卫星导航系统中二进制偏移载波调制信号同步算法研究
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摘要
卫星定位系统在军事和民用领域的使用已经日益广泛,因此卫星导航定位系统的建设都受到各国政府高度重视。目前,除了美国GPS卫星定位系统外,还有俄罗斯的GLONASS系统,以及欧盟正在建设的Galileo系统。中国建成了北斗一代,正在建设北斗二代系统。由于GPS系统和Galileo系统均使用二进制偏移载波调制(BOC)信号,因此对其同步技术的研究越来越受到国内外众多学者的重视。
在此背景下,本文对BOC信号进行研究。研究内容主要包括BOC信号的特性,BOC信号同步技术的研究以及其软件接收的方案设计。
首先,对于最早提出使用BOC信号的GPS M码(军用码)进行了介绍,主要介绍了M码的定义,频谱,调制方式等。然后对M码所使用的BOC信号性质进行了仿真分析,主要包括功率谱,自相关函数特性以及多径特性等。
针对BOC信号的特性,对其同步技术进行研究。由于信号的自相关多峰值特性,研究了其与普通扩频码同步方式的区别。然后对现有的BOC同步技术进行归类研究,总结各种方案的优缺点。
本文重点针对GPS M码所使用的BOC(10,5)这样的自相关函数多峰值信号,以单边带同步算法为基础,提出了基于FFT的单边带BOC同步方案,并对此方案进行了仿真验证和性能分析,并对该方案的优缺点进行了总结。
最后,作为文章的补充部分,以前面提出的改进的BOC同步技术为基础,对于使用BPSK/BOC信号的GPS/Galileo软件导航接收机进行系统框架设计,提出软件系统架构及流程设计方案。
Satellite Positioning System is used more and more widely in military and civil domain nowadays, so all the governments pay much attention to it. At present,besides GPS system there are many satellite navigation & positioning systems in development such as GLONASS by Russia, Galileo by Europe, and BeiDou-1 & BeiDou-2 systems by China. Binary Offset Carrier (BOC) that the GPS M code and Galileo signals use is recognized by more and more researchers.
In the background above, BOC signal is studied in the paper. The characters and synchronization of BOC signal are studied. It also concerns design of software receiver of BOC signal.
First, The GPS M code(military code) which use BOC signal is discussed. It mainly concerns the defining, spectrum and modulation types of M code. Then BOC signal which GPS M code uses is analyzed by computer simulation about power spectrum, correlation and multi-path.
Aiming at the characters of BOC signal, the synchronization methods are discussed. Because of the multi-peak in autocorrelation, the synchronization of BOC signal is different from that of normal spread spectrum signal. Then synchronization methods which are normally used are analyzed and the advantages of these methods are summarized.
Considering BOC(10,5) signals which GPS M code use and whose autocorrelation has multi-peaks, a new method using FFT technique is proposed and its performance is analyzed by computer simulation based on the sideband synchronization algorithm. Then the advantage and disadvantage of this method is discussed.
Finally, as a supplement of this paper, based on the new method concerned above, a GPS/Galileo software receiver of BPSK/BOC is designed. Software structure and date flow of this receiver are discussed.
在此背景下,本文对BOC信号进行研究。研究内容主要包括BOC信号的特性,BOC信号同步技术的研究以及其软件接收的方案设计。
首先,对于最早提出使用BOC信号的GPS M码(军用码)进行了介绍,主要介绍了M码的定义,频谱,调制方式等。然后对M码所使用的BOC信号性质进行了仿真分析,主要包括功率谱,自相关函数特性以及多径特性等。
针对BOC信号的特性,对其同步技术进行研究。由于信号的自相关多峰值特性,研究了其与普通扩频码同步方式的区别。然后对现有的BOC同步技术进行归类研究,总结各种方案的优缺点。
本文重点针对GPS M码所使用的BOC(10,5)这样的自相关函数多峰值信号,以单边带同步算法为基础,提出了基于FFT的单边带BOC同步方案,并对此方案进行了仿真验证和性能分析,并对该方案的优缺点进行了总结。
最后,作为文章的补充部分,以前面提出的改进的BOC同步技术为基础,对于使用BPSK/BOC信号的GPS/Galileo软件导航接收机进行系统框架设计,提出软件系统架构及流程设计方案。
Satellite Positioning System is used more and more widely in military and civil domain nowadays, so all the governments pay much attention to it. At present,besides GPS system there are many satellite navigation & positioning systems in development such as GLONASS by Russia, Galileo by Europe, and BeiDou-1 & BeiDou-2 systems by China. Binary Offset Carrier (BOC) that the GPS M code and Galileo signals use is recognized by more and more researchers.
In the background above, BOC signal is studied in the paper. The characters and synchronization of BOC signal are studied. It also concerns design of software receiver of BOC signal.
First, The GPS M code(military code) which use BOC signal is discussed. It mainly concerns the defining, spectrum and modulation types of M code. Then BOC signal which GPS M code uses is analyzed by computer simulation about power spectrum, correlation and multi-path.
Aiming at the characters of BOC signal, the synchronization methods are discussed. Because of the multi-peak in autocorrelation, the synchronization of BOC signal is different from that of normal spread spectrum signal. Then synchronization methods which are normally used are analyzed and the advantages of these methods are summarized.
Considering BOC(10,5) signals which GPS M code use and whose autocorrelation has multi-peaks, a new method using FFT technique is proposed and its performance is analyzed by computer simulation based on the sideband synchronization algorithm. Then the advantage and disadvantage of this method is discussed.
Finally, as a supplement of this paper, based on the new method concerned above, a GPS/Galileo software receiver of BPSK/BOC is designed. Software structure and date flow of this receiver are discussed.
引文
1王慧君,席献光. GPS M码综述.飞行器测控学报. 2004, (23): 14~20
2 B. C. Barker. Overview of the GPS M Code Signal. Proceedings of ION 2000 National Technical Meeting, Institute of Navigation, Anaheim, CA, January 2000: 542~549
3 J. Wolfrum and H. Trautenberg. Galileo-a technical concept for the European satellite navigation systems. INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS. Int. J. Satell. Commun. 2000, (18): 243~258
4 Loverro D. Global Positional System (GPS) Modernization. ION National Technical Meeting, Long Beach, CA, January 22224, 2001: 46~57
5 S. C. Fisher and K. Ghassemi. GPS IIF-The Next Generation, Proceedings of the IEEE, Vol. 87, No. 1, January 1999: 24~47
6廖春发.伽利略导航卫星系统——欧版GPS.太空探索. 2005, (1): 8~9
7丁辰,奔纬,刘长征,过静珺.伽利略全球卫星导航定位系统的体系结构. GNSS World of China. 2003, (4): 11~14
8李铁,孙贵新. Galileo卫星导航系统综述.国外电子测量技术. 2005, (24): 5~8
9 Chun Yang. FFT Acquisition of Periodic, Aperiodic, Puncture, and Overlaid Code Sequences in GPS. Proceedings of ION GPS 2001[C]. Salt Lake City: The Institute of Navigation, 2001, (9): 137~147
10 J. B. Lozow. Analysis of Direct P (Y)-Code Acquisition. Navigation. 1997, 44(1): 89~97
11 Psiaki, M. L. Block Acquisition of Weak GPS Signals in a Software Receiver. Proceedings of ION GPS/GNSS. Salt Lake City, UT, 2001, 11~14 September: 2838~2850
12 D.M. Lin, James B. Y. Tsui. Comparison of Acquisition Methods for Software GPS Receiver. Proceedings of ION GPS 2000. Salt Lake City, UT: The Institute of Navigation, 2000: 2385~2390
13 Logan Scott, A. Jovancevic, S. Ganguly. Rapid Signal Acquisition Techniques for Civilian & Military User Equipments Using DSP Based FFT Processing. Proceedings of ION GPS 2001. Salt Lake City, Utah: The Institute of Navigation,Sept. 2001: 2418~2427
14 P. Fishman, J. W. Betz. Predicting performance of direct acquisition for the M-code signal. Proc. of ION NMT, 2000: 574~582
15 Betz J W, Binary Offset Carrier Modulations for Radionavigation, Navigation. Journal of the Institute of Navigation, Winter 2001~2002, 48(4): 227~246
16 Fine P, Wilson W. Tracking Algorithm for GPS Offset Carrier Signals. Proceedings of ION 1999 NTM, San Diego, California, January 1999: 369~375
17 P. Ková?, Galileo Receiver Core Technologies. The 2004 International Symposium on GNSS/GPS. 2004, (12): 214~221.
18 PA Dafesh, GH Wang, VS Lin, T. Fan, KP Maine. The RF Compatibility Impact of Flexible Navigation Signal Combining Methods. Proc. of ION NMT, 2005: 423~428.
19邱致和. GPS M码信号的BOC调制.导航. 2005, (1): 1~18
20 Jack K. Holmes. A Summary of the New GPS IIR-M and IIF Modernization Signals. IEEE 60th Vehicular Technology Conf. 2004, (6): 4116~26
21 Fabio Dovis, Paolo Mulassano. Receivers-ⅡGalileo Signla-In-space. JEAGAL, Nanjing, 2005. EUROPEAID cooperation-office, 2005: 65~67
22 F. Nunes, F. Sousa and J. Leitao. Innovations-based Code Discriminator for GPS/Galileo BOC Signals. Vehicular Technology Conference, 2004. ieeexplore.ieee.org, 2004: 1~5
23 Olivier Julien, M. Elizabeth Cannon, Gerard Lachapelle. A New Unambiguous BOC(n,n) Signal Tracking Technique. CD-ROM Proceedings of the European Navigation Conference, 2004. plan.geomatics.ucalgary.ca, 2004: 2~3
24 Zhuang W, Tranquilla, J. Digital Baseband Processor for the GPS Receiver Modeling and Simulations Aerospace and Electronic Systems. IEEE Transactions. 1993, 29(4): 1343~1349
25 Alexandre Moudrak, et. al. Interoperability on time GPS-Galileo offset will bias position. GPS World, 2005, 3: 24~32
26 Van Diggelen F. Global Locate Indoor GPS Chipset & Services. Proc. ION-GPS, Salt Lake City, 2001: 1515~1521
27 Hegarty C, Tran M. Acquisition Algorithm for the GPS L5 Signal. Proc. ION-GPS, Portland, 2003: 165~177
28陈秀万,方裕,尹军,张怀清.伽利略导航卫星系统.北京大学出版社, 2005: 1~10
29 Nunes F, Sousa F, Leitao J. Innovations-based code discriminator for GPS-Galileo BOC signals. IEEE, 2004, 7(4): 4127~4131
30 A. J. Viterbi. CDMA扩频通信原理.人民邮电出版社. 1997: 37~72
31邢兆栋,张其善,杨东凯. GALILEO接收机中BOC(1,1)信号的捕获.北京航空航天大学学报. 2006, 32(6): 687~690
32 P. Fishman, J.W. Betz. Predicting performance of direct acquisition for the M-code signal. Proc. of ION NMT, 2000: 574~582
33 Martin N, Leblond V, Guillotel G. Heiries. BOC(x, y) signal acquisition techniques and performances. ION GPS/GNSS 2003. 2003, (9): 188~198
34 J. W. Betz. The Offset Carrier Modulation for GPS Modernization. Proceedings of ION 1999 National Technical Meeting, Institute of Navigation, 1999, (1): 639~648
35 Ronald L. Fante. Unambiguous Tracker for GPS Binary-Offset-Carrier Signals. MITRE Technical Papers Archive. 2004, (11): 158~164
36 Olivier Julien, M. Elizabeth Cannon, Gerard Lachapelle. A New Unambiguous BOC(n,n) Signal Tracking Technique. CD-ROM Proceedings of the European Navigation Conference, CA, 2004: 2~3
37连全斌,张乃通,张中兆.一种GPS系统P码直接捕获策略分析.遥控遥测. 2001, (22): 1~7
38任亚安,王鹏,许卫东,王新梅. GPS中P(Y)码直接捕获技术的研究进展.全球定位系统. 2003, (2): 1~9
39 R. G. Davenport. FFT Processing of Direct Sequence Spreading Codes Using Modern DSP Microprocessors. Proceedings of the IEEE National Aerospace and Electronics Conference, NAECON 1991, (1): 98~105
40 C. Spillard, et al. A Serial-Parallel FFT Correlator for PN Code Acquisition from LEO Satellites. IEEE SSSTA 1998, South Africa, September 2–4, 1998: 446~448
41 V. Heiries, D. Roviras, L. Ries, V. Calmettes. Analysis of Non Ambiguous BOC Signal Acquisition performance. ION GNSS 17th International Technical Meeting of the Satellite Division, 21-24 Sept, 2004: 2611~2622
42胡修林,周艳玲,唐祖平.导航信号的BOC调制方式.无线电工程, 2007, 37(3): 31~33
43 Dafesh P, Holmes J K, etal. Description and Analysis of Time-Multiplexed M-Code Data. In: ION 58th Annual Meeting. CIGTF 21st Guidance TestSymposium, Albuquerque, NM, June 24-26, 2002: 598~611
44 J. Wolfrum, H. Trautenberg. Galileo-a technical concept for the European satellite navigation systems. International Journal of Satellite Communications. 2000, (18): 243~258
45 Hegarty C, Tran M. Acquisition Algorithm for the GPS L5 Signal. Proc. ION-GPS, Portland. 2003: 165~177
46 Alkan, R. M, Karaman H, Sahin. M. GPS, GALILEO and GLONASS satellite navigation systems & GPS modernization. Recent Advances in Space Technologies. Proceedings of 2nd International Conference on 9-11 June 2005: 390~394
47 Quinlan. M, Burden. G, Rollet, S. Validation of novel navigation signal structures for future GNSS systems. Position Location and Navigation Symposium, PLANS 2004, April 26-29: 389~398
48 Weill. L. GPS Multipath Mitigation by Means of Correlator Reference Waveform Design. Proceedings of the US Institute of Navigation NTM, Santa Monica, CA, 1997, Jan. 14-16: 197~206
49 Gordon J. R. Povey. Spread Spectrum PN Code Acquisition ion Using Hybrid Correlator Architectures. Wireless Personal Communications. August, 1998: 151~164
50孙礼,王银峰,何川,张其善. GPS信号捕获与跟踪策略确定及实现.北京航空航天大学学报. 1999, 25(2): 134~137
51沈春允.扩谱技术.北京:国防工业出版社, 1995: 135~140
52蔡昌听,皮亦鸣.高灵敏度GPS技术的研究进展.全球定位系统, 2006, (2): 1~9
53 Kaplan, E. D. Understanding GPS Principles and Applications. Artech House, Norwood, MA, 1996: 17~32
54 F. Dovis, A. Gramazio, P. Mulassano. Design and test-bed implementation of a reconfigurable receiver for navigation applications. Wireless Communications and Mobile Computing. 2002, (2): 827~838
55 Akos Dennis M, Tsui James B.Y. Design and Inplementation of a Direct Digitization GPS Receiver Front End. IEEE Transactions on Microware Theory and Techniques. 1996, 12: 116~123
56 James Bao Yen Tsui. Fundamentals of Global Positioning System Receivers A Software Approach. John Wiley & Sons, Inc. Publication.2005: 1~7
2 B. C. Barker. Overview of the GPS M Code Signal. Proceedings of ION 2000 National Technical Meeting, Institute of Navigation, Anaheim, CA, January 2000: 542~549
3 J. Wolfrum and H. Trautenberg. Galileo-a technical concept for the European satellite navigation systems. INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS. Int. J. Satell. Commun. 2000, (18): 243~258
4 Loverro D. Global Positional System (GPS) Modernization. ION National Technical Meeting, Long Beach, CA, January 22224, 2001: 46~57
5 S. C. Fisher and K. Ghassemi. GPS IIF-The Next Generation, Proceedings of the IEEE, Vol. 87, No. 1, January 1999: 24~47
6廖春发.伽利略导航卫星系统——欧版GPS.太空探索. 2005, (1): 8~9
7丁辰,奔纬,刘长征,过静珺.伽利略全球卫星导航定位系统的体系结构. GNSS World of China. 2003, (4): 11~14
8李铁,孙贵新. Galileo卫星导航系统综述.国外电子测量技术. 2005, (24): 5~8
9 Chun Yang. FFT Acquisition of Periodic, Aperiodic, Puncture, and Overlaid Code Sequences in GPS. Proceedings of ION GPS 2001[C]. Salt Lake City: The Institute of Navigation, 2001, (9): 137~147
10 J. B. Lozow. Analysis of Direct P (Y)-Code Acquisition. Navigation. 1997, 44(1): 89~97
11 Psiaki, M. L. Block Acquisition of Weak GPS Signals in a Software Receiver. Proceedings of ION GPS/GNSS. Salt Lake City, UT, 2001, 11~14 September: 2838~2850
12 D.M. Lin, James B. Y. Tsui. Comparison of Acquisition Methods for Software GPS Receiver. Proceedings of ION GPS 2000. Salt Lake City, UT: The Institute of Navigation, 2000: 2385~2390
13 Logan Scott, A. Jovancevic, S. Ganguly. Rapid Signal Acquisition Techniques for Civilian & Military User Equipments Using DSP Based FFT Processing. Proceedings of ION GPS 2001. Salt Lake City, Utah: The Institute of Navigation,Sept. 2001: 2418~2427
14 P. Fishman, J. W. Betz. Predicting performance of direct acquisition for the M-code signal. Proc. of ION NMT, 2000: 574~582
15 Betz J W, Binary Offset Carrier Modulations for Radionavigation, Navigation. Journal of the Institute of Navigation, Winter 2001~2002, 48(4): 227~246
16 Fine P, Wilson W. Tracking Algorithm for GPS Offset Carrier Signals. Proceedings of ION 1999 NTM, San Diego, California, January 1999: 369~375
17 P. Ková?, Galileo Receiver Core Technologies. The 2004 International Symposium on GNSS/GPS. 2004, (12): 214~221.
18 PA Dafesh, GH Wang, VS Lin, T. Fan, KP Maine. The RF Compatibility Impact of Flexible Navigation Signal Combining Methods. Proc. of ION NMT, 2005: 423~428.
19邱致和. GPS M码信号的BOC调制.导航. 2005, (1): 1~18
20 Jack K. Holmes. A Summary of the New GPS IIR-M and IIF Modernization Signals. IEEE 60th Vehicular Technology Conf. 2004, (6): 4116~26
21 Fabio Dovis, Paolo Mulassano. Receivers-ⅡGalileo Signla-In-space. JEAGAL, Nanjing, 2005. EUROPEAID cooperation-office, 2005: 65~67
22 F. Nunes, F. Sousa and J. Leitao. Innovations-based Code Discriminator for GPS/Galileo BOC Signals. Vehicular Technology Conference, 2004. ieeexplore.ieee.org, 2004: 1~5
23 Olivier Julien, M. Elizabeth Cannon, Gerard Lachapelle. A New Unambiguous BOC(n,n) Signal Tracking Technique. CD-ROM Proceedings of the European Navigation Conference, 2004. plan.geomatics.ucalgary.ca, 2004: 2~3
24 Zhuang W, Tranquilla, J. Digital Baseband Processor for the GPS Receiver Modeling and Simulations Aerospace and Electronic Systems. IEEE Transactions. 1993, 29(4): 1343~1349
25 Alexandre Moudrak, et. al. Interoperability on time GPS-Galileo offset will bias position. GPS World, 2005, 3: 24~32
26 Van Diggelen F. Global Locate Indoor GPS Chipset & Services. Proc. ION-GPS, Salt Lake City, 2001: 1515~1521
27 Hegarty C, Tran M. Acquisition Algorithm for the GPS L5 Signal. Proc. ION-GPS, Portland, 2003: 165~177
28陈秀万,方裕,尹军,张怀清.伽利略导航卫星系统.北京大学出版社, 2005: 1~10
29 Nunes F, Sousa F, Leitao J. Innovations-based code discriminator for GPS-Galileo BOC signals. IEEE, 2004, 7(4): 4127~4131
30 A. J. Viterbi. CDMA扩频通信原理.人民邮电出版社. 1997: 37~72
31邢兆栋,张其善,杨东凯. GALILEO接收机中BOC(1,1)信号的捕获.北京航空航天大学学报. 2006, 32(6): 687~690
32 P. Fishman, J.W. Betz. Predicting performance of direct acquisition for the M-code signal. Proc. of ION NMT, 2000: 574~582
33 Martin N, Leblond V, Guillotel G. Heiries. BOC(x, y) signal acquisition techniques and performances. ION GPS/GNSS 2003. 2003, (9): 188~198
34 J. W. Betz. The Offset Carrier Modulation for GPS Modernization. Proceedings of ION 1999 National Technical Meeting, Institute of Navigation, 1999, (1): 639~648
35 Ronald L. Fante. Unambiguous Tracker for GPS Binary-Offset-Carrier Signals. MITRE Technical Papers Archive. 2004, (11): 158~164
36 Olivier Julien, M. Elizabeth Cannon, Gerard Lachapelle. A New Unambiguous BOC(n,n) Signal Tracking Technique. CD-ROM Proceedings of the European Navigation Conference, CA, 2004: 2~3
37连全斌,张乃通,张中兆.一种GPS系统P码直接捕获策略分析.遥控遥测. 2001, (22): 1~7
38任亚安,王鹏,许卫东,王新梅. GPS中P(Y)码直接捕获技术的研究进展.全球定位系统. 2003, (2): 1~9
39 R. G. Davenport. FFT Processing of Direct Sequence Spreading Codes Using Modern DSP Microprocessors. Proceedings of the IEEE National Aerospace and Electronics Conference, NAECON 1991, (1): 98~105
40 C. Spillard, et al. A Serial-Parallel FFT Correlator for PN Code Acquisition from LEO Satellites. IEEE SSSTA 1998, South Africa, September 2–4, 1998: 446~448
41 V. Heiries, D. Roviras, L. Ries, V. Calmettes. Analysis of Non Ambiguous BOC Signal Acquisition performance. ION GNSS 17th International Technical Meeting of the Satellite Division, 21-24 Sept, 2004: 2611~2622
42胡修林,周艳玲,唐祖平.导航信号的BOC调制方式.无线电工程, 2007, 37(3): 31~33
43 Dafesh P, Holmes J K, etal. Description and Analysis of Time-Multiplexed M-Code Data. In: ION 58th Annual Meeting. CIGTF 21st Guidance TestSymposium, Albuquerque, NM, June 24-26, 2002: 598~611
44 J. Wolfrum, H. Trautenberg. Galileo-a technical concept for the European satellite navigation systems. International Journal of Satellite Communications. 2000, (18): 243~258
45 Hegarty C, Tran M. Acquisition Algorithm for the GPS L5 Signal. Proc. ION-GPS, Portland. 2003: 165~177
46 Alkan, R. M, Karaman H, Sahin. M. GPS, GALILEO and GLONASS satellite navigation systems & GPS modernization. Recent Advances in Space Technologies. Proceedings of 2nd International Conference on 9-11 June 2005: 390~394
47 Quinlan. M, Burden. G, Rollet, S. Validation of novel navigation signal structures for future GNSS systems. Position Location and Navigation Symposium, PLANS 2004, April 26-29: 389~398
48 Weill. L. GPS Multipath Mitigation by Means of Correlator Reference Waveform Design. Proceedings of the US Institute of Navigation NTM, Santa Monica, CA, 1997, Jan. 14-16: 197~206
49 Gordon J. R. Povey. Spread Spectrum PN Code Acquisition ion Using Hybrid Correlator Architectures. Wireless Personal Communications. August, 1998: 151~164
50孙礼,王银峰,何川,张其善. GPS信号捕获与跟踪策略确定及实现.北京航空航天大学学报. 1999, 25(2): 134~137
51沈春允.扩谱技术.北京:国防工业出版社, 1995: 135~140
52蔡昌听,皮亦鸣.高灵敏度GPS技术的研究进展.全球定位系统, 2006, (2): 1~9
53 Kaplan, E. D. Understanding GPS Principles and Applications. Artech House, Norwood, MA, 1996: 17~32
54 F. Dovis, A. Gramazio, P. Mulassano. Design and test-bed implementation of a reconfigurable receiver for navigation applications. Wireless Communications and Mobile Computing. 2002, (2): 827~838
55 Akos Dennis M, Tsui James B.Y. Design and Inplementation of a Direct Digitization GPS Receiver Front End. IEEE Transactions on Microware Theory and Techniques. 1996, 12: 116~123
56 James Bao Yen Tsui. Fundamentals of Global Positioning System Receivers A Software Approach. John Wiley & Sons, Inc. Publication.2005: 1~7