GPS伪卫星的设计和实现
摘要
全球定位系统(GPS)可以向全球用户提供位置、速度和时间信息,在航空、航天、海上及陆地等诸多领域得到了广泛的应用,成为一种主要的导航手段。但是GPS系统的高精度、可靠性和完好性等诸多优越性都依赖于跟踪的可视卫星数和卫星的几何分布。GPS卫星在受遮挡时难以发挥作用,在一些特殊地区如矿区、隧道、室内和地下,这些地方由于视野不开阔或无法接收到GPS信号,满足不了定位要求。GPS伪卫星是解决这些问题的一条有效途径。
本文研究GPS伪卫星定位技术。首先综述了卫星导航系统的发展、现状及存在的问题,介绍了GPS伪卫星的研究发展历史。针对GPS伪卫星定位系统的设计,提出了GPS伪卫星发射器的基本功能,并详细研究了GPS伪卫星信号传输理论。
在理论研究和分析的基础上,设计了GPS伪卫星发射器。系统采用RS232与主机连接,使用先进的SOPC技术,以FPGA为平台,用C语言和硬件描述语言实现了信号控制及中频调制,并用射频模块将信号的频带搬移到GPS发射频率,最后通过天线将信号发射。
在中频测试部分,用仿真程序和示波器对GPS伪卫星的基带/中频信号进行了试验验证。试验结果表明,设计的模块满足设计要求。
GPS can provide us location,speed and time with high precision. Nowadays, it has been widely used in many fields; especially in military field, and it has become a kind of main navigation method. But, its high precision, reliability and integrality depend on the number of visible satellites and their geometrical distribution. GPS satellites may become unuseful when signals are obstructed. In worse conditions, such as mine areas, tunnels and some places indoors or underground, GPS receiver can hardly receive the signals from the satellites. The signals are too weak to be used for positioning. In this case, pseudolites can solve this problem.
This paper investigated the technology of GPS pseudolites system. Firstly, it summarized the development, the present state and the existing problems of satellite navigation system. And then it presented the research and development of GPS pseudolites. During the description of GPS pseudolites system, the basic function of pseudolites emitter was also introduced. And the paper gave us a detailed account of the transmission link.
A kind of pseudolites emitter was designed on the basis of theory study and analysis. The system linked RS232 with the central computer, and it used the advanced SOPC technology. In addition, it used FPGA platform. C language and hardware describe language were used to control signals generator and IF modulation. The signal’s frequency band were moved to GPS RF. At last, signals were emitted by the antenna.
本文研究GPS伪卫星定位技术。首先综述了卫星导航系统的发展、现状及存在的问题,介绍了GPS伪卫星的研究发展历史。针对GPS伪卫星定位系统的设计,提出了GPS伪卫星发射器的基本功能,并详细研究了GPS伪卫星信号传输理论。
在理论研究和分析的基础上,设计了GPS伪卫星发射器。系统采用RS232与主机连接,使用先进的SOPC技术,以FPGA为平台,用C语言和硬件描述语言实现了信号控制及中频调制,并用射频模块将信号的频带搬移到GPS发射频率,最后通过天线将信号发射。
在中频测试部分,用仿真程序和示波器对GPS伪卫星的基带/中频信号进行了试验验证。试验结果表明,设计的模块满足设计要求。
GPS can provide us location,speed and time with high precision. Nowadays, it has been widely used in many fields; especially in military field, and it has become a kind of main navigation method. But, its high precision, reliability and integrality depend on the number of visible satellites and their geometrical distribution. GPS satellites may become unuseful when signals are obstructed. In worse conditions, such as mine areas, tunnels and some places indoors or underground, GPS receiver can hardly receive the signals from the satellites. The signals are too weak to be used for positioning. In this case, pseudolites can solve this problem.
This paper investigated the technology of GPS pseudolites system. Firstly, it summarized the development, the present state and the existing problems of satellite navigation system. And then it presented the research and development of GPS pseudolites. During the description of GPS pseudolites system, the basic function of pseudolites emitter was also introduced. And the paper gave us a detailed account of the transmission link.
A kind of pseudolites emitter was designed on the basis of theory study and analysis. The system linked RS232 with the central computer, and it used the advanced SOPC technology. In addition, it used FPGA platform. C language and hardware describe language were used to control signals generator and IF modulation. The signal’s frequency band were moved to GPS RF. At last, signals were emitted by the antenna.
引文
[1] 周忠谟,周琪,GPS 卫星测量原理与应用,北京,测绘出版社,1997
[2] 刘基余,GPS 卫星导航定位原理与方法,北京,科学出版社,2003
[3] 陈秀万,伽利略导航卫星系统,北京,北京大学出版社,2005
[4] 王小金,王霞,认识“北斗一号”卫星定位导航系统,航海技术,Vol.1,2004
[5] Liwen,ChrisRizos and Jinling Wang,The Role of Pseudo-Satellite Signals in PreciseGPS-Based Postioning,Journal of Geospatial Engineering,Vol.3,No.1,33-34
[6] 成伟,GPS 精密定位误差及其相位多路径误差分析研究,[硕士论文],西安,长安大学,2003年 5 月
[7] D.Klein and B.W.Parkinson,The Use of Pseudolites for Improving GPS Performances,In Global Positioning System
[8] B.W. Parkinson and K.T.Fitzibbon,Optimal Locations of Pseudolites for Differerntial GPS,In Global Positioning System
[9] Radio Technical Commission for Maritime Services,RTCM Recommended Standards for Differential Navstar GPS Service,January 1994,RTCM Paper 194-93/SC104-STD,version2.1
[10] 李征航,黄劲松,GPS 测量与数据处理,武汉,武汉大学出版社,2005 年 3 月第一版
[11] 刘基余,李征航,王跃虎,桑吉章,全球定位系统原理及其应用,北京,测绘出版社,1993 年
[12] 柳响林,精密 GPS 动态定位的质量控制与随机模型优化,博士学位论文.武汉大学,武汉,2002年 5 月.
[13] 瞿清斌,齐维君,GPS 天线相位中心变化及测试.测绘科学,第 29 卷第 2 期,2004 年 4 月,pp.60-65.
[14] 宋铮,张建华,黄冶,天线与电波传播,西安,西安电子科技大学出版社,2003 年 4 月
[15] 吴晓进,GPS 和射频干扰,航天电子对抗,2005 年第三期,pp.1-4.
[16] 熊永良,丁晓利,变形监测中 GPS 信号衍射误差的环境建模法,测绘学报,第 34 卷第 4 期,2005(11), pp.283-288.
[17] 张波, 削弱 GPS 多路径效应的实用研究,[硕士论文], 武汉,武汉大学,2002 年 5 月
[18] 周坤芳,杨燕,王桂峰,干扰对 GPS 接收机伪距测量精度的影响,电子对抗技术,第 20 卷第 3期,2005 年 5 月,pp.25-28
[19] 周坤芳,李德武,周湘蓉,干扰对 GPS 接收机载波相位测量精度的影响,船舶电子工程,第 25卷第 4 期
[20] Bruce R Schupler,Thomas A Clark. Characterizing the behavior of geodetic GPS antennas,GPS World,Vol.12,No.39,Feb 2001,pp.48-56
[21] Brunner F.K,Hartinger H,Troyer L,GPS Signal Diffraction Modelling,the Stochastic SIGMA-? Model,Journal of Geodesy,vol.73,pp.259-267,1999.
[22] Dennis Roddy(张更新等译),卫星通信(第三版),北京,人民邮电出版社, 2002 年
[23] Dorota Grejner-Brzezinska,GPS Instrumentaion Issues,Published in "Manual of Geospatial Science and Technology",Taylor and Francis,2002.
[24] Duncan C B,Dunn C E,Estimating Attitude from GPS Measurements on One Antenna,Technical Support Package,NASA Tech Brief,Vol.22,No.6,Item #107,1998
[25] Gerald L Made,GPS Antenna Calibration at the national geodetic survey.
[26] Madsen J D.Robust ,Spacecraft Attitude Determination Using GPS Receivers.
[27] Mohinder S.Grewal et al.Global Positioning Systems,Inertial Navigation,and Integration. John Wiley & Sons, Inc, 2001.
[28] 邱仲潘,VISUAL C++6.0 从入门到精通,北京,电子工业出版社,355-467
[29] The NMEA-0183 Protocol,http://nmeatool.nmea2000.de/download/0183.pdf
[30] Reinhold Ludwig, Pavel Bretchko; RF Circuit Design: Theory and Applications,First Edition. Prentice Hall,1996:383
[31] 张冠百,锁相与频率合成,第一版,电子工业出版社,1994
[32] Paul Collins, Peter Stewart.Memorandum:GPS SNR Observations.Technical Report , Geodetic Research Laboratory, UNB, July 21,1999.
[33] Per Gustavsson,Development of a Matlab based GPS constellation simulation for Navigation algorithm developments,Master Thesis,Lulea University of Technology,Sweden,2005
[34] Sophie HETET , Signal-to-Noise Ratio Effects on the quality of GPS Observations.Masters Thesis,Geodetic Research Laboratory,UNB,August 30,2000.
[35] Reichert A K,Correction Algorithms for GPS Carrier Phase Multipath Utilizing the signal-to noise ratio.
[36] Ph.D Dissertation,University of Colorado,Boulder,1999.
[37] R B Langley,GPS Receiver System Noise,GPS World,Vol.8,No.6,June 1997,pp.40-45.
[38] R B Langley,A Primer on GPS Antennas,GPS World,Vol.9,No.7,July 1998,pp.50-54.
[39] Waldemar Kunysz,High Performance GPS Pinwheel Antenna,Proceedings of ION GPS,2000.
[40] H.Stewart Cobb,GPS Pseudolites:Theory,Design,and Applcations,2004
[41] D.R.Anderson ans P.A.Wintz , Analysis of a Spread Coverage , Defence Research Agency Farnborough,Hampshire,UK,1993
[42] C.E.Cohen,Attitude Determination using GPS,PhD thesis,Stanford University,1992
[43] Wang C,R A Walker,Single Antenna Attitude Determination for FedSat With Improved Antenna Gain Patterns,Australian International Aerospace Congress,2003,Brisbane.
[2] 刘基余,GPS 卫星导航定位原理与方法,北京,科学出版社,2003
[3] 陈秀万,伽利略导航卫星系统,北京,北京大学出版社,2005
[4] 王小金,王霞,认识“北斗一号”卫星定位导航系统,航海技术,Vol.1,2004
[5] Liwen,ChrisRizos and Jinling Wang,The Role of Pseudo-Satellite Signals in PreciseGPS-Based Postioning,Journal of Geospatial Engineering,Vol.3,No.1,33-34
[6] 成伟,GPS 精密定位误差及其相位多路径误差分析研究,[硕士论文],西安,长安大学,2003年 5 月
[7] D.Klein and B.W.Parkinson,The Use of Pseudolites for Improving GPS Performances,In Global Positioning System
[8] B.W. Parkinson and K.T.Fitzibbon,Optimal Locations of Pseudolites for Differerntial GPS,In Global Positioning System
[9] Radio Technical Commission for Maritime Services,RTCM Recommended Standards for Differential Navstar GPS Service,January 1994,RTCM Paper 194-93/SC104-STD,version2.1
[10] 李征航,黄劲松,GPS 测量与数据处理,武汉,武汉大学出版社,2005 年 3 月第一版
[11] 刘基余,李征航,王跃虎,桑吉章,全球定位系统原理及其应用,北京,测绘出版社,1993 年
[12] 柳响林,精密 GPS 动态定位的质量控制与随机模型优化,博士学位论文.武汉大学,武汉,2002年 5 月.
[13] 瞿清斌,齐维君,GPS 天线相位中心变化及测试.测绘科学,第 29 卷第 2 期,2004 年 4 月,pp.60-65.
[14] 宋铮,张建华,黄冶,天线与电波传播,西安,西安电子科技大学出版社,2003 年 4 月
[15] 吴晓进,GPS 和射频干扰,航天电子对抗,2005 年第三期,pp.1-4.
[16] 熊永良,丁晓利,变形监测中 GPS 信号衍射误差的环境建模法,测绘学报,第 34 卷第 4 期,2005(11), pp.283-288.
[17] 张波, 削弱 GPS 多路径效应的实用研究,[硕士论文], 武汉,武汉大学,2002 年 5 月
[18] 周坤芳,杨燕,王桂峰,干扰对 GPS 接收机伪距测量精度的影响,电子对抗技术,第 20 卷第 3期,2005 年 5 月,pp.25-28
[19] 周坤芳,李德武,周湘蓉,干扰对 GPS 接收机载波相位测量精度的影响,船舶电子工程,第 25卷第 4 期
[20] Bruce R Schupler,Thomas A Clark. Characterizing the behavior of geodetic GPS antennas,GPS World,Vol.12,No.39,Feb 2001,pp.48-56
[21] Brunner F.K,Hartinger H,Troyer L,GPS Signal Diffraction Modelling,the Stochastic SIGMA-? Model,Journal of Geodesy,vol.73,pp.259-267,1999.
[22] Dennis Roddy(张更新等译),卫星通信(第三版),北京,人民邮电出版社, 2002 年
[23] Dorota Grejner-Brzezinska,GPS Instrumentaion Issues,Published in "Manual of Geospatial Science and Technology",Taylor and Francis,2002.
[24] Duncan C B,Dunn C E,Estimating Attitude from GPS Measurements on One Antenna,Technical Support Package,NASA Tech Brief,Vol.22,No.6,Item #107,1998
[25] Gerald L Made,GPS Antenna Calibration at the national geodetic survey.
[26] Madsen J D.Robust ,Spacecraft Attitude Determination Using GPS Receivers.
[27] Mohinder S.Grewal et al.Global Positioning Systems,Inertial Navigation,and Integration. John Wiley & Sons, Inc, 2001.
[28] 邱仲潘,VISUAL C++6.0 从入门到精通,北京,电子工业出版社,355-467
[29] The NMEA-0183 Protocol,http://nmeatool.nmea2000.de/download/0183.pdf
[30] Reinhold Ludwig, Pavel Bretchko; RF Circuit Design: Theory and Applications,First Edition. Prentice Hall,1996:383
[31] 张冠百,锁相与频率合成,第一版,电子工业出版社,1994
[32] Paul Collins, Peter Stewart.Memorandum:GPS SNR Observations.Technical Report , Geodetic Research Laboratory, UNB, July 21,1999.
[33] Per Gustavsson,Development of a Matlab based GPS constellation simulation for Navigation algorithm developments,Master Thesis,Lulea University of Technology,Sweden,2005
[34] Sophie HETET , Signal-to-Noise Ratio Effects on the quality of GPS Observations.Masters Thesis,Geodetic Research Laboratory,UNB,August 30,2000.
[35] Reichert A K,Correction Algorithms for GPS Carrier Phase Multipath Utilizing the signal-to noise ratio.
[36] Ph.D Dissertation,University of Colorado,Boulder,1999.
[37] R B Langley,GPS Receiver System Noise,GPS World,Vol.8,No.6,June 1997,pp.40-45.
[38] R B Langley,A Primer on GPS Antennas,GPS World,Vol.9,No.7,July 1998,pp.50-54.
[39] Waldemar Kunysz,High Performance GPS Pinwheel Antenna,Proceedings of ION GPS,2000.
[40] H.Stewart Cobb,GPS Pseudolites:Theory,Design,and Applcations,2004
[41] D.R.Anderson ans P.A.Wintz , Analysis of a Spread Coverage , Defence Research Agency Farnborough,Hampshire,UK,1993
[42] C.E.Cohen,Attitude Determination using GPS,PhD thesis,Stanford University,1992
[43] Wang C,R A Walker,Single Antenna Attitude Determination for FedSat With Improved Antenna Gain Patterns,Australian International Aerospace Congress,2003,Brisbane.