Multi-channel receiver equipment of satellite navigation systems

 

The proposed device relates to satellite navigation and can be used to determine the state vector (coordinates, speed and time) of users on the signals of two satellite navigation systems (SNS). The technical result is the simultaneous reception by plementation on two separate (external and internal) antennas and to produce independent signal processing navigation satellite systems GLONASS and NAVSTAR" in two different channels of information processing. This is achieved by the fact that in a multi-channel receiver equipment of satellite navigation systems containing the antenna, the receiver, the synchronization input of which is connected to the output of the reference temperature-controlled generator, the N-channel block primary data processing, the first and second random access memory device, the first and second persistent storage device, a processor block I / o and display, have been added to the navigation unit-time definitions and the second antenna. 1 C.p. f-crystals, 11 ill.

The invention relates to the field of satellite navigation and can be used to determine the state vector (coordinates, speed and time the USA).

It is known device [1] , which contains the antenna, preamplifier, two-stage Converter RF quadrature Converter, the reference crystal oscillator and the synthesizer, digital correlator, a control device, the code generator, the first and second controlled digital code generators, bit synchronizer, two digital filter and block navigation tasks. An advantage of the device [1] is the implementation of the tract of primary processing of navigation signals in digital form, which ensures high stability, accuracy and reliability of the device and to reduce the weight and dimensions and power consumption.

Disadvantages of the device [1] is, first, signals of navigation satellites the GPS NAVSTAR", which often reduces the accuracy and do not provide continuous measurements of the state vector of the navigation parameters of the consumer, and secondly, to account for uneven group delay time of the input signal in the receiver device uses a sophisticated multi-digit frequency synthesizer and a comparator, which leads to considerable complication of the receiving amplifier channel.

These drawbacks are partially westrenen Converter (ADC), digital mixer correlator, the generator of pseudorandom sequences (SRP), the control unit generator SRP, digital code generators and carrier frequencies, the digital processor signal processing, communication interface, the navigation processor, the coprocessor floating-point RAM random access, a persistent storage device and the reference OCXO.

An advantage of the device [2] is a modular organization of the component parts of diamondcutter that allows to implement multi-channel principle of the navigation user equipment (EmOC) and, thereby, to provide the required accuracy of the measurement vector navigation parameters. Secondly, the receiver path of this device is constructed so that it does not contain, for example, the schema exception Doppler corrections or correlation processing of the input signal, which can, in General, in a digital processor of the signal processing can implement any number of contours tracking of the measured parameters, while ensuring the required quality and accuracy.

The drawback of the device [2] is, first, the signals only system "NAVSTAR", which in some cases leads to negiotating channel leads to a decrease of the ratio signal/noise is about 1.5 dB for one receive channel.

The closest to the technical nature of the claimed device is a receiver equipment [3], which contains an antenna, a receiver, a synchronization input connected to the output of the reference temperature-controlled oscillator, a frequency-to-code correlator, digital processor signal processing, communication interface, navigation microprocessor, RAM, ROM, a N-channel block primary data processing, the adapter highway, processor, I / o, non-volatile RAM, the second ROM, timer and indicator. The specified device provides highly accurate reception of the input signal by minimizing the non-uniformity of group delay time receiver / amplifier system, as well as the high accuracy and continuity of navigation definitions due to multi-channel organization of the computational process measurement and processing of the signals of the navigation satellites of the two systems: GLONASS (Russia) and "NAVSTAR" (USA).

However, the device-prototype [3] has a number of disadvantages, which reduce the accuracy of navigation definitions and performance diamondcutter satellite radio navigation systems. First, as the experience of development and operation of the prototype [3] , odnovremenno to ensure the required accuracy of operation of the device, to the sampling frequency of the analog-to-digital Converter of the receiver was not less than 100 MHz. Such a high value of the sampling frequency in the further processing of information in digital form requires special structural and technical measures to ensure the health system as a whole, for example, the transition from the gallium arsenide technology, based on which the implemented ADC device-prototype [3], a CMOS (or BICMOS) technology, on the basis of which implemented the other nodes of the navigation user equipment. This, in turn, leads to increased power consumption, dimensions, and significantly more expensive NAP.

In the inventive device achieved the possibility of solving the following problems: - due to a new approach to implementation of the receiver / amplifier tract achieved simultaneous reception on two separate (internal and external) antennas and independent processing of the signals of the navigation satellites of the global satellite navigation systems GLONASS and NAVSTAR" in two different channels of information processing and, as a consequence, a significant reduction of the active operating frequency and the sampling frequency of the ADC of the receiver and improve the technology of interdependent relations in the automatic tracking circuits on the carrier frequency and code, as well as the implementation of a coherent mode of tracking the phase of the carrier frequency.

These benefits before a prototype is achieved due to the fact that in a multi-channel indicator, satellite navigation systems, containing the first antenna, a receiver, a synchronization input connected to the output of the reference temperature-controlled generator, the N-channel block of the primary information processing unit of the processor I / o navigation parameters, and the information output processor I / o navigation parameters connected to the indicator, the first and second random access memory device, the first and second persistent storage device, the entered block navigation-temporal definitions and the second antenna. The outputs of the antennas are connected respectively with the first and second information inputs of the receiver, the information output of which is connected to the inputs of the first to N-th channels of the primary unit of information processing, and each channel has its own frequency-code correlator, digital synthesizer carrier frequencies, multi-function generator of pseudorandom sequences and measurement unit vector navigation options. Information output p is and the primary information processing, information outputs are connected to first inputs of blocks of dimension vector navigation parameters, the second inputs of the frequency-to-code correlators connected to the outputs of digital synthesizers of the carrier frequencies of the first to N-th channels of the primary unit of information processing. Information outputs multifunction pseudorandom sequence generators each channel block primary data processing are connected respectively with the third information input blocks of frequency-to-code correlators, and informational inputs multi-function pseudorandom sequence generators each channel block primary data processing is connected to the first data outputs blocks of dimension vector navigation parameters, the second information outputs are connected to information inputs of digital synthesizers of the carrier frequencies. The outputs of the control units of measurement vector navigation parameters connected to the control inputs of the frequency-to-code correlators each of the primary channels of information processing. First, second and third information bi-directional input units of measurement vector radionavigation, the who and the third bi-directional information input unit navigation-temporal definitions, the first memory device and the first permanent storage device. The fourth bi-directional input unit navigation-temporal definitions connected to the first bi-directional input unit of the processor I / o navigation parameters, the second bi-directional input which is connected to a bidirectional information the input of the second memory device. Third bidirectional input processor I / o navigation parameters connected to the bidirectional information the input of the second persistent storage device. The first output of the clock receiver is connected to the inputs of clock synchronization digital synthesizers of the carrier frequencies of the first to N-th channels primary data processing. The second output clock of the receiver is connected to the clock inputs of the frequency-to-code correlator and multifunction generators of the first to N-th channels of the primary unit of information processing. The third output clock of the receiver is connected to the clock input synchronization block navigation and temporary is trojstva problem solving can also be achieved by a new approach to the implementation of the receiver input signals, received from the navigation satellites (NS). Thus, in the receiver of the user equipment signals of global satellite navigation systems containing low-noise amplifier, a first mixer, the first intermediate frequency amplifier, the reference OCXO inputs of the first and second filters-preselector, second and third low-noise amplifiers, microwave (MW) switch, amplitude limiter, driver grid reference frequency, a phase shifter, the first through third bandpass filters, the second mixer, the second intermediate frequency amplifier, the first and second blocks automatic gain control. The output of the first antenna is connected to the input of the first filter preselector, the output of which is connected to the input of the first low-noise amplifier, the output of which is connected to the first input of the microwave switch, a second input connected to the output of the second low-noise amplifier, an input connected to the output of the second filter preselector, an input connected to the output of the second antenna. The output of the microwave switch is connected to the input of the amplitude limiter connected to the output with the first input of the third low-noise amplifier, the output of which is connected to the input of the PE the Second input of the second mixer connected to the output of the phase shifter, the inlet of which is connected both to a second input of the first mixer and the first output driver grid reference frequency input connected to the output of the reference temperature-controlled generator.

The output of the first mixer is connected to the input of the second bandpass filter, the output of which is connected to the first input of the first intermediate frequency amplifier, a direct output of which is connected simultaneously with the first information input of the analog-to-digital Converter and the first block automatic gain control, the output of which is simultaneously connected with the second input of the first intermediate frequency amplifier and a third low-noise amplifier. The output of the second mixer is connected to the input of the third bandpass filter, the output of which is connected to the first input of the second intermediate frequency amplifier, the output of which is simultaneously connected with the second information input of the analog-to-digital Converter and the input of the second block automatic gain control, an output connected to the second input of the second amplifier intermediate frequency. Inverted output of the first intermediate frequency amplifier connected to the third information input of the analog-to-digital Converter, inversora Converter, and the second output driver grid reference frequency is connected to the control input of analog-to-digital Converter and digital synthesizers of the carrier frequencies of the first to N-th channels primary data processing. The third output driver grid reference frequency is connected simultaneously to the inputs of the clock-frequency-code correlators and multifunctional pseudorandom sequence generators of the first to N-th channels of the primary unit of information processing. The fourth output driver grid reference frequency is connected to the clock input synchronization block navigation-temporal definitions multichannel diamondcutter signals of satellite radio navigation systems.

Further the invention is to explain the drawings, and in Fig.1 presents a functional diagram of the multichannel diamondcutter satellite radionavigation systems; Fig. 2 is a functional diagram of a receiver of signals of satellite radio navigation systems; Fig.3 is a block diagram of the shaper grid reference frequency; Fig.4 is a functional diagram of the multistage frequency divider driver grid reference frequency of the receiver; Fig.5 is a variant of the technical implementation of analog-to-digital is the first scheme multifunction generator of pseudorandom sequences; Fig.8 is a block diagram of the path of the primary information processing OAD;
Fig.9 is a simplified algorithm of the search signal navigation satellite EmOC;
Fig.10 is a block diagram of the programme of work tract primary data processing of the claimed product.

According to the invention multi-channel receiver equipment of satellite navigation systems (Fig.1) contains an external antenna 1 with the input feeder, an output connected to the first signal input of the receiver 2, the second signal input which is connected to the second output (built-in) antenna 3. The receiver 2 provides simultaneous reception and processing of signals of navigation satellites systems GLONASS and NAVSTAR" in the band 1573 1621...MHz. Reference OCXO 4 produces output reference solid-state oscillation frequency of 10 MHz and is connected to the control input of the receiver 2. In the receiver 2 after conversion is generated and outputted net working clock frequency to ensure serviceability of the number of other nodes and blocks diamondcutter. The information output of the receiver 2 is connected to information inputs of the first to N-th channels of the primary unit of information processing, and each channel has its own frequency-code correlator stay 7 and the measurement unit vector navigation options 8.

The signals received from the output of navigation satellites, the modulated pseudo-random sequences and the navigation message. In DiamondCore it is necessary to generate copies of these SRP for each of the signals NA, to harmonize them with a temporary position, to restore the suppressed carrier with regard to its Doppler shift and highlight the navigation message. For this purpose, multi-function generator 7 includes generators SRP generating sequences, each of which is unique for any of the navigation satellites. Signals are pseudo-random sequences ("norm", "earlier", "later") in various combinations come to the second group of information inputs of the frequency-to-code correlators 5, which together with synthesizers carrier frequencies 6 and the units of measurement of radio navigation options 8 of the first to N-th channels of the primary information processing performs a number of tasks of the primary information processing, such as search signals of navigation satellites, the ratio signal/noise, tracking code and estimation of the pseudorange, carrier tracking and assessment of pseudokarst etc.

Block navigation-temporal definitions 9 is connected by buses, Adora navigation parameters of the first - The N-th channel of the primary processing of information, the first memory 10 and the first ROM 11.

The results of measurements of the navigation parameters from the output of the navigation unit-time definitions come on bidirectional input/output processor input/output navigation parameters 12, functional support health which perform the second RAM 13 and the second ROM 14. The final results of navigation definitions are displayed on the display 15.

The receiver 2 signals of satellite radio navigation systems (Fig. 1 and Fig. 2) contains a filter preselector 16 input connected to an external antenna 1 of the inventive device, an output connected to the input of the first low-noise amplifier 17, the output is connected to the first input of the microwave switch 18. The second input of the microwave switch 18 is connected to the output of the second low-noise amplifier 19, an input connected to the output of the second filter preselector 20, the inlet connected to the outlet of the feeder built-in antenna 3 of the inventive multi-channel diamondcutter satellite radio navigation systems. The output of the microwave switch 18 is connected to the input of the amplitude limiter 21, the output of which is connected to the first input of the third low-noise antenna inputs of the mixers 24 and 25. The second input to the mixer 25 is connected to the output of the phase shifter 26, the inlet of which is connected both to a second input of the mixer 24 and the first output of the shaper 27 grid reference frequency input connected to the output of the reference temperature-controlled oscillator 4. The output of mixer 24 is connected to the input of the bandpass filter 28, the output of which is connected to the first input of the amplifier 29 intermediate frequency, a direct output of which is connected both to the input unit 30 of the automatic gain control (AGC) and the first information input of the analog-to-digital Converter 31. The output of mixer 25 is connected to the input of bandpass filter 32 connected to the output with the input of the amplifier 33 intermediate frequency, a direct output of which is connected simultaneously to the second information input of the ADC 31 and the input of the AGC unit 34, an output connected to the second input of the intermediate frequency amplifier 33. Inverted outputs of the amplifiers 29 and 33 intermediate frequency connected respectively to the third and fourth information to the ADC inputs 31, the first to fourth outputs of which are the outputs of the receiver. The second output of the shaper 27 grid reference frequency is connected simultaneously to the control input of the analog-to-digital Converter the information.

Shaper 27 grid reference frequency (Fig.2 and 3) contains a pulse phase detector 35 and the frequency detector 36, the first inputs are connected together and connected to the output of the reference temperature-controlled oscillator 4. The outputs of blocks 35 and 36 are connected respectively with the first and the second input of the adder 37, the first and second outputs of which are connected respectively to the control inputs of the keys 38 and 39. The second control inputs of the keys 38 and 39 are connected respectively to the positive potential of the supply voltage and the ground potential. The outputs of the keys 38 and 39 connected together and connected to the input of the filter 40 of the lower frequencies, thus supporting a stable current value at the input of the filter 40 of the lower frequencies. The output of the LPF 40 is connected to the input of the generator 41, a voltage-controlled (VCO), the output of which is connected both with the blocks 24 and 26, as well as the entrance of the multistage frequency divider 42, the first output of which is connected simultaneously to the second inputs of the blocks 35 and 36, thus forming a ring phase-locked loop. The second output of the divider 42 is connected simultaneously to the control input of the analog-to-digital Converter 31 and the clock inputs of the block 6 VLF first to N-th channels of the primary treatments is on is connected to the output of generator 41, voltage-controlled, and is the input of the multistage frequency divider. The output of the T flip-flop 43 is connected to the synchronization input of the counter-divider 44 (division ratio N=70), the output of which is connected to the second inputs of the pulse phase detector 35 and the frequency detector 36, respectively. In addition, the output of the T flip-flop 43 is connected also to the input of counter-divider 45 (a division ratio of N=14), an output connected to the control input of analog-to-digital Converter 31, and the block 6 of the first to N-th channel primary data processing. The output of the T flip-flop 43 is connected also to the input of counter-divider 46 (a division ratio of N=35), the output of which is connected to the inputs of blocks 5 and 7 of the claimed device. The output of the T-flip-flop 4 is connected also to the input of counter-divider 47 (division ratio N=10), the output of which is connected to the clock input of block 9 of the claimed device.

Analog-to-digital Converter 31 (Fig.2 and 5) includes Comparators 48, 49, 50, 51, integrators 52 and 53, the elements OR 54 and 55. The first input of the comparator 48 is connected to the direct output of the amplifier 29 intermediate frequency, the inverse output of the latter is connected to the first input of the comparator 49. The output of the comparator 48 is the first output of the ADC (in the course of the ADC output I2), and it is connected with the second input element OR 54. The output of the OR element 54 is connected to the input of the integrator 52, the output of which is connected both to the second inputs of the Comparators 48 and 49. The first input of the comparator 50 is connected to the inverse output of the amplifier 33 intermediate frequency, a direct output unit 33 connected to the first input of the comparator 51. The output of comparator 50 is the third ADC output (output Q1), and it is connected to the first input element OR 55. The output of the comparator 51 is the fourth ADC output (output Q2), while it is connected to the second input of the OR element 55. The output of the OR element 55 is connected to the input of the integrator 53, the output of which is connected simultaneously to the second inputs of the Comparators 50 and 51. The second output of the shaper 27 grid reference frequency is connected simultaneously with the third (control) inputs of Comparators 48-51.

Frequency-code correlator 5 (Fig. 1 and 6) comprises a complex multiplier 56, the first-fourth input of which receives signals from the ADC output 31 of the receiver, and the fifth-eighth input of complex multiplier receives signals synthesizer carrier frequencies 6, to the input which, in turn, receives the results of calculations with unit output measurement vector R is the logical multiplication 57, at the second inputs of this device signals are pseudorandom sequence output multi-function generator 7. The results of the logical multiplication is fed to the input a three-digit accumulative adders 58-63, from the output of the transfer which signals are fed to the clock inputs of counters drives 64-69. Outputs reset these counters are interconnected and connected with the first bus control unit 8. Inputs synchronization accumulative adders 58-63 connected to the third output driver grid reference frequency 27 on which are formed of clock pulses with a frequency of 20 MHz. The outputs of counters drives 64-69 allocated output signals of the frequency-to-code correlator I "Norm", Q "Norm", I "Before", Q "Before", I "Later", Q "Later."

Multifunction generator 7 (Fig.1 and 7) contains a divider 70 frequency, the first five outputs of which are connected to respective inputs of the block 71 shaper clock frequencies. On the second information input of the shaper 71 clock frequency signals from the first output unit 72 controls a pseudo-random sequences, the input of which is connected to the second bus control unit 8. The first output driver 71 clock CAS General application With/And "NAVSTAR", which is made on the basis of the generator FRI/SA 73. The choice of the mode of operation of the generator by connecting the second output unit 72 controls the SRP to the control input of the block 73 and the supply potential of the signal "NAVSTAR/GLONASS depending on the type of processed in the navigation channel of the satellite. In the case of the claimed product signals NS system "GLONASS" to the input unit 73 receives a signal frequency of 511 kHz, while for the NA system "NAVSTAR" - 1.023 MHz. The second output driver 71 clock frequency connected to the input of the sync generator SRP high precision (W-code), which is implemented on the basis of the unit 74. In the case of block 74 at its input synchronization signal with a clock frequency of 5.11 MHz. The first and second information input unit 74 is connected to the third and fourth outputs of the block 72 management of pseudo-random sequences, thereby providing the ability to programmatically change the mode of operation of the generator SRP 74. Information outputs of the blocks 73 and 74 are connected respectively with the first and second inputs of the multiplexer 75, the first and second control inputs of which are connected respectively to the fifth and sixth outputs of the control unit 72. The outputs of multiplexer 75 is the more", SRP "Norm" SRP "Later."

Tract primary data processing (Fig.8) includes a complex multiplier 56, the block of the logical multiplication 57, blocks accumulative adders 58-63, blocks, counters, integrators 64-69 and the number of blocks that are implemented on the software level, and the output of the counter drive 64 is connected simultaneously to the input block 76 character synchronization, the first input node 77 search signal NS in the plane of parametric uncertainty, time-frequency, the first input of frequency detector 78, which is part of the loop for tracking the carrier frequency of the national Assembly, and the first input of the phase detector 79 loop tracking phase of the carrier frequency. The outputs of counters drives 65 and 66 are connected respectively to first and second inputs of the block of time discriminator 80 loop tracking signal delay navigation satellite to track the distribution of NS-user. The output of the counter drive 67 is connected simultaneously to the second input node 77 search signal NS, the second input of frequency detector 78, the second input of the phase detector 79. The outputs of counters drives 68 and 69 are connected respectively to third and fourth inputs of the time discriminator 80. The outputs of block symbolin the clusters. The output of the frequency detector 78 loop tracking of the carrier output connected to the input of the digital filter 81, an output connected to the first input of the synthesizer carrier frequencies 6. The output of the digital filter 81 is connected to the data bus block 9.

Block Arkhangelskoe phase detector 79 loop tracking carrier phase output connected to the input of the digital filter 82, an output connected to the second input of the synthesizer carrier frequencies 6. The output of the digital filter 82 is also connected to data bus unit 9. The block of time discriminator 80 loop tracking signal delay NS output connected to the input of the digital filter 83, the output connected to the first input of the summation block 84, the output connected to the input of multi-function generator 9. The second input of the summation block 84 is connected to the output of the switch 85, the input of which is connected to the output of the digital filter 81. The output of the digital filter 83 is also connected to data bus block 9.

Does the proposed device is as follows.

To the input of the antennas 1 and 3 of the claimed device receives signals of navigation satellites radio navigation system "GLONASS" and "NAVSTAR" Si (t), which in General have the form
Di(t) is the navigation message of the i-th NS;
i- carrier frequency of the i-th NS;
t - current time;
ithe signal delay on the highway distribution of NS-user;
i- the initial phase of the carrier of the i-th NS.

The amplitude-frequency characteristic of the reception path of the claimed device is determined by the spectrum of frequencies of the received signals. Frequency spectrum of the signals of the system NA GPS NAVSTAR" when working on the code of General application With the/And is (1575,421) MHz, and the frequency spectrum of the signals NS system "GLONASS" when working on the codes of the low and high precision (respectively, PT and W) is (1602-1620,6) MHz. This means that the total bandwidth of the received signals are equal 1574,42f1620,6 MHz, i.e., the occupied bandwidthf is approximately 50 MHz.

From the output of the antenna 1 signal is fed to the input of the broadband filter preselector 16, which serves to limit the bandwidth of received signals in the range 1574,42-1621 MHz. The specified filter, which can be performed, for example, on the bulk electric resolute bandwidth the order of the filter is equal to four. This approach leads to the fact that there is no need to use a special calibrator to ensure minimal unevenness of group delay time for signals from NS with different carrier frequencies. From the output of the filter 16, the signal is fed to the input of a low noise amplifier 17, where the preamp signal, which is then routed to the first input of microwave switch 18.

The microwave switch, which may be performed, for example, on p-i-n diodes, provides the opportunity to work for one of the antennas: either by internal (embedded in equipment users), or external (remote). When this microwave switch 18 is implemented so that when connecting an external antenna off the blocks 19 and 20 and are working only on the external antenna.

Output built-in antenna 3, the signal received at the input of the broadband filter preselector 20, purpose, type and parameters of which are similar to the filter 16. From the output of the filter 20, the signal is fed to the input of a low noise amplifier 29, which functions similar to the functions of the device 17. Low-noise amplifiers 17 and 19 are made on the basis of gallium arsenide transistors barrier Shotkoski amplitude-frequency characteristics 1 dB and the noise figure of 1.5 dB. The LNA output 19 is connected to a second input of the microwave switch 18. The parameters of the microwave switch based on a p-i-n diode type AA, are as follows: band a valid operating frequency of 0.6-9) GHz, the losses of the transmission of the open channel 1.5 dB, the standing wave ratio equal to 1.8.

Further, the outputs of the microwave switch 18 is fed to the input two-way amplitude limiter 21, which represents a parametric amplifier and is intended to prevent the excitation cascades peemoeller tract in the case of the powerful impact of interference, the spectrum of which is the receiver bandwidth (for example, systems global space communication or astrophysical emitters). Loss of useful power when using amplitude limiter 21 does not exceed 0.5 dB in the passband. The output signal of the amplitude limiter 21 is supplied to the first input of the LNA 22, where there is a further amplification of the received signal. Band-pass filter 23 is designed to eliminate any ripple in the passband of the broadband filter preselector 16 or 20 (depending on operation mode).

Further, the outputs of the bandpass filter 23 is supplied to the first inputs of the mixture is about the complex photomanipulating signal. To this end, the blocks 24 and 26 are connected to a local oscillator frequency of 1400 MHz (generator output, voltage controlled 41) with phase shift/2 by the phase shifter 26. At the output of the mixers 24 and 25 produces a signal of the difference frequency fCR= fwith-fgwith the formation of the channel unit 24 in-phase (sine), and the channel unit 25 quadrature (cosine) component of the converted input signal. The outputs of the mixers 24 and 25 are connected respectively to the inputs of bandpass filters 28 and 32, which are broadband filters with Butterworth approximation and parameters: the cut-off frequency f1= 50 kHz, f2=26 MHz (2 dB) attenuation at a frequency of 30 kHz is equal to 45 dB, and at a frequency of 28 MHz 90 dB, respectively.

Note that this approximation when implementing filters 28 and 32, and the implementation of balanced mixers based scheme with quasi-linear frequency shift allows to provide a very small amount of non-uniformity of group delay timefor all signals KA system "GLONASS" and "NAVSTAR" (about a 1.5 NS). This value ofallows polyethoxylates 29 intermediate frequency, and the band-pass filter 32 is connected to the first input of the amplifier 33 intermediate frequency. The amplifiers 29 and 33 intermediate frequency necessary for the further amplification of the input signal.

For the permanence of the gain within the specified limits using blocks 30 and 34 automatic gain control, and in-phase and quadrature channel implemented their unit ARU. The AGC block 30, working on the in-phase component covers the amplifier 29 intermediate frequency and low-noise amplifier 22, and the AGC block 34 to the amplifier 33 intermediate frequency. Depth adjustment AGC blocks 30 and 34 is 28 dB.

With direct and inverse outputs of the amplifier 29 intermediate frequency in-phase component of the input signal at the first and third information input of analog-to-digital Converter 31, and the quadrature component is supplied with direct and inverse outputs of the amplifier 33 to the second and fourth informational inputs of the ADC 31. After analog-to-digital Converter outputs I1and I2ADC 31 are formed respectively in-phase, and the outputs Q1and Q2correspondingly digital quadrature components of the input signal of the receiver of the user equipment in SRNS.

Dostosowanie voltage levels, which compares the input signals when the digitization is not fixed, and are formed by logical exclusion on OR and integration. This property ADC allows you to increase or decrease the threshold comparison based on spectral properties of the input signal. This implementation significantly increases the immunity system, for example, when exposed to a harmonic (non-Gaussian) or concentrated impulse noise.

Further work is proposed diamondcutter is supported by software (SW), which is divided between the unit vector of the navigation parameters 8 and block navigation-temporal definitions 9. After passing the test programs and confirm the performance of the main nodes of the receiver equipment goes into standby mode interrupt, for example, from the multi-function generator 7, or from the digital processor signal processing (cpos) floating point, on the basis of which implemented the navigation unit-time definitions 9.

The next problem, which is solved with the support of the math software is the choice of the optimal working of the constellation of the national Assembly from the total number for whom Limanov two systems, which in the inventive device are stored in the ROM 11 of the claimed device (Fig.1). This can also be considered approximate coordinates of the location of the user and the current time of day entered by the user. In this case, the solution of the navigation task converts the current almanac for the current time to determine the possible range of each NS at a specific point in time. If the almanac is out of date or when you first turn on the claimed device software-software command is issued to update the almanac" or "search NA blindly. This involves a sequential search of signals by N physical channels in the General case one of the NA system "GLONASS" and "NAVSTAR", and also reads the navigation message. At the same time determined and ephemeris information, i.e. is determined by the number of working satellites of the two systems at this point in time, their coordinates and predicted Doppler shift relative to the consumer. In case of obsolete information anthologies, the results of the first reference measurement state vectors navigation parameters can be obtained with a sufficiently large pogresne signal is received from the satellite system GLONASS, then Ki=0 and Ki=1 if the i-th channel signal is received from the satellite system "NAVSTAR".

In the future of all workers in a given time satellites for the optimum constellation of the national Assembly of the two systems (for example, on the basis of the criterion of the minimum of the geometric factor), while aware of the true position of each of the members of the optimal constellation of satellites. As in the inventive device, the number of physical channels N=12, the optimal constellation is 12 NS systems GLONASS and NAVSTAR". Due to the fact that all the physical channels primary data processing identical, consider the detailed operation of one of them on the example of the national Assembly system "GLONASS". This choice is explained only by the fact that the reception and processing of signals on the system "GLONASS" is performed on two codes, while in the case of "NAVSTAR" - only code of General application, i.e., the principle of operation of the system NA "GLONASS" is the most common.

The organization of the computational process diamondcutter by using the management program Manager, which is located in the navigation (system) cpos 9. After you complete the procedure of choosing the optimal working of the constellation of the national Assembly, comfortably channels of information processing, which provide communication between the navigation unit and time definitions 9 implemented on the basis of modern digital processing of signals and N-channel block in the primary data processing, thereby producing a data packet to the target for each of the physical channels of navigation definitions. Among them will be passed:
a) Start cyclic search signals NA";
b) the type of code SRP (FR, W, C/a) along which the search signal;
C) the step size of the frequency search and pseudorange;
g) values of the nominal carrier frequencies spacecraft system "GLONASS" and "NAVSTAR", and their numbers;
d) a priori specified value of the Doppler frequency.

A simplified block diagram of the algorithm of successive cyclic procedure of the search signal NS in the plane of parametric uncertainty, the time - frequency shown in Fig.9. Its essence lies in the sequential plane view of uncertainty, which is divided into NN unit cells, the accumulation module input signal observation interval Tnand compare its value with the pre-calculated linearly varying the threshold a, which is installed, for example, in C>/img>numbers studied elementary cells NN and varies linearly with the specified offset within the observation interval Tn. If the cumulative sum sampling module of the processed SUM signal exceeds the threshold (block 6) then signal the navigation satellite is detected, is set to sign a "Signal" (block 7). The carrier Fcarriedand SRP code is fixed accordingly in the synthesizer carrier frequencies 6 and the generator MFG the i-th channel search, and the apparatus enters the measurement mode. The value of the sample module's cumulative signal in block 77 of the claimed device by the formula

If the value of the accumulated SUM module is below the threshold And analyzed: the total search time T search (block 10 of the program; it should not exceed some pre-calculated values of TAve), the value of the carrier frequency Fcarried(unit 11 of the program; it should not exceed certain limit values of FAve). If these conditions are met, there is a change in the value of the carrier frequency (block 12 program), change the threshold value comparison (block 13) and the search signal NS continues. If mA analyzes the value of the pseudorandom code sequence SRP (block 14). If its value is less than some fixed value of the SRPCRthere is a shift SRP per unit (using Fig generator 7) and the search signal navigation satellite continues. If the value of the pseudo-random sequence reaches the limit value of the SRPCR(unit 14 programs), there is an inversion of the direction of the search (block 15). The search signal NS in the plane of the a priori uncertainty in time-frequency is cyclically; exit program can be enforced by an interrupt, for example, from program Manager, unit 9 navigation-temporal definitions.

Once the navigation satellite is found, the claimed product enters the tracking mode and the measurement vector navigation parameters (VRNP), namely pseudorange and pseudocerastes. For this purpose, after the search is complete, included ring tracking delay, carrier frequency and phase of the carrier frequency. When the scheme tracking the carrier at the output of the software-implemented block 78 frequency detector minimizes the error, which is determined by the formula
f=IiQi-1-Qi=Ip2Qp2-Ip2-Op2. (4)
When the ring of tracking the phase of the carrier frequency at the output of the software-implemented block Arkhangelskoe phase detector 79 is minimized error, which is defined as
=arctan In/Qn. (5)
The block diagram of the monitoring meters tract primary data processing is shown in Fig.10. As can be seen from Fig.10, measurements VRNP significantly different from the algorithms of the product prototype [3]. After completing the search signal navigation satellite (blocks 1-5, Fig. 10) apparatus uses pre-calculated circuit parameters tracking code (SSC) and frequency-locked loop (CHAP) carrier frequency in NS. This eliminates mode narrow band (see Fig.11, the device-prototype [3]) that allows approximately 10% to reduce the average time to receive the first reference vector navigation parameters in the inventive device.

The introduction of additional summation blocks 84 and commutate SCQ, that gives the opportunity to reduce its one-sided noise bandwidth of 0.5 Hz while working on any of the codes (C/a system "NAVSTAR", PT and W system "GLONASS") and, as consequence, to decrease by 5-7 percent of the noise component of the measured pseudorange. Frequency soft switch unit 85 is equal to 20 MS, which agrees one-sided noise bandwidth of the FCS with the frequency of receiving samples of pseudorangethat is implemented once per second, eliminates energy losses and ensures that the effect of the correlation times of the pseudorange.

Diagram ring SCQ (units 6-9, Fig.10) and CHAP (units 10-13, Fig.10) simultaneously, providing measurements of pseudorange and pseudocerastes (blocks 14 and 15, Fig.10) with the transfer of measured values in the site navigation and temporary definitions 9.

In some cases, for example, when the dynamics of the movement of the consumer or the shading of the national Assembly, possible failure of the support of the signal in the circuit ring tracking code, so in the scheme of tracking frequency (blocks 7 and 11, respectively, Fig.10). In this case, turn on or count breakdown maintenance SCQ (block 8, Fig.10), or counter breakdown maintenance CHAP (block 12, Fig. 10), while Colli carrier frequency. If in the scheme of FCS or CHAP tracking mode cannot be restored, the inventive device goes into search mode signal navigation satellite.

In the absence of a failure in the automatic tracking of the rings SCQ and CHAP the proposed device can either switch to phase-locked loop (PLL), or under the control of the program is to monitor the implementation of the algorithms of character, line and frame synchronization (block 22 block diagram of Fig.10).

In case of failure of automatic tracking circuit PLL (block 18, Fig.10, the circuit enters mode analysis breakdown maintenance FAP (blocks 19 and 21, Fig.10), the circuit ring FAP tries for a fixed time interval to restore tracking the carrier phase. If in the scheme of PLL tracking mode cannot be restored, the inventive device enters the operation mode CHAP. If tracking is restored, after the measurement phase of the carrier frequency of the NS device is transferred to the execution of the algorithms of character, line and frame synchronization, respectively.

From the output of block 76 navigation message Di(t), pseudoalleleto the i-th NS and pseudokarst(instantaneous state of a discrete phase code in the scheme of FCS soo is doing in block 9 navigation-time definitions where is the procedure of decoding the navigation message Di(t), and implemented in software decoders navigation messages of the national Assembly systems "GLONASS" and "NAVSTAR" individual for each of the satellites, because of the structure of the navigation message specified GPSr differ from each other.

It should be noted that the codes of the General application of the reduced accuracy is tied to the same point in time with an error of=5 NS, so the signal of low accuracy (FRI) serves as a key to accelerated entry into synchronism during high accuracy (W). This means that the initial synchronization is performed on the code of General application to FRI special keyword that is contained in the navigation message and the distance to which it is known of its structure, followed by accelerated entry into synchronism along W. The structure and principle of operation of the tracking meter does not change.

Work with the national Assembly system "NAVSTAR" is only for C/a code, thus reducing the accuracy of the navigation measurements and required the development of special models of radio wave propagation to account for ionospheric and tropospheric delays etc is just to determine the value ofthe shear scale of the system time satellites SRNS "NAVSTAR" relative to the time scale SRNS GLONASS" and only after that to determine the current state vector of the consumer. With this purpose in block 9 navigation-temporal definitions, solved the measurement equation of the form

wherei- measured pseudodominant to the i-th NS;
n is the dimension of the state vector of the consumer;
C - light speed;
i= { 0, if the i-th national Assembly belongs to the SRNS "NAVSTAR"; 1 if the i-th national Assembly belongs to the SRNS GLONASS"};
x is the state vector without considering the relative time shift of the SRNS.

Then the system of equations of measurements for the case of work on constellation, including the national Assembly of two different systems, is:

wheremis a vector of pseudorange measurements;
mthe vector of signs of belonging to the SRNS.

Solving this system of equations, we get the exact value of the time shifttimeline SRNS GLONASS relatively SRNS "NAVSTAR".

Further, in the navigation unit of time Opanki state vector, for example, the method of least squares

where C is the speed of signal propagation;
i- pseudodominant to the i-th NS;
xi,i, zi- unknown from the navigation message Di (t) coordinates NS;
x1, y1, z1- known from the navigation message speed NS;
x, y, z,- unknown coordinates and components of the velocity vector of the object;
oia nominal carrier frequency of the i-th national Assembly, a constant value;
i- the measured carrier frequency of the i-th NS;
/oithe detuning of the frequency of the reference oscillator diamondcutter relative to the reference generator GPSr;
- temporary mismatch between the time scales GPSr two systems.

Solving this system of equations for the case when the number of observed NA not less than 4, you will get the resulting state vector of the object

which is displayed on the indicator 12.

The standard error of G estimation of coordinates and times/sub>,z,t- the standard error of the three coordinates and time;
- the standard error of measurement of pseudorange;
M is a geometric factor.

Compared with the device-prototype [3] in the inventive device achieved the following benefits:
a) expanded functionality by introducing internal (embedded) and an external antenna, and by applying microwave switch allows automatic switching from the internal antenna to the external when connecting the latter;
b) in the inventive device used adaptive analog-to-digital Converter, which significantly increases the robustness of the receiver for non-Gaussian external interference;
C) achieved a higher rate of receiving the first reference vector navigation options through the use of coding (instead of two) procedure search signal, which reduces the number of points of analysis in search signal navigation satellite, secondly, due to the cancellation forced the band narrowing. This reduces the average time of the CIP is the third and reliability due to the additional accounting Doppler shift, measured in contour tracking carrier loop tracking code, which increases the accuracy and reliability of the claimed product especially when it is set on dynamic objects.

Thus, the objectives of the invention are fulfilled.

Sources of information
1. Receiver equipment type X firm Magnavox (USA). The magazine "Foreign Radioelectronics", 4, 1983, Fig. 7, S. 77.

2. Military receiver firm interstate electronics Corporation. Proceedings of the Symposium on radiolocation and navigation, Las Vegas, USA, 1986, S. 162-168.

3. Basyuk M. N., Yefremov N.In., Kudryavtsev Century. Century. and other Multi-channel receiver equipment of satellite navigation systems. Patent 2079148 (Russia), (prototype).


Claims

1. Multi-channel receiver equipment of satellite navigation systems containing the first antenna, a receiver, a synchronization input connected to the output of the reference temperature-controlled generator, the N-channel block of the primary information processing unit of the processor I / o navigation parameters, and the information output processor I / o navigation parameters connected to the indicator, the first and second operational Suomenlinna entered block navigation-temporal definitions and the second antenna, moreover, the outputs of the first and second antennas connected respectively to the first and second information inputs of the receiver, the information output of which is connected to information inputs of the first to N-th channels of the primary unit of information processing, and each channel has its own frequency-code correlator, digital synthesizer carrier frequencies, multi-function generator of pseudorandom sequences and the measurement unit vector navigation options, information receiver output is connected with the first information input of the frequency-to-code correlators of the first to N-th channels of the primary unit of information processing, the information outputs are connected to first inputs of units of measurement vectors radionavigation parameters the second information inputs of the frequency-to-code correlators connected to the outputs of digital synthesizers of the carrier frequencies of the first to N-th channels of the primary unit of information processing, and information outputs multifunction pseudorandom sequence generators each channel block primary data processing are connected respectively with the third information input of the frequency-to-code correlators, infobody digital synthesizers of the carrier frequencies of each channel block primary data processing connected respectively to the first and second data outputs blocks of dimension vector navigation options the control outputs are connected to the control inputs of the frequency-to-code correlators, and the first, second and third information bi-directional input units of measurement vector radionavigation parameters of each channel block primary data processing connected to the corresponding first, second and third bi-directional information input unit navigation-temporal definitions, the first memory device and the first permanent mass storage device, the fourth bi-directional input unit navigation-temporal definitions connected to the first bi-directional information input unit of the processor I / o navigation parameters, the second bi-directional input which is connected to a bidirectional information the input of the second memory device, third bidirectional input processor I / o navigation parameters connected to the bidirectional information the input of the second constant storage unit, and the first output clock of the receiver are connected to the inputs of clock synchronization digital synthesizers of the carrier frequencies of the first to N-th channels of the primary treatments is Toto-code correlators and multifunction generators first - N-th channels of the primary unit of information processing, the third output clock of the receiver is connected to the clock input synchronization block navigation-temporal definitions multichannel diamondcutter satellite radio navigation systems.

2. Receiver equipment under item 1, characterized in that the receiver includes first and second filters-preselector, second and third low-noise amplifiers, microwave (MW) switch, amplitude limiter, driver grid reference frequency, a phase shifter, the first through third bandpass filters, the second mixer, the second intermediate frequency amplifier, the first and second blocks automatic gain control input of the first filter preselector connected to the output of the first antenna multichannel diamondcutter satellite radio navigation systems, and the output of the first filter preselector is connected to the input of the first low-noise amplifier, the output of which is connected to the first input of the microwave switch, a second input connected to the output of the second low-noise amplifier, an input connected to the output of the second filter preselector, an input connected to the output of the second antenna multichannel diamondcutter satellite is nogo output to the first input of the third low-noise amplifier, the output of which is connected to the input of the first bandpass filter, the output of which is simultaneously connected with the first inputs of the first and second mixer, the second input of the second mixer connected to the output of the phase shifter, the input of which is connected both to a second input of the first mixer and the first output driver grid reference frequency input connected to the output of the reference temperature-controlled oscillator, the output of the first mixer is connected to the input of the second bandpass filter, the output of which is connected to the first input of the first intermediate frequency amplifier, a direct output of which is connected simultaneously with the first information input of the analog-to-digital Converter and the first block automatic gain control, the output of which is simultaneously connected to a second input of the first intermediate frequency amplifier and a third low-noise amplifier, the output of the second mixer is connected to the input of the third bandpass filter, the output of which is connected to the first input of the second intermediate frequency amplifier, the output of which is simultaneously connected with the second information input of the analog-to-digital Converter and the input of the second block automatic gain control, the output of the United States is th frequency is connected with the third information input of the analog-to-digital Converter, inverted output of the second amplifier intermediate frequency to the fourth information input analog-to-digital Converter and the second output driver grid reference frequency - control input of analog-to-digital Converter and the input clock digital synthesizers of the carrier frequencies of the first to N-th channels of the primary information processing, the third output driver grid reference frequency is connected simultaneously to the inputs of the clock-frequency-code correlators and multifunctional pseudorandom sequence generators of the first to N-th channels of the block primary data processing, the fourth output driver grid reference frequency connected to the input of the clock synchronization unit of the navigation-temporal definitions multichannel diamondcutter signals of satellite radio navigation systems.

 

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