基于FPGA的GPS C/A码快捕算法的分析及研究
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摘要
随着社会的发展,人们对精确导航的需求与日俱增,现在许多国家国都在争相建立自己的卫星导航系统。卫星导航定位技术因为其在军事领域的重要应用,是关系国家安全的重要战略资源；同时在民用领域也具有广阔应用空间,有着非常好的的市场前景。GPS作为世界上最成熟的卫星导航系统,越来越多的人开始GPS接收机的相关研究。GPS信号捕获算法作为接收机中频信号处理的关键技术,也越来越受到重视。
本文首先对GPS及其他卫星导航系统进行简单的介绍。接着详细介绍了GPS卫星信号的结构,及生成方式,为后面要介绍的捕获算法打下基础。设计过程中首先分析了各种捕获算法的结构、性能、适用范围等,对信号捕获的方法有了一个大体的认识。通过对这些算法的研究,在自己要设计的捕获模块的指标的约束下确定了要采用的捕获方法,即基于相干积分与非相干积分结合的FFT伪码快速捕获方法。本算法理论上可以在40秒的时间内完成单颗卫星整个多普勒频域和所有码相位的搜索,如果在实现中用多路并行通道,这个时间还会大幅减少。
接着论文从理论上推导了该种方法中各种参数对捕获性能的影响,综合各种考虑,确定模块的各个设计参数。同时也验证了各模块在不同参数下的性能,比如将相干积分时间提高到1毫秒,对整个捕获模块的影响。算法确定后,第三章GPS卫星信号进行Matlab建模,对捕获算法进行了仿真验证,其中包括卫星中频信号的生成和卫星信号的捕获模块,证明了该方法的可行性。第四章以Xilinx公司的Vertex5XUPV5-LX110T开发板为平台,以modelsim为仿真软件,编写了各个模块的verilog代码,实现了算法。
The requirement to accurate navigation becomes stronger nowadays Along with society's progress and development. Many countries compete with foundation of their own satellite navigation system. The technology of satellite navigation and positioning is important strategic resources with national security because of its application in military field. It has very good market prospect with wide application in civil field as well. As is the most mature satellite navigation and positioning system in the world more and more people start to do research on GPS receiver. And they have big concern to acquisition algorithm of GPS signal which is the key point of IF signal processing in receiver.
The paper introduces the GPS and other satellite navigation and positioning system briefly initially. Then it elaborates the structure and generation method of GPS signal as the background of acquisition algorithm. The design part gives analysis to structure, performance and application scope with different acquisition algorithm firstly as a general view. The design adopts fast acquisition algorithm method of FFT PN code based on coherent and incoherent integration according to the goal and constraint. This algorithm implement search with whole Doppler frequency domain and code phase of single satellite in forty seconds theoretically. The time length could be reduced with parallel multi-channel.
And then the paper deduces the impact to the performance with different parameters by verification of performance under each parameter such as setting1macro second as coherent integration time. Thus the final parameters are fixed in design with optimization. The acquisition algorithm including IF signal generation and satellite signal acquisition is verified by simulation with modeling GPS signal based on Matlab in the third chapter. the design is implemented by verilog language based on Vertex5XUPV5-LX110T design kit of Xilinx company and Modelsim simulation platform in the fourth chapter.
本文首先对GPS及其他卫星导航系统进行简单的介绍。接着详细介绍了GPS卫星信号的结构,及生成方式,为后面要介绍的捕获算法打下基础。设计过程中首先分析了各种捕获算法的结构、性能、适用范围等,对信号捕获的方法有了一个大体的认识。通过对这些算法的研究,在自己要设计的捕获模块的指标的约束下确定了要采用的捕获方法,即基于相干积分与非相干积分结合的FFT伪码快速捕获方法。本算法理论上可以在40秒的时间内完成单颗卫星整个多普勒频域和所有码相位的搜索,如果在实现中用多路并行通道,这个时间还会大幅减少。
接着论文从理论上推导了该种方法中各种参数对捕获性能的影响,综合各种考虑,确定模块的各个设计参数。同时也验证了各模块在不同参数下的性能,比如将相干积分时间提高到1毫秒,对整个捕获模块的影响。算法确定后,第三章GPS卫星信号进行Matlab建模,对捕获算法进行了仿真验证,其中包括卫星中频信号的生成和卫星信号的捕获模块,证明了该方法的可行性。第四章以Xilinx公司的Vertex5XUPV5-LX110T开发板为平台,以modelsim为仿真软件,编写了各个模块的verilog代码,实现了算法。
The requirement to accurate navigation becomes stronger nowadays Along with society's progress and development. Many countries compete with foundation of their own satellite navigation system. The technology of satellite navigation and positioning is important strategic resources with national security because of its application in military field. It has very good market prospect with wide application in civil field as well. As is the most mature satellite navigation and positioning system in the world more and more people start to do research on GPS receiver. And they have big concern to acquisition algorithm of GPS signal which is the key point of IF signal processing in receiver.
The paper introduces the GPS and other satellite navigation and positioning system briefly initially. Then it elaborates the structure and generation method of GPS signal as the background of acquisition algorithm. The design part gives analysis to structure, performance and application scope with different acquisition algorithm firstly as a general view. The design adopts fast acquisition algorithm method of FFT PN code based on coherent and incoherent integration according to the goal and constraint. This algorithm implement search with whole Doppler frequency domain and code phase of single satellite in forty seconds theoretically. The time length could be reduced with parallel multi-channel.
And then the paper deduces the impact to the performance with different parameters by verification of performance under each parameter such as setting1macro second as coherent integration time. Thus the final parameters are fixed in design with optimization. The acquisition algorithm including IF signal generation and satellite signal acquisition is verified by simulation with modeling GPS signal based on Matlab in the third chapter. the design is implemented by verilog language based on Vertex5XUPV5-LX110T design kit of Xilinx company and Modelsim simulation platform in the fourth chapter.
引文
[1](北宋)沈括.梦溪笔谈.杂志一[M].上海：商务印书馆,1937.
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[4]谢钢.GPS原理与接收机设计.北京：电子工业出版社,2009
[5]百度百科,http://baike. baidu. com/
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[8]J.B.Y.Tsui.Fundamentals of Global Positioning System Receivers:A Software Approach,2nd Edition,Wiley Series, ISBN: 0471381543.
[9]P.W.Ward.GPS Receiver Serach Techniques[J].Proceding of IEEE Position Location and Navigation Symposium, April 1996, pp. 604-611.
[10]D. J. R. Van Nee.A. J. R. M. Coenen. New Fast GPS Code-Acquisition Technique Using FFT[J]. Electronic Letters,1991,vol.27, NO.2:158-160.
[11]D.M Lin, James B. Y. Tsui. Comparison of Acquisition Methods for Software GPS Receiver[A]. Proceedings of ION GPS 2000[C].Salt Lake City, UT; The Institute of Navigation, 2000. pp. 2385-2390.
[12]D. M Lin, James B. Y. Tsui. An Efficient Weak Signal Acquisition Algorithm for a Software GPS Receiver [A]. ION GPS 2001[C]. Salt Lake City, Utah:The Institute of Navigation, Sept. 2001. pp. 115-119.
[13]De Wilde, W.; Sleewaegen, J.-M.; Simsky, A.; Van Hees, J.; Vandewiele, C.; Peeters, E.; Grauwen, J.; Boon, F., Fast signal acquisition technology for new GPS/Galileo receivers[J].Position, Location, And Navigation Symposium,2006 IEEE/ION, pp:1074-1079.
[14]陈培,王云,陈杰.短时相关和FFT相结合的伪码快速捕获算法[J].电子科技大学学报2009年1月,第38卷,第1期.
[15]Kent Krumvieda,Premal Madhani,Chad Cloman,Eric Olson,John Thomas,Penina Axelrad and Wolfgang Kober, A Complete IF Software GPS Receiver:A Tutorial about the Details ION GPS[J].Salt Lake City, UT, PP:789-829, September 2001.
[16]Cheng U,Hurd W.J,Statman J.I.Spread-spectrum code acquisition in the presence of Doppler shift and data modulation Communications[J].IEEE Transactions on Volume: 38, Issue:2 February 1990.
[17]Akos,Dennis Matthew.A software radio approach to global navigation satellite system receiver design Thesis (Ph.D.)--Ohio University, 1997.
[18]Manandha D,Suh Y,Shibasaki R.GPS Signal Acquisition and Tracking An Approach towards Development of Software-based GPS Receiver[J].IEIC Technical Report.July 2004.
[19]Parkinson B., Spilker J.Global Positioning System:Theory and Applications American Institute of Aeronautics and Astronautics [M].1996.
[20]Bo Zheng,Gerard Lachapelle.GPS Software Receiver Enhancements for Indoor Use[J]. ION GNSS 2005 (Session C3).
[21]雷蕾.GPS信号捕获、跟踪算法研究[D].电子科技大学,2010.
[22]曹家昆.GPS软件接收机的捕获与跟踪技术研究[D].西安理工大学,2010.
[23]熊中喜.GPS接收机基带捕获跟踪的研究与实现[D].北京邮电大学,2010.
[24]刘石壮.GPS基带处理芯片的低功耗设计[D].西安电子科技大学,2011
[25]康嵩山.GPS信号捕获算法仿真及实现[D].西华大学,2010.
[26]刘华东.高动态GPS/BD-2软件接收机关键技术及其验证平台的设计与实现——锁相环及快速捕获方法的研究[D].北京邮电大学,2010.
[27]梁丽芳.基于FPGA利用FFT算法实现GPS C/A码捕获的研究[D].大连海事大学,2009.
[28]黄鹏达.微弱GPS信号捕获算法研究[D].电子科技大学,2008.
[29]唐斌,刘富,张益青GNSS接收机发展趋势与研究思路分析[J].数字通信世界,2011,(S1).
[30]廖楚江.国产GNSS接收机技术的发展历程研究[J].科技创新导报,2010,(06).
[31]王尔申,张淑芳,胡青,姜毅,孙晓文.GPS接收机相关器技术研究及FPGA实现[J].系统仿真学报,2008,(13).
[32]石阳,刘光斌.基于FPGA技术的GPS卫星数字中频信号模拟器设计[J].航天控制,2007,(06).
[33]葛胜,王庆,曾庆喜,李传君GPS L2 CM码产生和同步的FPGA实现方法[J].舰船电子工程,2009,(02).
[34]徐济铭,林宝军.基于FPGA-DSP的GPS软件接收机算法研究[J].微计算机信息.2009,(02).
[35]陆娟,常青,张其善,张军.十二通道GPS信号发生器的硬件设计[J].遥测遥控,2003,(03).
[36]J. B. Tsui.Fundamental of global positioning system receivers a software approach [M], John Wiley & Sons,Inc,New York,pp.136-145.
[37]Kaplan E D.Understanding GPS Principles and Applications [M].Boston: Artech House, 1996.
[38]Psiaki M. L.Block Acquisition of Weak GPS Signals in a SoftwareReceiver[J].ION GPS-2001,11-14,Sep.2001,pp.1-13.
[39]VANNEE D J R,COENEN A J R M.New fast GPS code-acquisition technique using FFT [J]. Electronics Letters,1991,27(17):158-160.
[40]Nicolaj Bertelsen,Kai Borre,Peter Rinder.The GPS Code Software Receiver[D].Aalborg University. 2001.
[41]M.Braasch,A.J.Van Dierendonck,"GPS receiver architectures and measurements," Proc. of the IEEE, vol.87, no.1, pp.48-64, January, 1999.
[42]夏宇闻Verilog数字系统设计教程[M].北京：航空航天大学出版社.2003.
[43]孙航Xilin可编程逻辑器件的高级应用与设计技巧[M].北京：电子工业出版社.2004.
[44]王金明VerilogHDL程序设计教程[M].北京：人民邮电出版社.2004.
[45]杜建国VerilogHDL硬件描述语言[M].北京：国防工业出版社.2004.
[46]杨俊,武奇生.GPS基本原理及其Matlab仿真[M].西安电子科技大学出版社.2006.
[47]Uwe Meyer-Baese,刘凌,胡永生.数字信号处理的FPGA实现[M].清华大学出版社.2002.
[48]王旭东,潘明海.数字信号处理的FPGA实现[M].清华大学出版社.2011.
[49]田日才.扩频通信[M].清华大学出版社.2007.
[50]陈曦,丘志成,张鹏.基于Verilog HDL的通信系统设计[M].2009.
[51]易维勇,董绪荣,孟凡玉,郭晶GNSS单频软件接收机应用与编程[M].国防工业出版社.2010.
[2]关增建.指南针理论在中国历史上的演变[J].自然科学史研究.2005,02.
[3]TSUI.James,Bao-Yen.Fundamentals of global postioning system receivers software approach(Second Edition)电子工业出版社.2008.
[4]谢钢.GPS原理与接收机设计.北京：电子工业出版社,2009
[5]百度百科,http://baike. baidu. com/
[6]戴志军,柳林涛,许厚泽,刘根友.GPS软件接收机捕获算法的研究.大地测量与地球动力学.2006年8月,第26卷第3期
[7]Peter Rinder,Nicolaj Bertelsen.Design of a Single Frequency GPS Software Receiver, Master thesis, Aalborg University 2004.
[8]J.B.Y.Tsui.Fundamentals of Global Positioning System Receivers:A Software Approach,2nd Edition,Wiley Series, ISBN: 0471381543.
[9]P.W.Ward.GPS Receiver Serach Techniques[J].Proceding of IEEE Position Location and Navigation Symposium, April 1996, pp. 604-611.
[10]D. J. R. Van Nee.A. J. R. M. Coenen. New Fast GPS Code-Acquisition Technique Using FFT[J]. Electronic Letters,1991,vol.27, NO.2:158-160.
[11]D.M Lin, James B. Y. Tsui. Comparison of Acquisition Methods for Software GPS Receiver[A]. Proceedings of ION GPS 2000[C].Salt Lake City, UT; The Institute of Navigation, 2000. pp. 2385-2390.
[12]D. M Lin, James B. Y. Tsui. An Efficient Weak Signal Acquisition Algorithm for a Software GPS Receiver [A]. ION GPS 2001[C]. Salt Lake City, Utah:The Institute of Navigation, Sept. 2001. pp. 115-119.
[13]De Wilde, W.; Sleewaegen, J.-M.; Simsky, A.; Van Hees, J.; Vandewiele, C.; Peeters, E.; Grauwen, J.; Boon, F., Fast signal acquisition technology for new GPS/Galileo receivers[J].Position, Location, And Navigation Symposium,2006 IEEE/ION, pp:1074-1079.
[14]陈培,王云,陈杰.短时相关和FFT相结合的伪码快速捕获算法[J].电子科技大学学报2009年1月,第38卷,第1期.
[15]Kent Krumvieda,Premal Madhani,Chad Cloman,Eric Olson,John Thomas,Penina Axelrad and Wolfgang Kober, A Complete IF Software GPS Receiver:A Tutorial about the Details ION GPS[J].Salt Lake City, UT, PP:789-829, September 2001.
[16]Cheng U,Hurd W.J,Statman J.I.Spread-spectrum code acquisition in the presence of Doppler shift and data modulation Communications[J].IEEE Transactions on Volume: 38, Issue:2 February 1990.
[17]Akos,Dennis Matthew.A software radio approach to global navigation satellite system receiver design Thesis (Ph.D.)--Ohio University, 1997.
[18]Manandha D,Suh Y,Shibasaki R.GPS Signal Acquisition and Tracking An Approach towards Development of Software-based GPS Receiver[J].IEIC Technical Report.July 2004.
[19]Parkinson B., Spilker J.Global Positioning System:Theory and Applications American Institute of Aeronautics and Astronautics [M].1996.
[20]Bo Zheng,Gerard Lachapelle.GPS Software Receiver Enhancements for Indoor Use[J]. ION GNSS 2005 (Session C3).
[21]雷蕾.GPS信号捕获、跟踪算法研究[D].电子科技大学,2010.
[22]曹家昆.GPS软件接收机的捕获与跟踪技术研究[D].西安理工大学,2010.
[23]熊中喜.GPS接收机基带捕获跟踪的研究与实现[D].北京邮电大学,2010.
[24]刘石壮.GPS基带处理芯片的低功耗设计[D].西安电子科技大学,2011
[25]康嵩山.GPS信号捕获算法仿真及实现[D].西华大学,2010.
[26]刘华东.高动态GPS/BD-2软件接收机关键技术及其验证平台的设计与实现——锁相环及快速捕获方法的研究[D].北京邮电大学,2010.
[27]梁丽芳.基于FPGA利用FFT算法实现GPS C/A码捕获的研究[D].大连海事大学,2009.
[28]黄鹏达.微弱GPS信号捕获算法研究[D].电子科技大学,2008.
[29]唐斌,刘富,张益青GNSS接收机发展趋势与研究思路分析[J].数字通信世界,2011,(S1).
[30]廖楚江.国产GNSS接收机技术的发展历程研究[J].科技创新导报,2010,(06).
[31]王尔申,张淑芳,胡青,姜毅,孙晓文.GPS接收机相关器技术研究及FPGA实现[J].系统仿真学报,2008,(13).
[32]石阳,刘光斌.基于FPGA技术的GPS卫星数字中频信号模拟器设计[J].航天控制,2007,(06).
[33]葛胜,王庆,曾庆喜,李传君GPS L2 CM码产生和同步的FPGA实现方法[J].舰船电子工程,2009,(02).
[34]徐济铭,林宝军.基于FPGA-DSP的GPS软件接收机算法研究[J].微计算机信息.2009,(02).
[35]陆娟,常青,张其善,张军.十二通道GPS信号发生器的硬件设计[J].遥测遥控,2003,(03).
[36]J. B. Tsui.Fundamental of global positioning system receivers a software approach [M], John Wiley & Sons,Inc,New York,pp.136-145.
[37]Kaplan E D.Understanding GPS Principles and Applications [M].Boston: Artech House, 1996.
[38]Psiaki M. L.Block Acquisition of Weak GPS Signals in a SoftwareReceiver[J].ION GPS-2001,11-14,Sep.2001,pp.1-13.
[39]VANNEE D J R,COENEN A J R M.New fast GPS code-acquisition technique using FFT [J]. Electronics Letters,1991,27(17):158-160.
[40]Nicolaj Bertelsen,Kai Borre,Peter Rinder.The GPS Code Software Receiver[D].Aalborg University. 2001.
[41]M.Braasch,A.J.Van Dierendonck,"GPS receiver architectures and measurements," Proc. of the IEEE, vol.87, no.1, pp.48-64, January, 1999.
[42]夏宇闻Verilog数字系统设计教程[M].北京：航空航天大学出版社.2003.
[43]孙航Xilin可编程逻辑器件的高级应用与设计技巧[M].北京：电子工业出版社.2004.
[44]王金明VerilogHDL程序设计教程[M].北京：人民邮电出版社.2004.
[45]杜建国VerilogHDL硬件描述语言[M].北京：国防工业出版社.2004.
[46]杨俊,武奇生.GPS基本原理及其Matlab仿真[M].西安电子科技大学出版社.2006.
[47]Uwe Meyer-Baese,刘凌,胡永生.数字信号处理的FPGA实现[M].清华大学出版社.2002.
[48]王旭东,潘明海.数字信号处理的FPGA实现[M].清华大学出版社.2011.
[49]田日才.扩频通信[M].清华大学出版社.2007.
[50]陈曦,丘志成,张鹏.基于Verilog HDL的通信系统设计[M].2009.
[51]易维勇,董绪荣,孟凡玉,郭晶GNSS单频软件接收机应用与编程[M].国防工业出版社.2010.