The integrated receiver of signals of satellite radio navigation systems

 

(57) Abstract:

The invention relates to the field of navigation, and more specifically to receivers of signals from satellite navigation systems (SNS) GPS and GLONASS frequency band L1. The receiver contains interconnected radio-frequency Converter N-channel digital correlator, the transmitter, and the driver signals a time stamp. Shaper signals timestamp contains a counter, a first input which is the input clock signal, and output the output signals of the own timestamp of the receiver. To the first input of the counter associated with the shaper signal loading period, the second input and the output of which is connected with the output and a second input of the counter, and the first and second sync blocks, signal inputs which are input signals of the first and second external time stamps of the receiver. With the third input of the counter associated period register, the input of which is connected by a bus communication system. With the output of the counter is also connected to the switch, the other signal input of which is connected with the output of the first synchronization unit, with the control input of the switch is connected to the output of the register control switch, the input of which gate driver signals timestamp associated with the corresponding input channel N-channel digital correlator. With the output bits of the counter and the output of the second synchronization unit is linked to the register of the temporary provisions of the second external time stamps, the output of which is an additional shaper's output signals timestamp. The technical result consists in the possibility to synchronize processes correlation processing and solving navigation tasks relative to the external time signal. 5 Il.

The invention relates to the field of navigation, and specifically to the integrated apparatus of consumers operating on the signals of satellite navigation systems (SNS), namely, GPS (USA) and GLONASS (Russia), and engaged in the formation of signals to determine the location, timing and precision of signals timestamp tied to the timeline SRNS.

Equipment consumers operating on signals from GLONASS (global Navigation Satellite System) [1] and GPS (Global Position System) [2], is used to determine the coordinates (latitude, longitude, altitude) and velocity of the moving object, and for generating time signals. However, the use of signals from Castagnoli positioning.

To the class of equipment operating on signals GPSr frequency range L1 code modulated C/a code, applies the inventive integrated receiver.

The main differences between GPS and GLONASS are using different, though adjacent frequency bands, using different pseudotumour modulating codes and use, respectively, the code and the frequency separation of the signals of different satellites in the system. So, in the GPS frequencies L1 satellites emit modulated different pseudocumene code signals on the same carrier frequency of 1575.42 MHz, and the GLONASS satellites emit modulated same pseudotumour code signals on different carrier (lettered) frequencies lying in adjacent frequency domain. While the nominal lettered frequencies of the GLONASS are generated by the rule:

fi= f0+ifj,

where fi- nominals lettered frequencies;

f0- zero lettered frequency;

i - non lettered frequencies;

f is the interval between the lettered frequencies.

For frequencies of the considered range L1: f0= 1602 MHz, f = 0,5625 MHz.

Distribution lettered frequencies among functioning GLONASS satellites is set al the m reference document [1]. Currently used lettered frequency range i = 0 to 12, in the further transition to the lettered frequencies i =-7 - 4.

Differences between GPS satellites and GLONASS arising from the code separation when one carrier in GPS and frequency separation when multiple bearing in GLONASS, causing the differences in the technical means which receives and converts signals of these systems.

Known, see , for example, [3, Fig.1], the receiver of GPS signals containing serially connected RF Converter and the digital block correlation processing associated with the transmitter, this part of the radio-frequency Converter includes a low noise amplifier, filter, mixer, amplifier first intermediate frequency, a quadrature mixer, two quantizer respectively in-phase and quadrature channels, the driver signal of the first heterodyne frequency and the block division frequency shaping of the signal of the first heterodyne frequency signal of the second heterodyne frequency. The receiver solves the technical problem of reception and digital processing of GPS signals for the purposes of navigation measurements. The receiver is not on signals GLONASS ("single-channel equipment consumers "ASN-37" GLONASS"). The receiver includes a low noise amplifier-Converter RF Converter, a digital processing device and the associated through-Converter-interface the transmitter. The composition of the low-noise amplifier-Converter includes bandpass filters, amplifier, mixer. Part of the radio-frequency Converter includes an intermediate frequency amplifier, a phase demodulator, mixer with phase suppression of the image channel, limiter and synth lettered frequencies, working from reference oscillator 5.0 MHz. Part of the digital processing device includes a pseudorandom sequence generator (SRP) with digital clock frequency of the SRP, the digital generator of Doppler shift of carrier frequency, the inverter phase-code storage of digital samples. The digital processing device operates from a reference oscillator of 5.0 MHz. The transmitter (the navigation CPU) contains a microprocessor series VM, random access memory, a persistent storage device, programmable permanent memory. Synth lettered frequencies generates its output signals in accordance with lettered frequencies of the received signals. Asa the result of multiplying the output frequency of the synthesizer by four and the signal of the second heterodyne frequency - dividing the output frequency of the synthesizer by two. The receiver solves the technical problem of reception and digital signal processing GLONASS for the purposes of navigation measurements. The receiver does not resolve the problem of the reception of GPS signals.

Despite the differences between GPS and GLONASS, their proximity to destination, ballistic build satellites constellation and the used frequency range allows us to meet the challenges of building an integrated user equipment operating on the signals of the two systems. The achieved result is to increase the reliability, validity and accuracy of the positioning, in particular, due to the possibility of working constellations with the best values of the geometrical factors [4, S. 160].

Known, see, for example, [4, 158-161 C., Fig. 9.8], an integrated single-channel receiver user equipment operating on signals from GPS and GLONASS frequency band L1. Integrated receiver includes a radio frequency signal Converter GPS and GLONASS reference generator means for correlation processing signal the EP"), performing frequency division of GPS and GLONASS, bandpass filters bearing and low noise amplifier channel GPS and GLONASS, the switch serving to signal input of the first mixer GPS or GLONASS, the switch connecting the reference input of the first mixer signal of the first local oscillator to convert GPS or GLONASS. By a corresponding shaping of the frequency of the first local oscillator of the first intermediate frequency is constant for GPS and GLONASS and the receiver path including the second mixer and the analog-to-digital conversion is implemented as common to these signals. Part of the funds for correlation processing signals includes a multiplexer with a permanent storage device, digital generator lettered frequency generator SRP and digital correlator. The receiver is implemented multiplex (alternate) mode according to the signals from both GPS and GLONASS. The receiver allows you to implement parallel (multi-channel) signal processing GPS and GLONASS, which increases the time required to obtain navigation information.

Known integrated receiver signals GPSr [5], which aims to combine the em output (counts), bound to a particular time stamp generated in the receiver. Functionally complete part of this integrated receiver capable of receiving and processing GPS signals and GLONASS frequency band LI, known from [5], is adopted as a prototype.

The generalized block diagram of an integrated receiver signals GPSr, taken as a prototype, shown in Fig. 1.

The receiver prototype contains (Fig. 1) radio-frequency Converter 1, the input of which forms the signal input of the receiver ("GPS - GLONASS - L1"), N-channel digital correlator 2, containing the channels 3 (31, 32,..., 3N), signal and clock inputs are connected to respective clock signal and outputs ("GPS" and "GLONASS", "Fň") radio-frequency Converter 1, the transmitter 4, the associated bus communication with each of the N channels 3 correlator 2, and the imaging unit 5 signals timestamp, the control input of which is connected by a bus to exchange data with the computer 4, a clock input connected to a clock output (output clock) radio-frequency Converter 1, and the output of the measurement gates with corresponding inputs measurement gates of each of the N channels 3 correl 8 signal-download period.

The first input of counter 6, which is the input clock signal shaper 5 timestamp connected to the first input of the driver 8. The output of the counter 6, which is the output signal generated time stamps ("MB") integrated receiver (own timestamps receiver) is connected to the second input of the shaper 8.

In the receiver prototype signals timestamps generated by the counter 6, are used as measurement gates. These output signal of the measuring gate driver 5 receives at respective inputs of channels 3 correlator 2.

The second input of the counter 6 is connected to the output of the shaper 8, which synchronizes the write period of the generated time stamps. The third input of the counter 6 is connected to the output of the register 7. The input of the register 7, connected to the computer 4, is a control input of the shaper 5.

RF Converter 1 includes an input unit, the block of the first frequency conversion of the signals of GPS and GLONASS, the first and second channels of the second frequency conversion of signals respectively GPS and GLONASS, as well as the apparatus for forming signals of clock and heterodyne frequencies (Fig. 1 is not shown). The input unit RF preve bandpass filter. Block of the first frequency conversion of the RF signals of the Converter 1, performing the first frequency conversion of the signals of GPS and GLONASS is performed on the basis of the mixer, the mixer uses the signal of the first heterodyne frequency (FG1= 1416 MHz), which is formed in the radio frequency Converter 1 apparatus for forming signals of clock and heterodyne frequencies. The first and second channels of the second frequency conversion signal, performing a second frequency conversion of signals respectively GPS and GLONASS are based bandpass filters, mixers and blocks analog-to-digital conversion. Mixers of the first and second channels using, respectively, the signals of the second and third heterodyne frequency (FT2= 173,9 MHz and FG3= 178,8 MHz), and blocks analog-to-digital conversion signal is twice the clock frequency (57,0 MHz) generated in the radio frequency Converter 1 apparatus for forming signals of clock and heterodyne frequencies. The outputs of the channels of the second frequency conversion signal and the output clock signal (clock) hardware generation of signals of clock and heterodyne frequencies RF preobrazovatelnaja digital correlator 2 each of the channels 3 (31, 32,..., 3Ncontains the switch input signals, digital mixers, digital controlled generator carrier, digital demodulators (correlators), a programmable delay line, the generator of the reference C/a code, digital controlled code generator, blocks the accumulation control register (Fig. 1 is not shown). Signal inputs switch input signals are signal inputs channel 3. Clock inputs (input clock signal) blocks accumulation, digital controlled generator carrier, digital controlled code generator and programmable delay lines form a clock input (input clock signal) channel 3. The measuring inputs of the gates of the digital controlled oscillator carrier, digital controlled code generator and generator reference C/a code form the input of the measuring gate channel 3. Outputs (outputs of the data block accumulation and input-output data of the digital controlled oscillator carrier, digital controlled code generator, generator reference C/a code and control register, forming the input-output data channel 3, is connected by bus to exchange data with the computer 4.

The receiver prototype works as follows.

GPS signals the progress of the radio-frequency Converter 1.

In the radio frequency Converter 1, the signals from both GPS and GLONASS are filtered in the bandpass filter of the input unit, is converted by the frequency mixer block of the first frequency conversion of the signals are then separated systems (GPS and GLONASS), is converted by the frequency and subjected to analog-to-digital conversion in the respective channels of the second frequency conversion signal. To implement the analog-to-digital conversion without loss of navigation information being converted signals agreed on the frequency and spectrum with frequency analog-to-digital conversion, i.e., the sampling frequency in time, therefore, to satisfy theorem samples Nyquist-Kotelnikov. Coordination is ensured by selection of specific values of frequency analog-to-digital conversion and heterodyne frequencies. In the receiver prototype is the frequency that determines the frequency of the analog-to-digital conversion, selected to 57.0 MHz. Frequency selection analog-to-digital conversion performed taking into account the possibility of signal processing GLONASS in the range lettered frequencies i = 0 to 24. With regard to the frequency of the analog-to-digital conversion of the selected consistent value Goethe is state of GPS and GLONASS at the second intermediate frequency would be close to that of 14.25 MHz. This provides the possibility of sampling signals using 4-bit analog-to-digital converters with frequency 57,0 MHz (4 x of 14.25 MHz), as well as the formation of the subsequent case of double-bit samples of the inphase and quadrature components of the signals of GPS and GLONASS with a sampling rate of two times smaller, i.e., equal to 28.5 MHz (2 x of 14.25 MHz). These samples in the form of output signals of the radio-frequency Converter 1 receives the signal inputs of the N channels 3 (31, 32,..., 3N) correlator 2. At clock inputs of N channels 3 (31, 32,..., 3N) correlator 2 receives the clock signal frequency Fň = 28,5 MHz generated in the radio frequency Converter 1 apparatus for forming signals of clock and heterodyne frequencies.

In the N channels 3 (31, 32,..., 3N) correlator 2 is a digital correlation processing of signals N visible satellites of the GPS and GLONASS in combination determined by commands received from the computer 4. During correlation processing of signals N satellites in the N channels 3 is determined by the temporal position of the peaks of the correlation functions pseudotumour signals of the respective satellites are determined by the radio navigation parameters used in what ignorami own timestamp, used in the receiver prototype as a measurement gates, coming from the corresponding output driver 5.

When performing correlation processing of signals from satellites in each of the channels 3 (31, 32,..., 3N) correlator 2 is carried out the following operations. Switch input signals are selected signals to one of the systems (GPS or GLONASS). Next, with the help of digital mixers is the selection signals a particular satellite system chosen and the transfer of the spectrum of these signals at baseband frequencies (at zero frequency), which uses the reference signals generated by the digital controlled oscillator carrier. Next, a digital demodulator (correlators) are correlation of satellite signals with exact "P" (Punctual) and differential "E-L" (Early-Late) or early "E" (Early) copies of the reference C/a code GPS and GLONASS, respectively. These copies of the code produced by the programmable delay line, which is under the control computer 4 changes the interval between the early and late copies of the C/a code from 0.1 to 1 duration symbol C/a code and, therefore, forms a narrow discriminator" ("narrow correlator") in the tracking system code, as this description is implemented in each of the channels 3 generator reference C/a code, receiving this clock frequency of 1.023 MHz for GPS and 0,511 MHz for GLONASS generated digital controlled code generator. The choice of the type produced by a pseudorandom code sequence and the values of the clock frequency code is based on the data received from the computer 4. The correlation results are accumulated in the respective blocks accumulation. Accumulation period equal to the period of C/a code, i.e. 1 MS. The accumulated data is periodically read by the computer 4, which implements all the algorithms, i.e. algorithms of search signals, tracking the carrier and code processing the service information. In accordance with the results of the correlation processing of signals in channels 3 correlator 2 computer 4 generates data for channels 3, including the values of the carrier frequency for the digital controlled oscillator carrier and the values of the clock frequency code for the digital controlled code generator. The programmable delay line, the generator of the reference C/a code, switch the input signals is determined by the data generated by the control register under the influence of commands received from the computer 4.

Forming your own tag 5 as follows. In case 7 period signals generated by the transmitter 4 is the number that determines the value of the repetition period generated timestamp. This number at the time, set the output signal generated by the time stamp counter 6 (signal counter overflow 6), is loaded into the counter 6. When this load time is synchronized with the imaging unit 8. Synchronization is a clock signal received at the first input of the shaper 8 clock output (clock signal) of the radio-frequency Converter 1. After loading the counter 6 is filled with the pulses of the clock signal until, until you overflow. When the overflow output of the counter 6 is formed a new alarm timestamp and the process repeats.

Thus, in the receiver prototype generated signal label time - measuring gate - is a private timestamp generated on the basis of solving the navigation task. The presence of this tag enables internal process synchronization correlation processing and navigation measurements, in particular, the timestamp is the reference quasiballistic, phase nesustoju allow binding of the processes and decisions of the navigation task to an external time signals, what complicates the use of receiver-prototype as part of radio systems and systems operating with a common synchronization, in particular, in the redundant channels operating in mode "master" channel and the "slave".

The task, which is aimed by the invention, is the ability to synchronize the processes correlation processing and solving navigation tasks relative to the external time signal (which can be, in particular, the clock signals on the master channel when booking channels or external signals, the guardian of time), providing the possibility to determine the departure time scale of the external time Keeper, as well as providing the possibility to correlate (in real time) of the received navigation data temporary signal characterizing the operation of external control devices, such as cameras used in aerial photography.

The invention consists in that in the integrated receiver of signals of satellite radio navigation systems containing radio frequency Converter, the input of which forms a signal input integro connected to respective outputs of the radio frequency Converter, the transmitter associated bus communication with each of the channels of N-channel digital correlator, and the driver signals a time stamp, the measuring gate of which is connected to the corresponding inputs of each channel N-channel digital correlator, the control input is connected by a bus interchange with calculator and clock input connected with the output clock signal of the radio frequency Converter, and the driver signals timestamp contains a counter, a first input which is the input clock signal, and output the output signals of the own timestamp integrated receiver, the period register and the shaper signal loading period, the first input, the output and second input of which is connected respectively to the first input, second input and output counter and the third counter input coupled to the output period register, the input of which is a control input of the shaper signals timestamp in the driver signals timestamps have been added to the first and second sync blocks, signal inputs which are input signals of the first and second external timestamp integrated receiver, and clock inputs are connected with the PE the mode switch, the inlet of which is connected by a bus to exchange data with the evaluator and the output with the control input of the switch whose output is the output of the measuring gate driver signals timestamp, the first signal input of the switch is connected to the output of the counter, the second signal input of the switch is connected to the output of the first synchronization unit, the output of the second synchronization unit connected to the first input register of the temporary provisions of the second external label, the other input of which is connected with the output bits of the counter, and the output is an optional output driver signals timestamp.

The essence of the invention, the possibility of its implementation and industrial use are illustrated by the drawings, is shown in Fig. 1 to 5, where:

in Fig. 1 shows a generalized block diagram of the receiver-prototype;

in Fig. 2 shows a structural diagram of the inventive integrated receiver signals SRNS in this example implementation;

in Fig. 3 shows a structural diagram of the radio-frequency Converter integrated receiver signals SRNS in this example implementation;

in Fig. 4 shows a structural diagram of ignorelist;

in Fig. 5 shows a diagram illustrating the passage of the measurement gates and a clock signal in channel N-channel digital correlator of the proposed receiver SRNS in this example implementation.

The inventive integrated receiver signals SRNS in this example implementation includes, see Fig. 2 to 5, the radio-frequency Converter 1, the input of which forms the signal input ("GPS - GLONASS - L1") integrated receiver, the N-channel digital correlator 2, containing N channels 3 (31, 32,..., 3N), signal and clock inputs are connected to respective outputs ("GPS" and "GLONASS", "Fň") radio-frequency Converter 1, the transmitter 4, the associated bus communication with each of the N channels 3 (31, 32,..., 3N) correlator 2, and the imaging unit 5 signals timestamp, the control input of which is connected by a bus to exchange data with the computer 4, a clock input connected to a clock output (output clock) radio-frequency Converter 1, and the output of the measurement gates ("f and") is connected to the corresponding inputs of each of the N channels 3 (31, 32,..., 3N) correlator 2.

The imaging unit 5 signals timestamp is oneseli, the register 11 of the interim provisions of the second external time stamps, the switch 12 and register 13 control switch.

The first input of counter 6, which is the input clock signal shaper 5 signals timestamp connected to the first input of the shaper 8 signal-download period and the clock inputs of the first 9 and second 10 blocks synchronization signal inputs which are input signals of the first ("WMV") and the second ("WMV") external timestamp integrated receiver. The output of the counter 6, which is the output signal of its own timestamp ("MB") integrated receiver, connected to the second input of the shaper 8 signal-download period and the first signal input switch 12 whose output is the output measurement gates ("f and") shaper 5 signals a time stamp associated with the corresponding inputs of channels 3 correlator 2. The second input of the counter 6 is connected to the output of the shaper 8 signal-download period. The third input of the counter 6 is connected to the output of the register 7 period, the entrance of which, which is the controlling input of the shaper 5 signals timestamp associated bus data exchange with the computer 4. The input of the register 13 of the control switch is connected by a bus exchange Yes inen with the output of the first synchronization unit 9. The output of the second synchronization unit 10 connected to the first input of the register 11 of the interim provisions of the second external time stamps, the output of which is an additional output of the shaper 5 signals timestamp tWMV"the value of the time of arrival of the second external time stamps. The second input of the register 11 is connected to the output bits of the counter 6.

In the inventive integrated receiver RF Converter 1 can be performed, for example, in accordance with the block diagram shown in Fig. 3. In generalized form, this scheme is known, in particular, it corresponds to a generalized block diagram of the radio-frequency Converter of the receiver-prototype [5] . In this example, the implementation of radio-frequency Converter 1 contains (Fig. 3) the input unit 14 is connected to its output unit 15 of the first frequency conversion of the signals of GPS and GLONASS, and also connected to the output unit 15 of the first 16 and second 17 channels of the second frequency conversion of signals respectively GPS and GLONASS. To the input unit 14 is connected receiving antenna (Fig. 3 not shown). Part of the radio-frequency Converter 1 also includes apparatus 18 of the clock signal and hetero is 1 (the channel of the second frequency conversion of GPS signals) contains serially connected filter 19, the entrance is the entrance channel, the mixer 20 and the block 21 analog-to-digital conversion, the output of which forms the output of the channel output the converted GPS signals.

The channel 17 of the second frequency conversion of the RF signals of the transducer 1 (the channel of the second frequency conversion of signals GLONASS) contains serially connected filter 22, the inlet of which is the entrance channel, the mixer 23 and block 24 analog-to-digital conversion, the output of which forms the output of the channel output the converted signals GLONASS.

In the radio frequency Converter 1 unit 14, a crucial task pre-filtering the input signals of GPS and GLONASS contains at least one bandpass filter; unit 15 of the radio-frequency Converter 1, which solves the problem of the first frequency conversion of the signals of GPS and GLONASS contains at least one mixer; mixer 20, 23 channels 16, 17 includes amplifiers, for example amplifiers with adjustable gain, and the blocks 21, 24 analog-to-digital conversion can be performed, for example, in the form of threshold devices that implement the function of a case of double-bit quantizer level.

Apparatus 18 signal-Taka. Part of the apparatus of 18, if necessary, may include switchable dividers (multipliers) frequencies, providing in conjunction with the synths formation of the desired grid of clock and heterodyne frequencies. In this case, the output signal of the first heterodyne frequency (FG1") apparatus 18 is connected with the control unit 15 constituted the reference input of the corresponding mixer output signals of the second ("FT2") and third ("FG3") heterodyne frequency apparatus 18 are connected with the control inputs of the mixers 20, 23 channels 16, 17. The output signal of the clock frequency ("Fň") apparatus 18, which is the output clock signal of the radio frequency Converter 1, is associated with the respective clock inputs of channels 3 correlator 2 and a clock input of the shaper 5 signals timestamp (Fig. 2). The input control signal (Upack") apparatus 18 is designed for signals, providing, if necessary, restructuring (switching) elements of the apparatus 18 (synthesizers, frequency dividers). The input control signal is connected, for example, to the computer 4 through the bus interchange (figures not shown).

The outputs of the channels 16 and 17, which outputs a radio frequency Converter 1, connect the new receiver channels 3 N-channel digital correlator 2 may be implemented, for example, in accordance with the block diagram of the channel shown in Fig. 4. In generalized form, this scheme is known, in particular, it corresponds to a generalized block diagram of one channel of the N-channel digital correlator receiver-prototype [5]. In this example implementation, the channel 3 N-channel digital correlator 2 contains (Fig. 4) the switch 25 of the input signals, the blocks 26, 27, 28 and 29 of accumulation, the digital controlled oscillator 30 of the carrier, the register 31 management, digital controlled generator 32 code generator 33 of the reference C/a code (GPS and GLONASS), a programmable delay line 34, digital mixers 35 and 36 respectively in-phase and quadrature correlation processing channels, the correlators (digital demodulators) 37, 38, 39, 40.

The outputs of the data block accumulation 26 - 29, the input-output data of the digital controlled oscillator 30 of the carrier, the register 31 management, digital controlled oscillator 32 and code generator 33 of the reference C/a code connected by bus to exchange data with the computer 4. The first ("GPS") and the second ("GLONASS") signal inputs of the switch 25, which is the signal input for channel 3 connected to the respective signal outputs of the radio frequency preobrazuemogo generator 32 code programmable delay lines 34, forming a clock input (clock input signal, channel 3, is connected to the clock output (output clock) radio-frequency Converter 1. The measuring inputs of the gates of the digital controlled oscillator 30 of the carrier, the digital controlled oscillator 32 and code generator 33 of the reference C/a code forming the input of the measuring gate channel 3, is connected to the output of the measuring gate driver 5 signals timestamp. The control input of switch 25 is connected to the first output of the register 31 of the control. The second and third outputs of the register 31 control connected respectively to the control input of the programmable delay line 34 and the first control input of the generator 33 of the reference C/a code. The output of switch 25 is connected with the first inputs of digital mixers 35 and 36, the second inputs are connected respectively to first and second outputs of the digital controlled oscillator 30 of the carrier. The digital outputs of the mixers 35 and 36 are connected with the first inputs of correlators (digital demodulators) 37, 38 and 39, 40 respectively. The second inputs of the correlators (digital demodulators) 37, 40 and 38, 39 are connected with the corresponding outputs of the programmable delay line 34 - vyhodami delay line 34 is connected to the output of the generator 33 of the reference C/a code, forming the C/a code GPS or GLONASS depending on the commands received from the computer 4. The second control input of the generator 33 of the reference C/a code connected to the output of the digital controlled oscillator 32 code. The outputs of the correlators 37 - 40 are connected respectively to the inputs of the blocks 26 to 29 of accumulation.

An example illustrating the passage of the clock signal and measurement gates in the channel 3 of the correlator 2, shown in Fig. 5. So, in the digital controlled oscillator 30 of the bearing measurement gates ("f and") are fed to the first inputs of the registers 41 and 42, and a clock signal ("Fň") - at the first input of accumulating adder 43. The second input of the register 41 is connected with the outputs of the bits of the accumulating adder 43, a second input register 42 with the output of the cycle counter 44, the inlet of which is connected with the output of one of the digits is accumulating adder 43. The input data code carrier frequency is accumulating adder 43, the output data of the reference phase of the carrier case 41 and the output data of the counting of the number of cycles (periods) carrying case 42, forming the input-output data of the digital controlled oscillator 30 of the carrier, connected by bus to exchange data with the computer 4. In the digital controlled oscillator 32 code of measuring the gates ("f and") sustained gistra 45 associated with the outputs of the bits of the accumulating adder 46, the input data frequency C/a code adder 46 and the output data of the reference shares of the character register 45, forming the input-output data of the digital controlled oscillator 32 code, linked by bus to exchange data with the computer 4. In the generator 33 of the reference C/a code measurement gates ("f and") are fed to the first inputs of the registers 47 and 48. The second input register 47 associated with the output of the counter 49, a second input register 48 with the output of the meter ages 50. The inputs of the counters 49, 50 are connected with the first output of the generator 51 pseudo-random sequence (SRP), which represents the output signal of the epoch of the C/a code (pulses with a period of 1 MS). The second output of the generator 51, which is the output of the SRP generator 33 of the reference C/a code associated with the signal input of the programmable delay line 34 (Fig. 4). The clock inputs of the counter 49 and generator SRP 51, forming a second control input of the generator 33 of the reference C/a code associated with the respective output of the accumulating adder 46 digital controlled oscillator 32 code. Input data the initial phase of the generator 51 of the SRP, the input data initial phase counter epochs 50, the output data of the counting number of characters of the register 47 and the output data of the counting of the number of millisecond epochs register 48, which form the input-output data generatorerror receiver elements, nodes, blocks are known elements, nodes, and blocks, practically used in the technique of reception and correlation signal processing SRNS.

So, in the radio frequency Converter 1 input unit 14 may be implemented, for example, on the basis of standard ceramic filters; unit 15 of the first frequency conversion signal can be implemented, for example, on the basis of a standard mixer - chip type MS MOTOROLA; filters 19, 22 can be implemented in the form of bandpass filters surface acoustic wave (saw), for example, as described in [9, S. 17-220]; mixers 20, 23 and members amplifiers with adjustable gain can be realized, for example, using chip type UPC2753 companies NEC; blocks 21, 24 analog-to-digital conversion can be implemented using dual Comparators, for example chipset type MAX 962 firm MAXIM.

Apparatus 18 for forming signals of clock and heterodyne frequencies can be implemented using standard elements, for example, a chip type TEMPUS-LVA MOTOROLA (thermo-compensated technological quartz oscillator with a frequency 15,36 MHz) for the implementation of the reference oscillator, chip t is avtopodstroiki frequency) for the implementation of managed (switchable) frequency synthesizers standard configuration [10, C. 2-3...2-14, Fig. 6], and chip-type MS, MS 12093 MOTOROLA (frequency dividers by two, four) to build frequency dividers.

N-channel digital correlator 2 with the considered structure of the channels 3, together with the imaging unit 5 signals timestamp in practice may be made in the form of VLSI (large specialized integrated circuits using libraries of standard elements, such as SAMSUNG ELECTRONICS firms or SGS TOMSON.

The transmitter 4 is implemented as a microcomputer standard configuration contains the standard elements of a processor, controller, online, permanent, programmable permanent storage devices, interfaces, ports, I / o data. The function calculator 4 is carried out according to standard algorithms navigation transmitter multi-channel receiver signals SRNS.

The operation of the inventive integrated receiver GPSr consider the example of receiving and processing GPS signals and GLONASS modulated codes standard precision (C/a codes) in the frequency range L1, for the case when the signals of GLONASS signals with lettered frequencies i = 0 - 12 or i =-7 - 4, installed in accordance with the antenna of the GPS and GLONASS frequency band L1 arrive at the signal input of the radio-frequency Converter 1, that is, the input of the input unit 14 (Fig. 2, 3). The signals of the GPS L1 band occupied by the frequency band (1571, 328 - 1579,512) MHz width F = 8,184 MHz (four lobes in the spectrum of the signal in both directions from the carrier to implement the "narrow correlator"), and the signals of the GLONASS L1 band occupied by the frequency band (1599,956 - 1610,794) MHz width F = 10,838 MHz (case lettered frequencies of "0" to "12") (1596,019 - 1606,294) MHz, F = 10,2755 MHz (case lettered frequencies"-7" - "4").

The input unit 14 of the radio-frequency Converter 1 (Fig. 3) transmits on its output signals of GPS and GLONASS L1 band specified frequency, i.e. the frequency range (1571,328 - 1610,794) MHz.

From the output of block 14 GPS and GLONASS frequency band L1 is fed to the input unit 15 of the first frequency conversion signal, where the converted frequency using a mixer, to the reference input of which receives the signal of the first heterodyne frequency (FG1"), synthesized in the apparatus 18. In the first mode of operation of the proposed receiver (when receiving signals of GLONASS with lettered frequencies i = 0 - 12) the value of the first heterodyne frequency FG1(1) = 1412 MHz. In the second mode when receiving signals of GLONASS with lettered frequencies i = -7 to 4) the value of the first heterodyne frequency FG1(2) = 1408 MHz. Switch d is done on the control signal (Upack"), coming for example from the computer 4. It involves switching the operation mode of the corresponding synthesizer that generates the signal of the first heterodyne frequency: FG1(1) or FG1(2).

In the result of the first conversion frequency GPS signals occupy the frequency band (159,328 - 167,512) MHz for the first operation mode and the frequency band (163,328 - 171,512) MHz for the second mode of operation, and the GLONASS signals occupy the frequency band (187,956 - 198,794) MHz for the first operation mode and the frequency band (188,019 - 198,294) MHz for the second mode of operation.

Converted to the first intermediate frequency in block 15 of the radio-frequency Converter 1 GPS signals and GLONASS arrive at the inputs of the first 16 and second 17 channels of the second frequency conversion of the signals, i.e. the inputs of the filters 19 and 22 (Fig. 3). Each of these filters provides bandpass filtering signals corresponding system, namely, the filter 19 - filtering of GPS signals in the frequency range (159,328 - 171,512) MHz, and the filter 22 - filtering GLONASS signals in the frequency range (187,956 - 198,794) MHz.

Filtered from out-of-band interference converted to the first intermediate frequency GPS signals from the output of the filter 19 are received at the signal input smeeth interference converted to the first intermediate frequency signals GLONASS from the output of the filter 22 are received at the signal input of the mixer 23, where is the second frequency conversion of signals of GLONASS.

For the second frequency conversion of GPS signals, carried out in the mixer 20 channel 16, is used, the signal of the second heterodyne frequency (FT2"), synthesized in the apparatus 18. In the first mode of operation of the receiver frequency signal of the second heterodyne frequency is set to FT2(1) = 179 MHz, and the second FT2(2) = 183 MHz. The modes of formation of the second heterodyne frequency FT2in the apparatus 18 is carried out by the control signal (Upack"), coming for example from the computer 4. It involves switching the operation mode of the corresponding synthesizer that generates the signal of the second heterodyne frequency: FT2(1) or FT2(2).

For the second frequency conversion of signals GLONASS carried out in the mixer 23 channel 17, a signal is provided to a third heterodyne frequency (FG3") formed in the apparatus 18, for example, by dividing into eight frequency signal of the first heterodyne frequency. Thus, in the first mode, FG3(1) = 1/8 FG1(1) = 176,5 MHz, and the second FG3(2) = 1/8 FG1(2) = 176 MHz.

In the result of the second frequency conversion signal which tunes work and GLONASS signals occupy the frequency band (11,46 - 22,29) MHz for the first operation mode and the frequency band (12,02 - 22,29) MHz for the second mode of operation.

Converted to the second intermediate frequency signals of GPS and GLONASS in each of the channels 16 and 17 of the second frequency conversion signals are amplified using amplifiers with adjustable gain included in mixers 20 and 23, and then subjected to analog-to-digital conversion in blocks 21 and 24 (Fig. 3).

In practical circuits, analog-to-digital conversion in blocks 21 and 24 may be, for example, in the case of double-bit quantization level using the corresponding threshold devices - for example, the dual Comparators type MAX 962 company MAXIM. In this analog-to-digital conversion signals generated by the blocks 21 and 24, the characteristic is the presence of a carrier, which is removed later in the channels 3 N-channel digital correlator 2, namely, in the digital mixers 35 and 36 (Fig. 4).

Thus formed in the radio-frequency Converter 1 GPS signals and GLONASS from the outputs of the channels 16 and 17 are received on the first ("GPS") and second (GLONASS) signal inputs of each channel 3 N-channel digital correlator 2 is and this goes the clock signal ("Fň"). The formation of the clock signal is carried out in the apparatus 18 of the radio-frequency Converter 1 (Fig. 3). In practical circuits the formation clock signal may be, for example, from the signal of the third heterodyne frequency by dividing this frequency by eight, i.e. Fň = 1/8 FG3with the subsequent formation of signal type "meander". With this formation the clock signal is the clock frequency, i.e. the frequency temporal sampling rate for the digital processing of signals in channels 3 correlator 2 is the value Fň 22 MHz. Thus, the value of the clock frequency Fň and the value of frequency bands converted signals of GPS and GLONASS are interconnected in an approximate ratio of 2 : 1, which allows the digital signal processing without loss of navigation information.

Channels 3 (31, 32,..., 3N) correlator 2 is a digital correlation processing of signals N visible satellites of the GPS and GLONASS in combination determined by commands received from the computer 4. During correlation processing of signals N satellites in the N channels 3 is determined by the temporal position of the peaks of the correlation functions pseudotumour signals corresponding N sputnikhalle, the phase of the carrier and the number of cycles of the carrier are measuring gates, coming from the corresponding output driver 5 with a frequency from 1 Hz to 10 Hz.

When performing correlation processing of signals from satellites in each of the channels 3 (31, 32, . .., 3N) correlator 2 (Fig. 4, 5) are the following:

Switch 25 input signals are selected signals to one of the systems (GPS or GLONASS), the incoming signal inputs channel 3 with the respective outputs of the radio-frequency Converter 1 (in this example implementation, in case of double-bit quantized signals). When the switch 25 to the command generated by the register 31 of the management under the influence of control signals from the transmitter 4, selects which of the two signals (GPS or GLONASS) will be processed in the channel 3. Digital controlled oscillator 30 of the carrier produces in-phase and quadrature phase components of the carrier frequency reference signal, which are multiplied with the input signal in digital mixers 35 and 36. Digital mixers 35 and 36 of channel 3 provide the selection signal of this character (GLONASS) signal or a given satellite (GPS) and transfer SPECT is in digital mixers 35 and 36 is "removing" carrier-phase and quadrature components of the processed signal and the transfer signal spectrum at zero frequency.

Digital controlled oscillator 30 of the carrier is controlled by the signal transmitter 4, in particular, from the computer 4 receives the data code carrier frequency. This data is converted into nakaplivaya the adder 43 (Fig. 5) and with the help of the register 41, the loop counter 44 and the register 42 are formed the data of the reference phase of the carrier and the data counting the number of cycles (periods) of the carrier in the implementation process of the tracking signal and the circuit loops of tracking the frequency and phase of the carrier input signal. Conversion to nakaplivaya the adder 43 is carried out in accordance with a clock signal ("Fň"), and the formation of counts in the registers 41 and 42 in accordance with the measurement gates ("f and").

After "removing" the carrier in digital mixers 35 and 36 in-phase and quadrature components of the signal are correlated in correlator 37 - 40 with copies of the reference C/a code generated by the following blocks: digital controlled oscillator 32 code generator 33 of the reference C/a code and the programmable delay line 34.

Digital controlled oscillator 32 code generates the clock signal C/a code 1.023 MHz for GPS and 0,511 MHz for GLONASS, which is then fed to the corresponding input of the generator 33 of the reference C/a code. Faure is connected with him register 45 generates data of the reference shares of the symbol, which, as a feedback signal received at the transmitter 4. These specific values of clock frequency C/a code received in the accumulating adder 46 with calculator 4. Work is accumulating adder 46 is carried out in accordance with a clock signal ("Fň"), the formation of the register 45 counts fractions of a symbol in accordance with the measurement gates ("f and").

Based on the clock signal C/a code received from the output of the digital controlled oscillator 32 code generator 33 of the reference C/a code generates the reference C/a code for processing in the channel 3 signal corresponding to the respective satellite system. Generated by the generator 33 of the reference C/a code unique to each of the GPS satellites that use code division signals, and the same for all satellites GLONASS uses frequency division signals. The formation of certain kinds of code, i.e. a certain kind of pseudo-random code sequence (SRP), is carried out in accordance with the data on the initial phases coming from the transmitter 4 to the generator 51 SRP and counter epochs 50 (Fig. 5). The feedback signals are generated from the signals of the epoch generator 51 SRP - using counter 49 and register 47 (OTK). The formation of timing registers 47 and 48 are carried out in accordance with the measurement gates ("f and").

Generated by the generator 33 of the reference C/a code is supplied to the programmable delay line 34. Programmable delay line 34 carries out a temporal offset of the reference C/a code, forming at its two outputs accurate "P" (punctual) and differential "E-L" (early-minus-late) a copy of the reference C/a code. The exact "P" (punctual) a copy of the reference C/a code is fed to the second inputs of correlators 37 and 40, and differential "E-L" (early-minus-late) a copy of the reference C/a code on the second inputs of correlators 38 and 39. The programmable delay line 34 is carried out under the action of control signals generated by the register 31 management of a managed computer 4. When this is carried out varying the spacing between the early and late copies of the C/a code from 0.1 to 1 duration symbol C/a code, thereby narrow discriminator" ("narrow correlator") in the tracking system code [6, 7, 8].

The results of the correlation processing of the processed signal is performed in the correlator 37 - 40, accumulate in the blocks 26 to 29 of the accumulation time interval equal to the duration of the epoch code (1 MS), and then scity the A.

The formation of the measuring gate signals timestamp frequency from 1 Hz to 10 Hz, was used to generate the samples of data in a digital generator 30 of the carrier, the digital controlled oscillator 32 and code generator 33 of the reference C/a code, by using the imaging unit 5 signals timestamp as follows.

In case 7 period (Fig. 2) according to the signals generated by the transmitter 4 is the number that determines the value of the repetition period generated its own timestamp ("MB"). This number at the time set by the output signal of the timestamp counter 6 (signal overflow of this counter), record (loaded) in the counter 6. When this load time is synchronized in the imaging unit 8 a clock signal at the first input of the former (8 clocked output of the radio-frequency Converter 1. The purpose of the imaging unit 8 in this process is to bind (sync) output signal counter overflow 6 (i.e., the signal timestamp "MB") to the clock signal Fň, thereby ensuring the correct (accurate) account of the period counter 6. After this loading, the counter 6 is filled with the pulses of the clock signal until, until his PE the process repeats.

The signal generated timestamp "MB" is supplied to the corresponding output driver 5, forming the output signal of its own time stamp of the inventive integrated receiver.

In addition, formed by the counter 6 signal its own time stamp is supplied to the first signal input switch 12, the second signal input which receives the signal from the output of the synchronization unit 9. In the simplest case, the synchronization unit 9 is a D-flip-flop that generates at its output a signal, the front of which corresponds to the front of the clock signal, and the frequency of repetition - frequency signal, the first external time stamps ("WMV"), for example 1 Hz. The first signal external time stamp represents, for example, a signal from an external time scale or a signal back to the receiving device operating in a single complex with a data receiver. The mode of operation of the switch 12 when it is determined by the control signal coming from the register 13, the associated bus data exchange with the computer 4. Depending on the set mode, the switch 12 transmits on its output a signal of its own timestamp ("MB") generated by the counter 6 or the signal of the first external labels time the MV1) as the measurement gates from the output of the switch 12 is coming to the measuring inputs of the gates of the channels 3 of the correlator 2. This enables operation of the correlator 2 as a signal of its own timestamp ("MB"), and the signal of the first external time stamps ("WMV"), while switching from one timestamp to another occurs without phase jump of the signals coming from the output of the switch 12 as a measurement gates.

Signals characterizing the state of the counter 6 output bits of the counter 6 receives the corresponding input of the register 11 of the interim provisions of the second external time stamps. To another input of the register 11 receives the signal generated by the synchronization block 10. The unit 10 is identical to the block 9, and generates at its output a signal, the front of which corresponds to the front of the clock signal, and frequency - frequency signal of the second external time stamps ("WMV"). The signal of the second external time stamps ("WMV") represents, for example, the external signal of the guardian of time for which you want to determine the care of the timeline regarding the timeline of the receiver, or external actuators, which needs to be correlated in real time with the current navigation measurements. Under the action of a signal from the output of block 10 synchronization, F. the time of arrival of the signal of the second external timestamp ("WMV"). The so formed ADU (tWMV"come on an additional output of the shaper 5 signals timestamp. If necessary, these samples can be used in the calculator 4 (figures this connection is not shown).

Thus, in the inventive receiver generated signal timestamp "MB" represents, as in the prototype, own a timestamp generated on the basis of solving the navigation task, and formed the measuring gate is either its own timestamp "MB", or external timestamp WMV" synchronized on the front with a clock signal that enables the synchronization of processes, correlation processing and navigation measurements, or on its own time scale (as in the prototype), or relative to an external time scale. In this case, the signals of its own timestamp "MB" input to the output of the proposed receiver provide the ability to perform temporal reference external time scales to the internal time scale of the receiver.

Thus, in the inventive device to perform the task of ensuring the possibility to synchronize processes correlation processing and decision Navinchandra signals back channel (back of receiver) or external signals, the guardian of time. Provides the ability to detect differences timelines receiver and external custodian of the time and provides the opportunity to correlate (in real time) of the received navigation data temporary signal characterizing the operation of external control devices, such as cameras used in aerial photography.

Of the above it is seen that the invention feasible industrially applicable solves the technical problem and has potential for use as an integrated receiver GPS and GLONASS, working as part of radio systems and complexes with a total synchronization, in particular, in the redundant channels.

Sources of information

1. "Global Navigation Satellite System - GLONASS. The interface control document. KNITS videoconferencing Russia, 1995.

2. Global Position System. Standard Positioning Service. Signal Specification." USA, 1993.

3. Global Positioning System (GPS) Receiver RF Front End. Analog-Digitl Converter. Rockwell International Proprietary Information Order Number. May 31, 1995.

4. Network satellite navigation system / C. S. Shebshaevich, p.p. Dmitriev, N. In.Ivancevich etc. // M, Radio and communications, 1993.

5. Riley, S., Howard N., Aa 6. A. J. Van Dierendonck., Pat. Fenton and Tom Ford. Theory and Performance of Narrow Correlator Spacing in a GPS Reciever. Navigation: Jornal of The Institute of Navigation, Vol. 39, No. 3, 1982.

7. U.S. patent N 5390207, CL G 01 S 5/02, H 04 7/185, publ. 14.02.95. (Fenton, A. J. Van Dierendonck, "Pseudorandom noise ranging receiver which compensates for multipath distortion by dynamically adjusting the time delay spacing between early and late correlators").

8. U.S. patent N 5495499, CL H 04 L 9/00, publ. 27.02.96. (Fenton, A. J. Van Dierendonck, "Pseudorandom noise ranging receiver which compensates for multipath distortion by dynamically adjusting the time delay spacing between early and late correlators").

9. A receiving device / Banks C. N., The Barulin L. G., Azishski M. I. and others // M, Radio and communication, 1984.

10. Professional Products IC Handbook May 1991. GEC Plessey Semiconductors.

The integrated receiver of signals of satellite radio navigation systems containing radio frequency Converter, the input of which forms the signal input of the integrated receiver, the N-channel digital correlator, the signal and clock inputs of each of the channels of which are connected with the corresponding outputs of the radio frequency Converter, calculator, associated bus communication with each of the channels of N-channel digital correlator, and the driver signals a time stamp, the measuring gate of which is connected to the corresponding inputs of each channel on the stroke associated with the output clock signal of the radio frequency Converter, when the driver signals timestamp contains a counter, a first input which is the input clock signal, and output the output signals of the own timestamp integrated receiver, the period register and the shaper signal loading period, the first input, the output and second input of which is connected respectively to the first input, second input and output counter and the third counter input coupled to the output period register, the input of which is a control input of the shaper signals timestamp, wherein the driver signals timestamps have been added to the first and second sync blocks, signal inputs which are input signals of the first and second external timestamp integrated receiver, and clock inputs are connected to the first input of the counter register of the temporary provisions of the second external time stamps, the switch and the register control switch, the input of which is connected by a bus to exchange data with the evaluator and the output with the control input of the switch whose output is the output of the measuring gate driver signals timestamp, the first signal input of the switch is connected to the output of the counter, anizatio connected to the first input register of the temporary provisions of the second external label, the other input of which is connected with the output bits of the counter, and the output is an optional output driver signals timestamp.

 

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