GPS软件接收机算法研究与实现
摘要
随着全球卫星导航系统的迅速发展,新一代卫星导航接收机越来越受到研究者和工业界的关注。基于软件无线电思想的GPS软件接收机由于其功能的易重配性及信号处理单元的易实现性等优点,成为近些年国内外科研机构的研究热点。GPS软件接收机具有模块化、可编程、灵活和适应性强等特点,同时可兼容多种导航系统。通过软件接收机的研究,可以为研制我国自主的北斗导航系统接收机提供理论参考和借鉴。
本文主要对基于软件无线电思想的GPS接收机的算法进行了研究。首先介绍了GPS系统构成及卫星信号的组成、调制方式;其次讨论了GPS软件接收机的基带信号处理算法,包括GPS信号的捕获与跟踪,目的是得到GPS信号中的导航电文信息和C/A码相位、多普勒频移等观测量;然后分析了GPS定位算法,根据提取到的导航电文信息,得到GPS卫星在轨的瞬时位置,同时结合伪距信息,进行伪距方程的求解,最终解算出用户接收机的位置;最后,在对实际的硬件GPS接收机功能模块进行分析抽象的基础上,结合面向对象的思想,使用C++语言实现了一个软件接收机,并验证了最终的处理结果。
With the rapid development of the Global Navigation Satellite System, there is a growing tendency among the researchers who focus on realization of GNSS software receiver. Because of its advantages such as its easy reconfiguration characteristics of function module and easy to change property of signal processing module, the Software defined radio based receiver has been regarded as a hot research subject. GPS software radio receiver is developed for its advantages on modularization, programming, flexibility and adaptability. Also it is compatible with a variety of navigation systems. The study on GPS could provide reference for Chinese BD navigation system.
In the paper, the principles of GPS software receiver based on software radio are researched, and the algorithms for baseband signal processing and positioning resolution are mainly focused on. Firstly, the system architecture and the principles of GPS are introduced; then the signal format and modulation. Secondly, in order to obtain the navigation data, C/A code phase and Doppler frequency shift, the algorithms of baseband signal processing are discussed, including acquisition and tracking. Then, the algorithms of positioning resolution are analyzed. Navigation data and pseudo range are acquired from baseband processing results, thus user position would be calculated. Finally, a software radio receiver is implemented by using the C++ programming language, according to the analysis of the modules’properties of the hardware receiver and the theory of OOP.
本文主要对基于软件无线电思想的GPS接收机的算法进行了研究。首先介绍了GPS系统构成及卫星信号的组成、调制方式;其次讨论了GPS软件接收机的基带信号处理算法,包括GPS信号的捕获与跟踪,目的是得到GPS信号中的导航电文信息和C/A码相位、多普勒频移等观测量;然后分析了GPS定位算法,根据提取到的导航电文信息,得到GPS卫星在轨的瞬时位置,同时结合伪距信息,进行伪距方程的求解,最终解算出用户接收机的位置;最后,在对实际的硬件GPS接收机功能模块进行分析抽象的基础上,结合面向对象的思想,使用C++语言实现了一个软件接收机,并验证了最终的处理结果。
With the rapid development of the Global Navigation Satellite System, there is a growing tendency among the researchers who focus on realization of GNSS software receiver. Because of its advantages such as its easy reconfiguration characteristics of function module and easy to change property of signal processing module, the Software defined radio based receiver has been regarded as a hot research subject. GPS software radio receiver is developed for its advantages on modularization, programming, flexibility and adaptability. Also it is compatible with a variety of navigation systems. The study on GPS could provide reference for Chinese BD navigation system.
In the paper, the principles of GPS software receiver based on software radio are researched, and the algorithms for baseband signal processing and positioning resolution are mainly focused on. Firstly, the system architecture and the principles of GPS are introduced; then the signal format and modulation. Secondly, in order to obtain the navigation data, C/A code phase and Doppler frequency shift, the algorithms of baseband signal processing are discussed, including acquisition and tracking. Then, the algorithms of positioning resolution are analyzed. Navigation data and pseudo range are acquired from baseband processing results, thus user position would be calculated. Finally, a software radio receiver is implemented by using the C++ programming language, according to the analysis of the modules’properties of the hardware receiver and the theory of OOP.
引文
[1]谢钢. GPS原理与接收机设计[M].第一版.北京:电子工业出版社, 2009. 23-45
[2]陈军,潘高峰译. GPS软件接收机基础[M].第二版.北京:电子工业出版社,2007. 12-38
[3] E.Kaplan. Understanding GPS: Principles and Applications[M]. Second Edition. Artech House, Inc. 2006. 4-350
[4] P.Misra, P.Enge. Global Positioning System-Signals, Measurements, and Performance[M]. Second Edition. Ganga-Jamuna Press. 2004. 12-186
[5]周忠谟,易杰军,周琪. GPS卫星测量原理与应用[M].第一版.北京:测绘出版社,1997. 10-359
[6]邱致和,王万义译. GPS原理与应用[M].第一版.北京:电子工业出版社, 2002. 20-47
[7] R.Ronald, Hatch. Promise of a Third Frequency [J]. GPS World. Feb,1996,7(5). 55-58
[8] Enge, Per. Local Area Augmentation of GPS for the Precision Approach of Aircraft [C]. Proceedings of the IEEE. Jul,1999,87(1). 111-132
[9] S.Michael, A.J.Van. GPS Receiver Architectures and Measurements [C]. Proceedings of the IEEE. Jan,1999,87(1). 48-64
[10] B.Richard, Langley. GPS, the Ionosphere, and the Solar Maximum [J]. GPS World. Feb,2000,11(7). 44-49
[11] R.L.Bread, J.D.White. GPS Application to Time Transfer and Dissemination [J]. GPS Solutions. Jan,1999,3(1). 17-25
[12] J.William, Klepczynski. Modern Navigation Systems and Their Relation to Timekeeping [C]. Proceedings of the IEEE. Aug,1998,71(10). 1193-1198
[13]周广宇.微弱GPS信号的捕获与跟踪处理的研究与实现[D].上海交通大学硕士论文. 2009. 50-51
[14] R.Behrens, L.Scharf. Signal Processing Applications of Oblique Projection Operators [C]. IEEE Transactions on Signal Processing. Feb,1999,42(7). 1413-1424
[15]徐敏.实时GPS软件接收机研究与实现[D].上海交通大学硕士论文. 2007. 40-44
[16] N.Agarwal, J.Basch, P.Beckman. Algorithms for GPS Operation Indoors and Downtown [J]. GPS Solutions. Aug,2002,6(2). 149-160
[17] R.Van Nee. The Multipath Estimating Delay Lock Loop [C]. Proceedings of the IEEE. Aug,1999,13(9). 39-42
[18] R.Klukas, C.Ma, G-I.Jee. GPS Signal Fading Model for Urban Centres [C]. IEEE Proceedings of Microwaves, Antennas and Propogation. Aug,2003,150(19). 245-252
[19]王婵. GPS软件接收机基带处理算法的研究和实现[D].上海交通大学硕士论文. 2008. 20-21
[20] C.Hegarty. Analytical Derivation of Maximum Tolerable In-Band Interface Levels for Aviation Applications of GNSS [J]. Navigation: Journal of the ION. May,1997,44(1). 25-34
[21] J.Betz, K.Kolodziejski. Extended Theory of Early-Late-Code Tracking for a Band-limited GPS Receiver [J]. Navigation: Journal of the Institute of Navigation. Jan,2000,47(3). 211-226
[22] P.Lewis, W.Weingarten. A Comparison of Second, Third, and Fourth Order Phase-Locked Loops [C]. IEEE Transactions on Aerospace and Electronic Systems. Jul,1999,3(4). 720-727
[23]曹意. GPS软件接收机的实现与定位算法研究[D].上海交通大学硕士论文. 2009. 33-35
[24] K.Woo. Optimum Semi-codeless Carrier-Phase Tracking of L2 [J]. Navigation: Journal of the Institute of Navigation. Jan,2000,47(2). 117-126
[25] D.Shaeffer, A.Shahani, S.Mohan. A 115-mW,0.5-um CMOS GPS Receiver with Wide Dynamic-Range Active Filters [J]. IEEE Journal of the Solid-State Circuits. Dec,1998,33(12). 2219-2231
[26] F.Piazza, Q.Huang. A 1.57-GHz RF Front-End for Triple Conversion GPS Receiver [J]. IEEE Journal of Solid-State Circuits. Feb,1998,33(2). 193-198
[27]李旸.Galileo软件接收机设计及其关键算法的研究[D].上海交通大学硕士论文. 2008. 50-56
[28]宋嫡儿. GNSS软件接收机同步技术研究[D].上海交通大学硕士论文. 2006. 10-15
[29] B.Liao, H.Yuan, B.Lin. Smoother and Bayesian Filter based Semi-Codeless Tracking of Dual-Frequency GPS Signals [J]. Science in China Series F. Oct,2006,49(4). 16-23
[30] J.D.Powell, P.Enge. Design and Performance Analysis of an Aided DeadReckoning Navigation System [J]. Gyroscopy and Navigation. Aug,2001,4(35). 83-92
[31] Y.Gao, E.Krakiwsky, J.McLellan. Comparison and Analysis of Centralized, Decentralized, and Federated Filters [J]. Navigation. Jan,1999,40(5). 69-86
[32]鲍雍荣. GPS软件接收机的C++/Matlab实现[D].上海交通大学硕士论文. 2007. 43-58
[33] J.C.Gerdes, C.Carlson. Error Sources When Land Vehicle Dead Reckoning with Differential Wheelspeeds [J]. Navigation: Journal of the Institute of Navigation. Jan,2004,51(1). 13-27
[34] M.Abdullah, D.Walsh. Effects of Ionospheric Horizontal Gradients on Differential GPS [J]. Acta Geophys. Dec,2007,55(4). 93-98
[35] D.Chen, G.Lachapelle. A Comparison of the FASF and Least-Squares Search Algorithms for on-the-Fly Ambiguity Resolution [J]. Navigation: Journal of the Institute of Navigation. Jan,2000,42(2). 371-390
[36] A.Hassibi, S.Boyd. Integer Parameter Estimation in Linear Models with Applications to GPS [C]. IEEE Transactions on Signal Processing. Jul,1998,46(11). 413-424
[37] B.Remondi. Performing Centimeter-Level Surveys in Seconds with GPS Carrier Phase: Initial Results [J]. Navigation: Journal of the Institute of Navigation. Jan,1997,32(4). 386-400
[38] P.Teunissen. A Theorem on Maximizing the Probability of Correct Integer Estimation [J]. Artificial Satellites. Feb,1999,34(1). 3-11
[39] F.Van, M.Braasch. GPS Interferometric Attitude and Heading Determination: Initial Flight Test Results [J]. Navigation: Journal of the Institute of Navigation. Nov,1999,38(4). 286-304
[40] J.Wang, M.Stewart. A Comparative Study of the Integer Ambiguity Validation Procedures [J]. Earth Planets Space. Feb,2000,52(10). 813-817
[41] J.Wang. Tropospheric Delay Estimation for Pseudolite Positioning [J]. Journal of Global Positioning Systems. Jun,2005,4(2). 106-112
[42]王智.高动态多普勒条件下的扩频接收技术研究[D].上海交通大学硕士论文. 2007. 10-12
[43]杨俊,武奇生. GPS基本原理及其MATLAB仿真[M].第一版.西安:西安电子科技大学出版社, 2006. 34-56
[44] M.Sturza. Navigation System Integrity Monitoring Using Redundant Measurements [J]. Navigation. Nov,1999,35(4). 486-504
[45] P.Ptasinski, F.Ceceja. Altitude Aiding for GPS System Using Elevation Map Datasets [J]. Navigation: Journal of the Institute of Navigation. Sep,2002,55(3). 451-462
[46] B.Parkinson, P.Axelard. Autonomous GPS Integrity Monitoring Using the Pseudorange Residual [J]. Navigation: Journal of the Institute of Navigation. Oct,1998,35(2). 255-274
[47] K.Larson, J.Levine. Time Transfer Using the Phase of the GPS Carrier [C]. IEEE Transactions on Ultrasonics Ferroelectronics and Frequency Control. Feb,1998,45(8). 539-540
[48] H.Black, A.Eisner. Correcting Satellite Doppler Data for Tropospheric Effects [J]. Journal of Geophysical Research. Nov,1994,89(D2). 2616-2626
[49]钱能. C++程序设计教程[M].第二版.北京:清华大学出版社, 2005. 4-550
[50]隋思涟,王岩. MATLAB语言与工程数据分析[M].第一版.北京:清华大学出版社, 2009. 10-256
[51]丁玉美,高西全.数字信号处理[M].第二版.西安:西安电子科技大学出版社, 2001. 11-146
[52]曾兴雯,刘乃安,孙献璞.扩展频谱通信及其多址技术[M].第一版.西安:西安电子科技大学出版社,2004. 6-18
[53]陈怀琛.数字信号处理教程—MATLAB释义与实现[M].第一版.北京:电子工业出版社, 2004. 14-311
[2]陈军,潘高峰译. GPS软件接收机基础[M].第二版.北京:电子工业出版社,2007. 12-38
[3] E.Kaplan. Understanding GPS: Principles and Applications[M]. Second Edition. Artech House, Inc. 2006. 4-350
[4] P.Misra, P.Enge. Global Positioning System-Signals, Measurements, and Performance[M]. Second Edition. Ganga-Jamuna Press. 2004. 12-186
[5]周忠谟,易杰军,周琪. GPS卫星测量原理与应用[M].第一版.北京:测绘出版社,1997. 10-359
[6]邱致和,王万义译. GPS原理与应用[M].第一版.北京:电子工业出版社, 2002. 20-47
[7] R.Ronald, Hatch. Promise of a Third Frequency [J]. GPS World. Feb,1996,7(5). 55-58
[8] Enge, Per. Local Area Augmentation of GPS for the Precision Approach of Aircraft [C]. Proceedings of the IEEE. Jul,1999,87(1). 111-132
[9] S.Michael, A.J.Van. GPS Receiver Architectures and Measurements [C]. Proceedings of the IEEE. Jan,1999,87(1). 48-64
[10] B.Richard, Langley. GPS, the Ionosphere, and the Solar Maximum [J]. GPS World. Feb,2000,11(7). 44-49
[11] R.L.Bread, J.D.White. GPS Application to Time Transfer and Dissemination [J]. GPS Solutions. Jan,1999,3(1). 17-25
[12] J.William, Klepczynski. Modern Navigation Systems and Their Relation to Timekeeping [C]. Proceedings of the IEEE. Aug,1998,71(10). 1193-1198
[13]周广宇.微弱GPS信号的捕获与跟踪处理的研究与实现[D].上海交通大学硕士论文. 2009. 50-51
[14] R.Behrens, L.Scharf. Signal Processing Applications of Oblique Projection Operators [C]. IEEE Transactions on Signal Processing. Feb,1999,42(7). 1413-1424
[15]徐敏.实时GPS软件接收机研究与实现[D].上海交通大学硕士论文. 2007. 40-44
[16] N.Agarwal, J.Basch, P.Beckman. Algorithms for GPS Operation Indoors and Downtown [J]. GPS Solutions. Aug,2002,6(2). 149-160
[17] R.Van Nee. The Multipath Estimating Delay Lock Loop [C]. Proceedings of the IEEE. Aug,1999,13(9). 39-42
[18] R.Klukas, C.Ma, G-I.Jee. GPS Signal Fading Model for Urban Centres [C]. IEEE Proceedings of Microwaves, Antennas and Propogation. Aug,2003,150(19). 245-252
[19]王婵. GPS软件接收机基带处理算法的研究和实现[D].上海交通大学硕士论文. 2008. 20-21
[20] C.Hegarty. Analytical Derivation of Maximum Tolerable In-Band Interface Levels for Aviation Applications of GNSS [J]. Navigation: Journal of the ION. May,1997,44(1). 25-34
[21] J.Betz, K.Kolodziejski. Extended Theory of Early-Late-Code Tracking for a Band-limited GPS Receiver [J]. Navigation: Journal of the Institute of Navigation. Jan,2000,47(3). 211-226
[22] P.Lewis, W.Weingarten. A Comparison of Second, Third, and Fourth Order Phase-Locked Loops [C]. IEEE Transactions on Aerospace and Electronic Systems. Jul,1999,3(4). 720-727
[23]曹意. GPS软件接收机的实现与定位算法研究[D].上海交通大学硕士论文. 2009. 33-35
[24] K.Woo. Optimum Semi-codeless Carrier-Phase Tracking of L2 [J]. Navigation: Journal of the Institute of Navigation. Jan,2000,47(2). 117-126
[25] D.Shaeffer, A.Shahani, S.Mohan. A 115-mW,0.5-um CMOS GPS Receiver with Wide Dynamic-Range Active Filters [J]. IEEE Journal of the Solid-State Circuits. Dec,1998,33(12). 2219-2231
[26] F.Piazza, Q.Huang. A 1.57-GHz RF Front-End for Triple Conversion GPS Receiver [J]. IEEE Journal of Solid-State Circuits. Feb,1998,33(2). 193-198
[27]李旸.Galileo软件接收机设计及其关键算法的研究[D].上海交通大学硕士论文. 2008. 50-56
[28]宋嫡儿. GNSS软件接收机同步技术研究[D].上海交通大学硕士论文. 2006. 10-15
[29] B.Liao, H.Yuan, B.Lin. Smoother and Bayesian Filter based Semi-Codeless Tracking of Dual-Frequency GPS Signals [J]. Science in China Series F. Oct,2006,49(4). 16-23
[30] J.D.Powell, P.Enge. Design and Performance Analysis of an Aided DeadReckoning Navigation System [J]. Gyroscopy and Navigation. Aug,2001,4(35). 83-92
[31] Y.Gao, E.Krakiwsky, J.McLellan. Comparison and Analysis of Centralized, Decentralized, and Federated Filters [J]. Navigation. Jan,1999,40(5). 69-86
[32]鲍雍荣. GPS软件接收机的C++/Matlab实现[D].上海交通大学硕士论文. 2007. 43-58
[33] J.C.Gerdes, C.Carlson. Error Sources When Land Vehicle Dead Reckoning with Differential Wheelspeeds [J]. Navigation: Journal of the Institute of Navigation. Jan,2004,51(1). 13-27
[34] M.Abdullah, D.Walsh. Effects of Ionospheric Horizontal Gradients on Differential GPS [J]. Acta Geophys. Dec,2007,55(4). 93-98
[35] D.Chen, G.Lachapelle. A Comparison of the FASF and Least-Squares Search Algorithms for on-the-Fly Ambiguity Resolution [J]. Navigation: Journal of the Institute of Navigation. Jan,2000,42(2). 371-390
[36] A.Hassibi, S.Boyd. Integer Parameter Estimation in Linear Models with Applications to GPS [C]. IEEE Transactions on Signal Processing. Jul,1998,46(11). 413-424
[37] B.Remondi. Performing Centimeter-Level Surveys in Seconds with GPS Carrier Phase: Initial Results [J]. Navigation: Journal of the Institute of Navigation. Jan,1997,32(4). 386-400
[38] P.Teunissen. A Theorem on Maximizing the Probability of Correct Integer Estimation [J]. Artificial Satellites. Feb,1999,34(1). 3-11
[39] F.Van, M.Braasch. GPS Interferometric Attitude and Heading Determination: Initial Flight Test Results [J]. Navigation: Journal of the Institute of Navigation. Nov,1999,38(4). 286-304
[40] J.Wang, M.Stewart. A Comparative Study of the Integer Ambiguity Validation Procedures [J]. Earth Planets Space. Feb,2000,52(10). 813-817
[41] J.Wang. Tropospheric Delay Estimation for Pseudolite Positioning [J]. Journal of Global Positioning Systems. Jun,2005,4(2). 106-112
[42]王智.高动态多普勒条件下的扩频接收技术研究[D].上海交通大学硕士论文. 2007. 10-12
[43]杨俊,武奇生. GPS基本原理及其MATLAB仿真[M].第一版.西安:西安电子科技大学出版社, 2006. 34-56
[44] M.Sturza. Navigation System Integrity Monitoring Using Redundant Measurements [J]. Navigation. Nov,1999,35(4). 486-504
[45] P.Ptasinski, F.Ceceja. Altitude Aiding for GPS System Using Elevation Map Datasets [J]. Navigation: Journal of the Institute of Navigation. Sep,2002,55(3). 451-462
[46] B.Parkinson, P.Axelard. Autonomous GPS Integrity Monitoring Using the Pseudorange Residual [J]. Navigation: Journal of the Institute of Navigation. Oct,1998,35(2). 255-274
[47] K.Larson, J.Levine. Time Transfer Using the Phase of the GPS Carrier [C]. IEEE Transactions on Ultrasonics Ferroelectronics and Frequency Control. Feb,1998,45(8). 539-540
[48] H.Black, A.Eisner. Correcting Satellite Doppler Data for Tropospheric Effects [J]. Journal of Geophysical Research. Nov,1994,89(D2). 2616-2626
[49]钱能. C++程序设计教程[M].第二版.北京:清华大学出版社, 2005. 4-550
[50]隋思涟,王岩. MATLAB语言与工程数据分析[M].第一版.北京:清华大学出版社, 2009. 10-256
[51]丁玉美,高西全.数字信号处理[M].第二版.西安:西安电子科技大学出版社, 2001. 11-146
[52]曾兴雯,刘乃安,孙献璞.扩展频谱通信及其多址技术[M].第一版.西安:西安电子科技大学出版社,2004. 6-18
[53]陈怀琛.数字信号处理教程—MATLAB释义与实现[M].第一版.北京:电子工业出版社, 2004. 14-311