential data, location compute, packet parsing, and the user can revise, replace, debug software sections all among Fig. 1 easily; Can obtain net result by the above-mentioned software of real time execution, and can see any intermediate result; Can test satellite navigation receiver software for a long time; Writing, debugging of software all is to finish on standard computer, and be simple and convenient, and the people of familiar with computers programming is also more; Can contrast the result of ripe receiver, verify the program of oneself.
Fig. 2 and Fig. 3 are the theory diagram of researching and developing satellite navigation receiver platform, comprise hardware components and software section, hardware components is fixed, not open to the user, software section is open substantially, all parts that relate to satellite navigation receiver software algorithm and program all are open to the user, and the source code of this part program all offers the user, and the user can update routine or write oneself program.
In the hardware components of the researching and developing satellite navigation receiver platform of Fig. 2, antenna changes the electromagnetic wave signal of Navsat into electric signal, and the frequency of signal is the satellite-signal wave band, is 1575.42MHz as the frequency of the L1 wave band of gps system.Radio frequency part is exported digital signal at last with navigation satellite signal amplification, down coversion, filtering, digital to analog conversion, and this is identical with the conventional satellite navigation neceiver.Output signal frequency has not been the satellite-signal wave band, is the intermediate-freuqncy signals of several MHz to tens MHz but become carrier frequency.Base-Band Processing partly is a digital circuit, mainly comprises correlator, intermediate frequency carrier generation, the generation of sign indicating number clock etc., and is basic identical with the Base-Band Processing part of common receiver.The result that the Base-Band Processing part will be exported delivers to computer interface, also receives the order of input and the parameter of setting from this computer interface simultaneously.Computer interface is the computer interface of standard, comprises EISA interface, pci interface, USB interface etc.Base-Band Processing part links to each other with computing machine 1 by computer interface, and computing machine 1 is the computing machine of a station symbol standard, operation be exactly the software of research/development platform.User's modification, debugged program and algorithm also have one with reference to satellite navigation receiver in research/development platform for convenience.But this receiver is the satellite navigation receiver of an operate as normal, stable operation, its input signal also is from antenna, correct reference location result and the satellitosis of demonstration on the computing machine 2 received in output, debugs the reference and the contrast of the program of oneself as the user.
The software section of the researching and developing satellite navigation receiver platform among Fig. 3 is the software that operates on the computing machine 1, this is the place different with the conventional satellite navigation neceiver, the software of conventional satellite navigation neceiver is to operate on the flush bonding processor, and the software of researching and developing satellite navigation receiver platform is to operate on the standard computer, the man-machine interface that this just has conveniently, enriches.Except the computer interface driver, other program is all open to the user, and the so-called user is opened is meant: the source code that software is provided is to the user; The user can revise these source programs, adds algorithm and the program of oneself; The user can write brand-new program and substitute original program.Software section comprises four parts: 1, computer interface driver; 2, signal processing software; 3, resolve software; 4, demonstration and output.The computer interface driver is meant the software that drives various computing machine interface hardware, comprises EISA interface drive program, pci interface driver and USB interface driver etc.Signal processing software is finished functions such as seizure in the satellite navigation receiver, tracking, bit synchronous and bit information extraction, and these all are functional modules indispensable in the satellite navigation receiver.Resolving software and comprise that observed reading extraction, packet parsing, wide area strengthen parts such as data extract, location compute, receiver channel control, also all is functional module indispensable in the satellite navigation receiver.The output display part can be presented at intermediate data, receiver state and operation result in real time on the computer screen or preserve hereof, for user's debugged program, analysis operation result, the output content displayed can increase according to user's needs, revise or reduce.Software all is the standard C language program, and debugging acid then is the debugging acid of standard C language, and this all is that ordinary skill is familiar with.
This equipment is applicable to the research and development of various satellite navigation systems, comprise GPS of USA system, the Galileo system in Europe, Muscovite GLONASS system etc., and the following new satellite navigation system that may occur, having real-time receiving ability, satellite navigation receiver software standard-sized sheet and put, debug characteristics such as convenient, is the development environment of research and development satellite navigation receiver program, algorithm.
Should be pointed out that the above embodiment can make those skilled in the art more fully understand the present invention, but do not limit the present invention in any way.Therefore, although this instructions has been described in detail the present invention with reference to drawings and embodiments,, it will be appreciated by those skilled in the art that still and can make amendment or be equal to replacement the present invention; And all do not break away from the technical scheme and the improvement thereof of spirit of the present invention and technical spirit, and it all should be encompassed in the middle of the protection domain of patent of the present invention.
Claims (7)
1. the plateform system that is used for researching and developing satellite navigation receiver has the hardware components and the software section of satellite navigation receiver, and it is characterized in that: described software section runs on the computing machine, and described hardware components is connected in described computing machine by computer interface; Described hardware components comprises antenna, radio frequency part and Base-Band Processing part; Described antenna changes the electromagnetic wave signal of Navsat into electric signal, and the frequency of signal is the satellite-signal wave band; Described radio frequency part is exported digital signal at last with navigation satellite signal amplification, down coversion, filtering, digital to analog conversion, and output signal frequency has not been the satellite-signal wave band, is the intermediate-freuqncy signals of several MHz to tens MHz but become carrier frequency; Described Base-Band Processing partly is a digital circuit, comprises that mainly correlator, intermediate frequency carrier generate and the sign indicating number clock generates, and the result that the Base-Band Processing part will be exported delivers to computer interface, also receives the order of input and the parameter of setting from this computer interface simultaneously.
2. the plateform system that is used for researching and developing satellite navigation receiver according to claim 1 is characterized in that: described computer interface comprises EISA interface, pci interface and/or USB interface.
3. the plateform system that is used for researching and developing satellite navigation receiver according to claim 1 is characterized in that: described software section comprises the computer interface driver, and signal processing software resolves software, and demonstration and output software.
4. the plateform system that is used for researching and developing satellite navigation receiver according to claim 3, it is characterized in that: described computer interface driver is meant the software that drives various computing machine interface hardware, comprises EISA interface drive program, pci interface driver and USB interface driver; Described signal processing software is finished seizure in the satellite navigation receiver, tracking, bit synchronous and bit information abstraction function; The described software that resolves comprises that observed reading extraction, packet parsing, wide area strengthen the functional module of data extract, location compute and receiver channel control; Described demonstration and output software can be presented at intermediate data, receiver state and operation result in real time on the computer screen or preserve hereof, for user's debugged program, analysis operation result, the output content displayed can increase according to user's needs, revise or reduce.
5. the plateform system that is used for researching and developing satellite navigation receiver according to claim 4, it is characterized in that: the program of described software section, except the computer interface driver, other program is all open to the user, and the so-called user is opened is meant: the source code that software is provided is to the user; The user can revise these source programs, adds algorithm and the program of oneself; The user can write brand-new program and substitute original program.
6. the plateform system that is used for researching and developing satellite navigation receiver according to claim 1, it is characterized in that: the software of described software section all is the standard C language program, debugging acid then is the debugging acid of standard C language, and debugging enironment also is the development environment of standard C language.
7. the plateform system that is used for researching and developing satellite navigation receiver according to claim 1, it is characterized in that: described plateform system also comprises one with reference to satellite navigation receiver, but this receiver is the satellite navigation receiver of an operate as normal, stable operation, its input signal also is from antenna, correct reference location result and the satellitosis of demonstration on another computing machine received in output, debugs the reference and the contrast of the program of oneself as the user.
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| CNB2006100119745A CN100526910C (en) | 2006-05-24 | 2006-05-24 | Platform system for researching and developing satellite navigation receiver |
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| CNB2006100119745A CN100526910C (en) | 2006-05-24 | 2006-05-24 | Platform system for researching and developing satellite navigation receiver |
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| CN100526910C true CN100526910C (en) | 2009-08-12 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101033974B (en) * | 2007-01-19 | 2010-05-19 | 北京东方联星科技有限公司 | Navigation satellite signal generating system based on software |
| CN100456191C (en) * | 2007-11-16 | 2009-01-28 | 航天东方红卫星有限公司 | Satellite automatization test platform and test method |
| CN102867080A (en) * | 2012-08-23 | 2013-01-09 | 重庆长安汽车股份有限公司 | MATLAB-based simulation method and device |
| CN103293535B (en) * | 2013-05-24 | 2015-11-18 | 北京东方计量测试研究所 | Satellite navigation receiver real-time testing system |
| CN106226792A (en) * | 2016-07-22 | 2016-12-14 | 中国人民解放军63908部队 | Intermediate-freuqncy signal generation module |
| CN106199649A (en) * | 2016-07-22 | 2016-12-07 | 中国人民解放军63908部队 | Satellite navigation receiver test platform |
| CN106707313B (en) * | 2016-11-23 | 2019-06-18 | 广州海格通信集团股份有限公司 | A kind of cross-platform satellite navigation receiver software systems |
| CN109450520A (en) * | 2018-12-04 | 2019-03-08 | 北京卫星信息工程研究所 | Satellite communication method and corresponding satellite communication terminal |
| CN110780320B (en) * | 2019-11-11 | 2022-05-17 | 南京喂啊游通信科技有限公司 | Software and hardware integrated satellite navigation signal processing method |
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