CN102353965A - System and method for real-time high-dynamic navigation signal simulator - Google Patents
System and method for real-time high-dynamic navigation signal simulator Download PDFInfo
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Abstract
The invention relates to a system and a method for a real-time high-dynamic navigation signal simulator. The system comprises a satellite navigation message generating module, a real-time simulating control module, an observation data generating module, a navigation signal processing module, an intermediate-frequency signal generating module and an up-conversion module. The system provided by the invention can be used for solving the problem of generating a track real-time navigation signal for an external user, meet the developing demands of real-time closed-loop simulation and navigation half-physical simulation, and support an index test of a flight control system.
Description
Technical field
The invention belongs to the satellite navigation technical field, relate to a kind of real-time high dynamic navigation signal simulator system and method.
Background technology
In recent years, along with the technical development of GPS (Global Position System), navigation neceiver is used widely.For research and development and the test of satisfying navigation neceiver, need to use the satellite navigation simulator.
The satellite navigation simulator is used for simulating the multichannel navigation satellite signal that the receiver antenna termination is received under the different condition.The satellite navigation simulator can fully be simulated the various complex situations that navigation neceiver runs in the dynamic carrier motion process; Can for navigation neceiver particularly development, the test phase of high dynamic receiver simulated environment is provided, also can be used for simultaneously system-level navigation simulation test.
Along with the demand of closed loop real-time simulation, need real-time received vector movable information to produce navigation signal.Domestic research still belongs to the starting stage, does not see that abroad open source literature delivers.And at present not high to the emulation real-time of navigation signal, be difficult to satisfy the requirement of closed loop hard real time.
Summary of the invention
The purpose that technology of the present invention is dealt with problems is: the deficiency that overcomes prior art; A kind of real-time high dynamic navigation signal simulator system is provided; The navigation signal that can the high dynamic carrier of real-time simulation receives satisfies the semi-physical simulation to various real-time closed-loop test scene simulations and flight control system.
Technical solution of the present invention is: a kind of real-time high dynamic navigation signal simulator system comprises: satellite navigation message generation module, real-time simulation control module, observation data generation module, navigation signal processing module, intermediate-freuqncy signal generation module, up-conversion module;
The satellite navigation message generation module, according to steering order and time synchronization information that the real-time simulation control module is sent, according to the navigation message form, coding generates satellite navigation message;
The real-time simulation control module receives the time synchronization information that the navigation signal processing module is sent, and time synchronization information is sent to observation data generation module and satellite navigation message generation module, accomplishes the time synchronized of system; Then control information is sent to satellite navigation message generation module, observation data generation module and navigation signal processing module, accomplish control system;
The observation data generation module; According to the carrier movement information of outside and the time synchronization information and the control information of real-time simulation control module transmission; Generate the observation data of receiver in real time, said observation data comprises measures pseudorange, 1～3 rank pseudorange, carrier phase and power;
The navigation signal processing module receives the control information that the real-time simulation control module is sent, the observation data that text that the satellite navigation message generation module sends and observation data generation module generate; When the time synchronization information of receiving the intermediate-freuqncy signal generation module, promptly during look-at-me, according to the text of receiving with observation data generates loop parameter and text sends to the intermediate-freuqncy signal generation module;
The intermediate-freuqncy signal generation module receives loop parameter and text that the navigation signal processing module is sent, and the rise time synchronizing information sends to the navigation signal processing module, generates the intermediate frequency navigation signal simultaneously and sends to the up-conversion module;
The up-conversion module, the intermediate frequency navigation signal that generates according to the intermediate-freuqncy signal generation module, with the intermediate-freuqncy signal up-conversion to radiofrequency signal.
Said observation data generation module comprises:
The space-time system simulation unit is converted into the time and the volume coordinate of navigational system with time system and space system, and time and space are sent to the satellite orbit simulation unit;
The satellite orbit simulation unit; Receive time and volume coordinate that the space-time system simulation unit is sent; According to the track computing formula; Generate the satellite orbit motion parameter of current time in real time, the satellite orbit motion parameter is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
Satellite clock correction simulation unit is calculated current time satellite clock correction information in real time, and sends to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The ionospheric effect simulation unit is calculated ionosphere delay in real time, and ionosphere delay is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The tropospheric simulation unit is calculated the current time tropospheric delay in real time, and tropospheric delay is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The relativistic effect simulation unit, the delay of calculating the current time relativistic effect is in real time given pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit with relativity delayed delivery;
Earth rotation effect simulation unit is calculated the delay that the current time earth rotation causes in real time, gives pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit with the earth rotation delayed delivery;
The user trajectory simulation unit receives the outer carrier movable information in real time, sends to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit; Perhaps generate self-defined carrier movement information in real time, send to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The pseudorange generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate pseudorange in real time;
The pseudorange rates generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate pseudorange rates in real time;
The carrier phase generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate carrier phase in real time;
Auxiliary unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates; Generate the high-order observation data in real time; It is pseudorange 2; 3 rank amount, carrier phase 1～3 rank amount;
Observation data packing unit; Receive the pseudorange that the pseudorange generation unit sends; Receive the pseudorange rates that the pseudorange rates generation unit sends; Carrier phase that reception carrier phase place generation unit sends and the high-order observation data that receives the auxiliary unit generation; Be packaged into the observation data of set form, through pci bus observation data sent to the navigation signal processing module then.
A kind of real-time high dynamic navigation signal imitation method, performing step is following:
(1) intermediate-freuqncy signal generation module rise time synchronizing information, promptly the hardware interrupt of 100Hz (10ms) sends to time synchronization information the navigation signal processing module then;
(2) time synchronization information of navigation signal processing module receiving intermediate frequency signal generation module transmission sends to the real-time simulation control module with time synchronization information;
(3) real-time simulation control module receives the time synchronization information of navigation signal processing module, then time synchronization information is sent to satellite navigation message generation module and observation data generation module;
(4) the observation data generation module receives the time synchronization information of real-time simulation control module, after the time of receipt (T of R) synchronizing information, reads the outer carrier movable information in real time, generates observation data and sends to the navigation signal processing module;
(5) the satellite navigation message generation module receives the time synchronization information of real-time simulation control module, generates navigation message then in real time and sends to the navigation signal processing module.
The present invention compared with prior art has following advantage:
(1) the present invention has hard real-time.The present invention adopts the technology of time synchronized simultaneously through the coordinated operation between each module, has guaranteed real-time, thereby has made the real-time＜10ms of total system.
(2) has high dynamic performance.
Velocity range :-80000m/s～+ 80000m/s;
Acceleration range :-8000m/s2～+ 8000m/s2;
Acceleration scope :-8000m/s
3～+8000m/s
3
(3) after the present invention adopts the observation data generation module, make simulation velocity fast, precision is high.
Description of drawings
Fig. 1 builds the semi-matter simulating system synoptic diagram for real-time high dynamic navigation signal simulator;
Fig. 2 is the theory diagram of system of the present invention;
Fig. 3 is an observation data generation module structured flowchart of the present invention;
Fig. 4 is the inventive method realization flow figure;
Embodiment
As shown in Figure 1, real-time high dynamic navigation signal simulator of the present invention and common navigation signal simulator major different are it real-times that possesses.Fig. 1 adopts high dynamic navigation signal simulator to build the hardware-in-the-loop simulation instance of flight control system.In semi-matter simulating system, high dynamic navigation signal simulator receives the aircraft movements information that flight control system is sent in real time, produces radiofrequency signal then in real time.From receiving aircraft movements information to producing radiofrequency signal, the time delay＜10ms of real-time high dynamic navigation signal simulator satisfies total system closed-loop simulation demand.
As shown in Figure 2, system of the present invention comprises: satellite navigation message generation module, real-time simulation control module, observation data generation module, navigation signal processing module, intermediate-freuqncy signal generation module, up-conversion module.A kind of real-time high dynamic navigation signal imitation method, intermediate-freuqncy signal generation module rise time synchronizing information, promptly the hardware interrupt of 100Hz (10ms) sends to time synchronization information the navigation signal processing module then; The time synchronization information that navigation signal processing module receiving intermediate frequency signal generation module sends sends to the real-time simulation control module with time synchronization information; The real-time simulation control module receives the time synchronization information of navigation signal processing module, then time synchronization information is sent to satellite navigation message generation module and observation data generation module; The observation data generation module receives the time synchronization information of real-time simulation control module, after the time of receipt (T of R) synchronizing information, reads the outer carrier movable information in real time, generates observation data and sends to the navigation signal processing module; The satellite navigation message generation module receives the time synchronization information of real-time simulation control module, generates navigation message then in real time and sends to the navigation signal processing module.
The satellite navigation message generation module, according to steering order and time synchronization information that the real-time simulation control module is sent, according to the navigation message form, coding generates satellite navigation message.
The real-time simulation control module receives the time synchronization information that the navigation signal processing module is sent, and time synchronization information is sent to observation data generation module and satellite navigation message generation module, accomplishes the time synchronized of system; Then control information is sent to satellite navigation message generation module, observation data generation module and navigation signal processing module, accomplish control system.Simulation Control module major function comprises: the selection of realistic model, the operation control and management and the time synchronized of simulating scenes task design such as the configuration of model parameter, system.
The observation data generation module; According to the carrier movement information of outside and the time synchronization information and the control information of real-time simulation control module transmission; Generate the observation data of receiver in real time, said observation data comprises measures pseudorange, 1～3 rank pseudorange, carrier phase and power; Observation data generation module major function is to calculate Navsat track, space environment effect and user trajectory in real time, generates pseudorange, carrier phase and the pseudorange of visible Navsat and 1～3 rank rate of change of carrier phase.The observation data generation module mainly comprises space-time system simulation unit, Navsat track simulation unit, satellite clock correction simulation unit, ionospheric effect simulation unit, tropospheric simulation unit, relativistic effect simulation unit, earth rotation effect simulation unit, user trajectory simulation unit etc.
The navigation signal processing module receives the control information that the real-time simulation control module is sent, the observation data that text that the satellite navigation message generation module sends and observation data generation module generate; When the time synchronization information of receiving the intermediate-freuqncy signal generation module, promptly during look-at-me, according to the text of receiving with observation data generates loop parameter and text sends to the intermediate-freuqncy signal generation module.
The intermediate-freuqncy signal generation module receives loop parameter and text that the navigation signal processing module is sent, and the rise time synchronizing information sends to the navigation signal processing module, generates the intermediate frequency navigation signal simultaneously and sends to the up-conversion module.
The up-conversion module, the intermediate frequency navigation signal that generates according to the intermediate-freuqncy signal generation module, with the intermediate-freuqncy signal up-conversion to radiofrequency signal.
Satellite navigation signals generally adopts the QPSK modulation, comprises carrier wave, pseudo-code and three kinds of information component of navigation message, and the expression formula that through star signal generates is following:
S wherein
ZThe through star signal of expression, A representes amplitude, and C, P represent ranging code and precision code (being usually said pseudo-code) respectively, and D representes navigation message, f
mThe expression carrier frequency,
The expression first phase, τ (t) expression satellite-signal is to the signal transmission delay of receiver, and subscript m representes to defend asterisk, and subscript c, p represent the respective amount of ranging code and precision code respectively.
As shown in Figure 3, the observation data generation module comprises:
The space-time system simulation unit is converted into the time and the volume coordinate of navigational system with time system and space system, and time and space are sent to the satellite orbit simulation unit.
Time and spatial coordinate system that the real-time simulation of space-time system simulation unit need be used.Time system comprises: Coordinated Universal Time(UTC) UTC, Compass time system BDT, the GPST of gps time system; Space system comprises: J2000 geocentric inertial coordinate system, CGS2000, WGS84 coordinate system and topocentric coordinate system etc.
The satellite orbit simulation unit; Receive time and volume coordinate that the space-time system simulation unit is sent; According to the track computing formula; Generate the satellite orbit motion parameter of current time in real time, the satellite orbit motion parameter is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit.The satellite orbit simulation unit adopts the kinematics emulation+stochastic error based on the broadcast ephemeris orbital tracking.
Satellite clock correction simulation unit is calculated current time satellite clock correction information in real time, and sends to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
Satellite clock correction simulation unit adopts the fitting of a polynomial model, finds the solution the satellite clock correction that obtains any time:
δt
j＝A
0+A
1(t-t
oc)+A
2(t-t
oc)
2 (2)
In the formula: A
0, A
1, A
2Be respectively satellite clock correction, clock floats and the ageing rate parameter; T is the current time; t
OcBe the reference time.
The ionospheric effect simulation unit is calculated ionosphere delay in real time, and ionosphere delay is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The ionospheric effect simulation unit adopts 8 parameters and 14 parameters C HALUBUCHA models.Come pseudorange time-delay, carrier phase advance and Doppler effect are carried out emulation through calculating time dependent time delay.
The tropospheric simulation unit is calculated the current time tropospheric delay in real time, and tropospheric delay is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The tropospheric simulation unit will adopt improved Hopfield model and Saastamoinen model.
The relativistic effect simulation unit, the delay of calculating the current time relativistic effect is in real time given pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit with relativity delayed delivery.
Earth rotation effect simulation unit is calculated the delay that the current time earth rotation causes in real time, gives pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit with the earth rotation delayed delivery.
Earth rotation effect simulation unit: because earth rotation, the satellite during navigation satellite signal arriving signal receiver is different from the satellite of satellite-signal x time in the rail position in the rail position, thereby, need carry out the correction of earth rotation effect:
α＝ω
e(t
R-t
T) (3)
In the formula: (X, Y is Z) for receiving signal satellite position coordinate constantly; (X ', Y ', Z ') be satellite emission signal satellite position coordinate constantly; ω
eBe rotational-angular velocity of the earth; t
RFor receiving the signal time constantly; t
TFor transmitting the time constantly; The angle that α turns over for the current time earth rotation.
The user trajectory simulation unit receives the outer carrier movable information in real time, sends to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit; Perhaps generate self-defined carrier movement information in real time, send to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit.
The pseudorange generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate pseudorange in real time;
The pseudorange generation unit generates the pseudorange information in the observation data, and its computing formula is following:
α＝ω
e(t
R-t
T) (7)
In the formula: (x '
s, y '
s, z '
s) for receiving signal satellite position coordinate constantly; (x
s, y
s, z
s) for adding the satellite position coordinate after the earth rotation effect; (x
u, y
u, z
u) be the customer location coordinate; ω
eBe rotational-angular velocity of the earth; t
RFor receiving the signal time constantly; t
TFor transmitting the time constantly; d
IonBe ionosphere delay; d
TropBe tropospheric delay; d
mBe multipath effect; d
RelBe relativistic effect; C is the light velocity; Dt
uBe receiver user clock correction; Dt
sBe satellite clock correction; The angle that α turns over for the current time earth rotation.
The pseudorange rates generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate pseudorange rates in real time;
The pseudorange rates generation unit generates the pseudorange rates information in the observation data, and its computing formula is following:
In the formula:
For receiving signal satellite velocities constantly;
For adding the satellite velocities after the earth rotation effect; (x
s, y
s, z
s) for adding the satellite position coordinate after the earth rotation effect; (x
u, y
u, z
u) be the customer location coordinate;
Be the ionosphere delay rate of change;
Be the tropospheric delay rate of change;
Be the multipath effect rate of change;
Be the relativistic effect rate of change; C is the light velocity;
Be the receiver user clock frequency error;
Be the satellite clock frequency error; ω
eBe rotational-angular velocity of the earth; α
1, α
2, α
3Be intermediate variable.
The carrier phase generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate carrier phase in real time;
The carrier phase generation unit generates the pseudorange rates information in the observation data, and its computing formula is following:
In the formula: (x
s, y
s, z
s) for adding the satellite position coordinate after the earth rotation effect; (x
u, y
u, z
u) be the customer location coordinate; λ is the carrier wavelength of satellite emission signal; d
IonFor ionosphere to the carrier phase delayed impact; d
TropFor the troposphere to the carrier phase delayed impact; d
RelFor relativistic effect to the carrier phase delayed impact;
Be the carrier phase observed quantity of antenna to satellite;
Be the influence of multipath effect to carrier phase; C is the light velocity; Dt
uCarrier phase for the receiver user current time; Dt
sCarrier phase for the satellite-signal current time; N is the initial observation integer ambiguity of epoch, can when start-up system, set at random.
Auxiliary unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates; Generate the high-order observation data in real time; It is pseudorange 2; 3 rank amount, carrier phase 1～3 rank amount.
Observation data packing unit; Receive the pseudorange that the pseudorange generation unit sends; Receive the pseudorange rates that the pseudorange rates generation unit sends; Carrier phase that reception carrier phase place generation unit sends and the high-order observation data that receives the auxiliary unit generation; Be packaged into the observation data of set form, through pci bus observation data sent to the navigation signal processing module then.
Fig. 4 is the method for synchronizing time processing flow chart, mainly describes the sequential relationship of total system.
1) the intermediate-freuqncy signal generation module produces the look-at-me of 100Hz, and the sigtnal interval is 10ms;
2) the navigation signal processing module is received after the look-at-me, gets into interrupt service routine, then interrupting information is sent to the real-time simulation control module; Real-time simulation control module control satellite navigation message generation module and observation data generation module produce satellite navigation message and observation data in real time; The navigation signal processing module is waited for the navigation message of satellite navigation message generation module transmission and the survey data that the observation data generation module is seen transmission;
3) satellite navigation message generation module and observation data generation module are received the look-at-me that the real-time simulation control module is sent, and receive that lagging behind 10ms constantly interrupts, and retardation time is less than 100 μ s (0.1ms);
4) the observation data generation module reads the user trajectory of outside input in real time, generates observation data then in real time, sends to the navigation signal processing module then, and the entire process time guarantees in 6ms;
5) the navigation signal processing module reads observation data and navigation message constantly at 6ms, handles then, and loop parameter and navigation message after handling are sent to the intermediate-freuqncy signal generation module;
6) the intermediate-freuqncy signal generation module receives loop parameter and navigation message, interrupts constantly producing the intermediate frequency navigation signal at next 10ms then;
7) the whole time guarantees at 10ms.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (3)
1. a real-time high dynamic navigation signal simulator system is characterized in that comprising: satellite navigation message generation module, real-time simulation control module, observation data generation module, navigation signal processing module, intermediate-freuqncy signal generation module, up-conversion module;
The satellite navigation message generation module, according to steering order and time synchronization information that the real-time simulation control module is sent, according to the navigation message form, coding generates satellite navigation message;
The real-time simulation control module receives the time synchronization information that the navigation signal processing module is sent, and time synchronization information is sent to observation data generation module and satellite navigation message generation module, accomplishes the time synchronized of system; Then control information is sent to satellite navigation message generation module, observation data generation module and navigation signal processing module, accomplish control system;
The observation data generation module; According to the carrier movement information of outside and the time synchronization information and the control information of real-time simulation control module transmission; Generate the observation data of receiver in real time; Said observation data comprises pseudorange information, carrier phase information and power, and wherein pseudorange information comprises pseudorange, pseudorange rates and pseudorange 2,3 rank amount; Said carrier phase information comprises carrier phase and carrier phase 1～3 rank amount;
The navigation signal processing module receives the control information that the real-time simulation control module is sent, the observation data that text that the satellite navigation message generation module sends and observation data generation module generate; When the time synchronization information of receiving the intermediate-freuqncy signal generation module, promptly during look-at-me, according to the text of receiving with observation data generates loop parameter and text sends to the intermediate-freuqncy signal generation module;
The intermediate-freuqncy signal generation module receives loop parameter and text that the navigation signal processing module is sent, and the rise time synchronizing information sends to the navigation signal processing module, generates the intermediate frequency navigation signal simultaneously and sends to the up-conversion module;
The up-conversion module, the intermediate frequency navigation signal that generates according to the intermediate-freuqncy signal generation module, with the intermediate-freuqncy signal up-conversion to radiofrequency signal.
2. according to the said a kind of real-time high dynamic navigation signal simulator of claim 1 system, it is characterized in that: said observation data generation module comprises:
The space-time system simulation unit is converted into the time and the volume coordinate of navigational system with time system and space system, and time and space are sent to the satellite orbit simulation unit;
The satellite orbit simulation unit; Receive time and volume coordinate that the space-time system simulation unit is sent; According to the track computing formula; Generate the satellite orbit motion parameter of current time in real time, the satellite orbit motion parameter is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
Satellite clock correction simulation unit is calculated current time satellite clock correction information in real time, and sends to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The ionospheric effect simulation unit is calculated ionosphere delay in real time, and ionosphere delay is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The tropospheric simulation unit is calculated the current time tropospheric delay in real time, and tropospheric delay is sent to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The relativistic effect simulation unit, the delay of calculating the current time relativistic effect is in real time given pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit with relativity delayed delivery;
Earth rotation effect simulation unit is calculated the delay that the current time earth rotation causes in real time, gives pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit with the earth rotation delayed delivery;
The user trajectory simulation unit receives the outer carrier movable information in real time, sends to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit; Perhaps generate self-defined carrier movement information in real time, send to pseudorange generation unit, pseudorange rates generation unit, carrier phase generation unit and auxiliary unit;
The pseudorange generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate pseudorange in real time;
The pseudorange rates generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate pseudorange rates in real time;
The carrier phase generation unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates, generate carrier phase in real time;
Auxiliary unit; Receive the orbital motion parameter of satellite orbit simulation unit emulation; Receive the satellite clock correction information of satellite clock correction simulation unit emulation; Receive the ionospheric delay of ionospheric effect simulation unit emulation; Receive the troposphere time delay of tropospheric simulation unit emulation; Receive relativity time delay of relativistic effect simulation unit; Receive the earth rotation effect time delay of earth rotation effect simulation unit emulation and receive the carrier movement information that the user trajectory simulation unit generates; Generate the high-order observation data in real time; It is pseudorange 2; 3 rank amount, carrier phase 1～3 rank amount;
Observation data packing unit; Receive the pseudorange that the pseudorange generation unit sends; Receive the pseudorange rates that the pseudorange rates generation unit sends; Carrier phase that reception carrier phase place generation unit sends and the high-order observation data that receives the auxiliary unit generation; Be packaged into the observation data of set form, through pci bus observation data sent to the navigation signal processing module then.
3. real-time high dynamic navigation signal imitation method is characterized in that performing step is following:
(1) intermediate-freuqncy signal generation module rise time synchronizing information, promptly the hardware interrupt of 100Hz (10ms) sends to time synchronization information the navigation signal processing module then;
(2) time synchronization information of navigation signal processing module receiving intermediate frequency signal generation module transmission sends to the real-time simulation control module with time synchronization information;
(3) real-time simulation control module receives the time synchronization information of navigation signal processing module, then time synchronization information is sent to satellite navigation message generation module and observation data generation module;
(4) the observation data generation module receives the time synchronization information of real-time simulation control module, after the time of receipt (T of R) synchronizing information, reads the outer carrier movable information in real time, generates observation data and sends to the navigation signal processing module;
(5) the satellite navigation message generation module receives the time synchronization information of real-time simulation control module, generates navigation message then in real time and sends to the navigation signal processing module.
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