基于GNSS信号模拟器的地球条件下空间物体接收器的测试（英文）

提出了一种利用导航场GNSS信号模拟器对空间物体接收器进行测试的技术。其结构由两大模块组成,用以合成接收器与导航卫星的相对位移的场景及信号。在第一个模块中,根据已知的以表格形式或分析方法得到的接收器坐标,计算出接收器与导航卫星之间的距离以及它们的相对速度。根据这些数据,在第二个模块中,将导航旅行者信号和特定特征进行了合成,这些信号通过空气或电缆传输,到达接收器有一定的衰减。这允许在不同的运动场景下对飞机和太空物体的地面接收器进行测试,既降低了飞行过程中出现问题的风险,又可以避免巨大的经济成本。利用模拟器接近两艘宇宙飞船获得的真实数据对接收器进行了测试,展示了所研究技术的前景。     

一种GPS软件接收机的设计

随着软件无线电技术的发展,基于软件无线电思想的GPS软件接收机技术取得了长足进展,并成为新一代GPS接收机研制的热点.基于GPS卫星C/A码信号模型,完成了一种基于FFT算法的卫星信号的捕获仿真;设计了一种基于四相鉴频器,锁频环和锁相环的混合载波跟踪算法;设计了一种导航数据的解调算法,完成了卫星信号的导航解算:仿真结果表明,所设计的软件接收机能较好地对卫星信号进行捕获,能准确跟踪含有不同变化规律多普勒频率的载波,并能止确的解调出导航数据.     

对流层延迟修正的实证模型

针对对流层延迟问题,考虑测量时对流层的折射率,采用标准模型计算对流层修正概率。经大量实验研究得到对流层延迟修正模型,它可以减少坐标测量误差约30％,海拔测量误差约40％。     

GNSS定位接收器的校准

目前,全球导航卫星系统(Global navigation satellite system,GNSS)接收器不仅是精密测量的主要工具,而且还用于大地测量、地球物理和许多其他工业应用中。确保GNSS测量精度、通用性和寿命的唯一方法是对其接收机进行校准。本文讨论了影响单台GNSS接收机标定精度的参数,并根据以往的经验研究,建立了一个大地基准点作为校准的参考。此外,还讨论了这种校准对国际单位(Systeme international unit,SI unit)的可追溯性。通过三年多的长期测量,验证了基准点的稳定性。最后,对单台样本GNSS接收机进行了标定,并推导了不确定度计算公式。     

抗电磁干扰的无人机GPS/INS组合导航方法

无人机应用于电力巡线时,高压电力故障导致的异常放电可能会产生复杂而且强大的电磁场,会严重影响GPS的信号质量和定位精度,影响无人机的正常导航,因此必需考虑电磁环境对GPS信号和无人机导航性能的影响。提出一种根据GPS数据可信度进行加权的自适应卡尔曼滤波导航算法,通过GPS和内部导航系统(INS)的数据偏差幅度反映GPS数据可信度,利用模糊逻辑算法计算加权值,分配GPS在组合导航中的权重,研发出一种结合GPS和INS的模糊组合导航方法。仿真和实验结果显示,该算法在GPS数据受电磁干扰失真的情况下,调整GPS数据在组合导航中的权重,使组合导航输出的位置和速度误差控制在可行范围内,保证了组合导航的精度。     

大动态范围闪烁晶体荧光模拟器的设计

针对暗物质粒子探测卫星(DMPES)锗酸铋(BGO)量能器探测单元的标定需要,设计了一种用发光二极管(LED)作为光源的闪烁晶体荧光模拟器。首先,利用光电倍增管(PMT)测量BGO晶体在宇宙线辐射下的荧光脉冲,对脉冲波形建模拟合,并将波形存储到可编程信号发生器中。然后,选择一种峰值波长与BGO晶体的荧光发射波长相近,且其光通量与工作电流的线性度较好的LED,设计LED驱动电路,令LED的工作电流与模拟器输入的模拟电压信号幅度成正比。最后,利用信号发生器输出模拟的BGO晶体荧光脉冲波形至驱动电路,使LED发光,并利用积分球将LED的荧光通过光纤均匀地输出到多个PMT。实验结果表明:模拟器光脉冲测试结果与对BGO晶体实际测试的结果相似,光强覆盖PMT的2,5,8个打拿极(Dynode)输出,动态范围达4.11×103倍,满足暗物质粒子探测卫星BGO量能器地面检测系统的需求。该荧光模拟器也可用于同类闪烁晶体探测器系统的检测和标定。     

小波滤波在时间同步系统中应用研究

利用全球导航卫星系统(GNSS)接收机输出的秒脉冲(1PPS)信号作为标准信号,对本地振荡器输出的1PPS信号实施同步,实现了时间同步系统。针对GNSS接收机输出的1PPS信号抖动噪声对时间同步系统同步性能的影响,研究了一种抑制抖动影响的滤波器。滤波器采用小波滤波器结合滑动平均滤波器的方式,其中小波滤波采用自定义的阈值及阈值函数。对所实现的滤波器开展了滤波处理实验,实验结果表明,该滤波方案对GNSS接收机输出的1PPS信号的噪声抑制效果优于常用的卡尔曼滤波器,所实现的时间同步系统输出的1PPS信号精度达到1.17 ns,相比于GNSS接收机输出的1PPS信号精度提高一个数量级。     

回波模拟器的研制及对卫星雷达高度计发射前的性能评估

给出了回波模拟器的原理及其对卫星高度计的测试和定标方法.通过采用chirp重建技术、全去斜坡技术、海洋回波波谱数字合成技术和高速DSP技术,研制了一台用于卫星高度计测试和定标的全信号海洋回波模拟器,实现了海洋回波信号的全程路径延时模拟和全海况模拟.延时模拟精度为0.2ns、海洋有效波高模拟精度为0.5m、后向散射系数模拟精度为1dB;并将该模拟器用于了卫星高度计全系统的测试和定标.实验结果:有效验证了回波模拟器的原理及其对卫星高度计的测试和定标方法是可行的,也有效验证了一种卫星高度计的动态工作性能.     

基于51单片机与GSM的GPS卫星定位系统设计

设计了一款精准度较高、定位快速、方便携带的GPS卫星定位系统。卫星定位数据通过GPS信号接收模块传递给单片机,经单片机处理后通过LCD1602液晶屏幕显示定位信息,并通过GSM模块将定位信息发送至其他终端设备。测试结果表明：基于51单片机与GSM的GPS卫星定位系统可以实现定位信息的准确获取,而且结构简单、易于操作。     

基于直接数字合成技术的多普勒频率模拟方法

提出了一种用于机载导航雷达接收机测试的多普勒频率模拟方法。该方法利用直接数字合成技术,产生与雷达中频实时相参、多普勒频率灵活可调的目标回波信号,多普勒频率调节步进可达1Hz。利用该方法设计的多普勒雷达信号模拟器已经实际用于某导航雷达接收机的测试。     

High-Precision Simulation of Onboard Signal Receivers in Global Navigation Systems

Aircrafts and spacecrafts that make use of global navigation satellite systems (GNSS) carry onboard signal receivers. The development of software for modeling the operation of such receivers is considered in this article. The plausible simulation of receiver operation is resolved into subsidiary problems. The formation of the satellites’ ephemeris data is important here. The proposed design approach is to develop an information system capable of monitoring the constellation of navigation satellites on the basis of the corresponding data files provided by different centers of GNSS analysis. The proposed approach is shown to be more effective than the available alternatives.     

A method for indoor navigation based on magnetic beacons using smartphones and tablets

Outdoor navigation using GPS receivers installed in various types of consumer electronics devices, especially smartphones and tablet computers has become very common. However, indoor navigation can be problematic as GPS signals are blocked by ceilings and building walls and accuracy is on the order of building dimensions. In present work we propose using an array of magnetic beacons for localizing a receiver equipped with a magnetic sensor. A smartphone or a tablet computer with an internal magnetometer can be employed as a receiver. Exploiting smartphones and tablets for indoor navigation is a great advantage when considering convenience, simplicity and low cost. The navigation area is covered by magnetic beacons deployed in known locations. Each beacon generates an AC magnetic field with a unique signature enabling the receiver to distinguish between beacons. The signature may feature a specific single frequency tone, a combination of frequencies, or any other modulated signal. A software application running on the receiver enables self-localization by means of detection and identification of the nearest beacon. A system prototype has been developed and used to test the proposed method in field conditions. Experimental results show successful localization, which paves the way for a full scale development of an effective indoor navigation system. The good results together with simple implementation make the proposed method attractive for a wide range of indoor localization applications, including: pedestrian and robot navigation, inbuilding rescue missions, vision impaired assistance, and location aware services, just to mention a few.     

基于单片机的GPS接收机的设计

卫星导航系统GPS技术,目前己被用在各行各业中。GPS系统的部分用户主要是各种型号的GPS接收机。文章以单片机为核心,通过GPS接收模块,接收GPS卫星信号,然后将数据发送到单片机的串口,单片机执行串口中断,提取所需要的数据,最后将数据通过1602液晶显示出来。文中主要阐述了硬件设计和软件。     

ENHANCING KALMAN FILTERING–BASED TIGHTLY COUPLED NAVIGATION SOLUTION THROUGH REMEDIAL ESTIMATES FOR PSEUDORANGE MEASUREMENTS USING PARALLEL CASCADE IDENTIFICATION

Integrated global positioning system (GPS) solutions that utilize micro-electro-mechanical systems (MEMS)-based inertial sensors provide a more accurate navigation solution than stand-alone GPS in challenging scenarios. To keep the integrated solution less affected by sensor errors and to decrease the cost, a reduced inertial sensor system (RISS), which consists of only one gyroscope and two accelerometers, together with an odometer and integrated with GPS, is proposed. Tightly coupled integration is a better choice in demanding scenarios, as it can provide GPS aiding even when the number of visible satellites is three or less. However, inaccuracies of pseudoranges measured by the GPS receiver and used as aiding in the RISS/odometer/GPS integration solution will affect the overall positioning accuracy. This article explores the benefits of using parallel cascade identification (PCI), a nonlinear system identification technique that improves the overall navigation solution by modeling residual pseudorange correlated errors to be used by a Kalman filter (KF)–based tightly coupled RISS/odometer/GPS navigational solution. When less than four satellites are visible, the identified parallel cascade model for the still visible satellites is used to predict the residual pseudorange errors for these respective satellites, and the corrected pseudorange value is provided to KF. The performance of PCI for correcting the pseudoranges is examined and verified using road test trajectories and compared to a traditional tightly coupled RISS/odometer/GPS KF solution. The results demonstrate the advantages of this technique in correcting the pseudoranges and enhancing the positional solution.     

外部参考信号相位差对接收机零值的影响分析

卫星导航中接收机在使用前要进行零值校准,标记接收机的零值偏差,不同类型接收机的校准方式有所差异,需要研究有针对性的解决方法。本文通过分析接收机的特性,研究了北斗监测接收机(Uni NAV MUE_C_001)的零值校准方法,并搭建了校准平台。试验选用模拟器(Uni NAV GSS8000)对接收机进行校准,在外部输入参考1PPS时间信号和10 MHz频率信号的情况下,接收机零值主要受1 PPS与10 MHz信号相位差(Tt P)的影响。从试验结果来看,连续运行测试时,零值随Tt P的增大而单调递减。开关机测试时,受调钟方式的影响,零值随Tt P的增大而呈周期性变化。试验同时分析了校准的不确定度,受射频滤波器和伪码测距精度的影响,接收机B3频段2.3 ns的不确定度要优于B1、B2频段的2.8 ns。最后对校准的两台接收机进行了零基线比对试验,验证了Tt P与接收机零值的关系,且校准一致性优于0.5 ns。     

Prototype Information System for High-Precision Navigation in Global Satellite Systems

An information system permitting the timely construction of constellations of navigation satellites on the basis of data files provided by various analysis centers is described. In this approach, realistic results may be obtained in simulating the operation of instruments receiving signals from global navigation satellite systems (GNSS). The proposed architecture and functional capabilities of the information system are outlined. It is shown to be more effective in modeling the actual ephemeris data of GNSS than the traditional method of integrating the satellites’ equations of motion.     

Study on GNSS satellite signal simulator

Satellite signal simulator for global navigation satellite system（GNSS） can evaluate the accuracy of capturing,tracing and positioning of GNSS receiver.It has significant use-value in the military and civil fields.The system adopts the overall design scheme of digital signal processor （DSP） and field-programmable gate array （FPGA）.It consists of four modules：industrial control computer simulation software,mid-frequency signal generator,digital-to-analog （D/A） module and radio frequency （RF） module.In this paper,we test the dynamic performance of simulator using the dynamic scenes testing method,and the signal generated by the designed simulator is primarily validated.     

采样噪声对北斗全球信号测距误差的影响分析

随着北斗卫星导航系统的全球化,基于软件定义无线电的北斗接收机在北斗导航定位中的应用越来越广泛。但是北斗接收机在实时动态差分等高精度测量应用场景下,其基带采样ADC受到采样时钟抖动影响,再叠加固有的量化噪声和热噪声,对北斗信号的扩频测距精度产生不可忽略的影响。本文首先针对北斗公开的B1I、B1C、B2I、B2a和B3I 5种全球信号,描述了ADC采样中时钟抖动、量化噪声和热噪声等采样噪声的数学模型,提出了影响测距的信噪比综合公式,再通过载噪比进而得出测距误差的一般表达式,并给出了高精度测量要求下不同参数选择的工程化定量分析方法,然后针对不同参数对北斗信号测距误差的影响进行了仿真分析,仿真结果表明,在0. 6 cm的测距误差目标下,要求时钟抖动不大于45 ps,接收机中心频率不大于80 MHz,带宽不小于25 MHz,量化位数不少于7位,载噪比不小于30 d B。最后,针对北斗B2I信号进行了实测实验,在时钟抖动为35 ps,接收机中心频率61. 38 MHz,带宽32 MHz,量化位数12位,载噪比67 d B时,解算的测距误差为0. 41 cm,验证了本文方法的有效性。     

A Data Acquisition System for Very-Long-Baseline Interferometers

A data-acquisition system designed for very-long-baseline interferometers is connected to the outputs of cryoelectronic radio astronomy receivers, selects signals in specified frequency bands, and converts them into digital data flows for their recording or transmission through telecommunication channels. The system has two inputs and may contain from two to eight base-band converters with an intermediate frequency tuning range of 100–1000 MHz with a 10-kHz step. These converters transform input signals into video frequencies (up to 16 MHz) and separate signals of the upper and lower side bands with an image rejection of >23 dB. The distortions and loss in the phase coherence of the received noise signals are minimized thanks to the equalizing of the amplitude and phase responses of the amplifiers and selectors, and the good spectral characteristics of the local oscillators of the base-band converters. The data-acquisition system is controlled by a PC or the Mark IV Field System program (now used internationally in the pursuit of radio interferometry), which is installed in the radio telescope's central computer using an RS-232 interface. The prototype of such a system is used as standard equipment for conducting observations on the Svetloye–Zelenchukskaya radio interferometer. The first lot of such systems for the development of a network of radio interferometers has been produced.     

基于视线测量的航天器相对导航滤波方法研究

基于视线测量的航天器相对导航精度会受到相对轨迹形状和滤波算法设计等因素的共同影响。以低轨卫星近距离编队飞行为任务背景,设计了环航飞行、共面漂移和共线保持3种不同轨迹的相对运动模式。对3种模式建立了基于星间非线性相对运动模型的系统状态方程,并引入了J2项地球非球形摄动力的影响;建立了基于视线测量的观测方程,观测量包括星间相对距离、相对俯仰角和相对航向角。结合系统模型和观测模型均为高斯分布的非平稳随机过程的特点,分别在上述3种模式下设计了基于扩展卡尔曼滤波(extended Kalman filter,EKF)和无迹卡尔曼滤波(unscented Kalman filter,UKF)的相对导航滤波算法,对各自的相对运动轨迹进行了数值仿真,并在半物理硬件环境下进行了验证,分析了不同模式下EKF和UKF对于高斯非平稳随机过程的估计精度和稳定性,并结合EKF和UKF的运算复杂度,提出了3种相对运动模式下的滤波器优选方案,对工程设计提供了理论参考。