Satellite navigation receiver attitude measurement precision test system based on multiple camera obscura

Abstract

The invention belongs to the technical field of simulation testing, and particularly discloses a satellite navigation receiver attitude measurement precision testing system based on multiple camera obscura, which comprises a simulation controller, satellite signal simulators, a time-frequency signal generator and satellite navigation receivers, and is characterized in that each satellite navigation receiver antenna is matched with one satellite signal simulator; the satellite navigation receiver antenna and the satellite signal simulator antenna are correspondingly placed in the camera obscura, the satellite navigation receiver and the satellite signal simulator are placed outside the camera obscura, and the simulation controller is connected with the satellite navigation receiver and the satellite signal simulator through the Ethernet. The time-frequency signal generator is connected with the simulation controller and the satellite signal simulator to ensure that the time frequency is uniform, the simulation controller controls the satellite signal simulator to broadcast simulation satellite signals in the darkroom according to set parameters, and the satellite navigation receiver receives simulation navigation signals for attitude measurement. The satellite navigation receiver attitude measurement precision test method is efficient, convenient and high in repeatability.

Description

Technical Field

[0001] The invention belongs to the technical field of simulation testing, and specifically discloses a satellite navigation receiver attitude measurement accuracy testing system based on multiple darkrooms. Background Art

[0002] Satellite navigation signal is a multi-purpose space signal resource. A carrier with a satellite navigation receiver can use satellite signals to measure three-dimensional attitude parameters, namely heading, pitch and roll angles, in real time. Satellite attitude measurement uses the antenna array on the satellite navigation receiver (usually composed of 2 to 4 antennas) and the satellite navigation signal carrier phase measurement value to calculate the carrier phase difference between different antennas, different satellites, and different epochs, and solve the vector description of the baseline in the reference coordinate system to achieve attitude measurement.

[0003] The accuracy of attitude measurement is an important indicator for evaluating the attitude measurement performance of satellite navigation receivers. Under field conditions, the attitude measurement accuracy assessment of navigation satellites has problems such as great difficulty in implementation, high cost, low efficiency, poor repeatability, and many interference factors. Summary of the invention

[0004] In order to solve the problems in the background technology, the present invention discloses a satellite navigation receiver attitude measurement accuracy test system based on multiple darkrooms. The simulation controller controls the satellite signal simulator to broadcast simulated satellite signals in each darkroom according to the set parameters. The satellite navigation receiver receives the simulated navigation signal to perform attitude measurement, thereby finally realizing the accuracy test of the satellite navigation receiver attitude measurement. The system is efficient, convenient, has fast parameter setting and strong repeatability.

[0005] In order to achieve the above-mentioned invention object, the present invention adopts the following technical solutions:

[0006] A satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes, comprising a simulation controller, a satellite signal simulator, a time-frequency signal generator and a satellite navigation receiver, each satellite navigation receiver antenna is adapted to a satellite signal simulator, the satellite navigation receiver antenna and the satellite signal simulator antenna are placed in a dark box in a one-to-one correspondence, the satellite navigation receiver and the satellite signal simulator are placed outside the dark box, the simulation controller is connected to the satellite navigation receiver and the satellite signal simulator via Ethernet, and the time-frequency signal generator is connected to the simulation controller and the satellite signal simulator to ensure the uniformity of their time and frequency;

[0007] The simulation controller includes a parameter setting module, a data processing module and an accuracy assessment module;

[0008] The parameter setting module performs parameter setting;

[0009] The data processing module calculates the motion trajectory of the phase center of each satellite navigation receiver antenna according to the parameters set by the parameter setting module; calculates the visible star number of the selected navigation satellite type and the initial time and end time of the satellite radio frequency output within the simulation time; calculates the signal transmission power; and sends the calculation result to the satellite signal simulator via Ethernet. The satellite signal simulator generates and outputs a simulated satellite navigation signal according to the received information. The satellite navigation receiver receives the simulated satellite navigation signal to measure the posture, and sends the posture information to the accuracy evaluation module of the simulation controller via Ethernet.

[0010] The accuracy assessment module performs accuracy assessment based on the preset carrier posture information and the actual solved posture information.

[0011] Furthermore, the functions of the parameter setting module of the satellite navigation receiver attitude measurement accuracy test system based on multiple darkrooms include:

[0012] ① Set the carrier motion information, including the carrier center of mass motion UTC time t c , attitude and position information, where attitude information includes heading angle Roll Angle and pitch angle Location information including latitude longitude and elevation

[0013] ②Set the installation method of the satellite navigation receiver antenna on the carrier;

[0014] ③Set the signal type, category and frequency of the satellite navigation signal to be simulated;

[0015] ④Set the delay model.

[0016] Furthermore, the functions of the data processing module of the satellite navigation receiver attitude measurement accuracy test system based on multiple darkrooms include:

[0017] ① Calculate the position of each satellite navigation receiver antenna in the ground-fixed geocentric rectangular coordinate system e during the simulation time according to the carrier motion information and the satellite receiver antenna installation method;

[0018] ② Determine the visible star number of the selected navigation satellite type and the start and end time of the simulated satellite signal RF output according to the position and attitude information of each satellite navigation receiver antenna;

[0019] ③Calculate the simulated satellite signal transmission power.

[0020] Furthermore, the satellite navigation receiver attitude measurement accuracy test system based on multiple darkrooms, the accuracy evaluation module functions include:

[0021] ①Store the carrier motion information;

[0022] ②Store the attitude measurement results of satellite navigation receivers;

[0023] ③ Based on the carrier attitude preset by the parameter setting module, test the accuracy of the carrier attitude calculated by the satellite navigation receiver.

[0024] Furthermore, in the satellite navigation receiver attitude measurement accuracy test system based on multiple darkrooms, the functions of the satellite signal simulator include: 1. generating navigation simulation satellite signals according to the information sent by the simulation controller and its own algorithm; 2. transmitting the simulated satellite signals to the satellite navigation receiver.

[0025] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0026] The invention discloses a satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes, comprising a simulation controller, a satellite signal simulator, a time-frequency signal generator and a satellite navigation receiver, wherein each satellite navigation receiver antenna is adapted to a satellite signal simulator, the satellite navigation receiver antenna and the satellite signal simulator antenna are placed in a dark box in a one-to-one correspondence, the satellite navigation receiver and the satellite signal simulator are placed outside the dark box, the simulation controller connects the satellite navigation receiver and the satellite signal simulator via Ethernet, the time-frequency signal generator connects the simulation controller and the satellite signal simulator to ensure that their time and frequency are unified, the simulation controller controls the satellite signal simulator to broadcast simulated satellite signals in each dark room according to set parameters, the satellite navigation receiver receives the simulated navigation signal to perform attitude measurement, and finally realizes the accuracy test of the satellite navigation receiver attitude measurement, which is efficient, convenient, has fast parameter setting and strong repeatability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the working mode of the test system of the present invention;

[0028] Figure 2 It is the composition and function of the simulation controller in the present invention;

[0029] Figure 3 It is a working flow chart of the test system of the present invention;

[0030] Figure 4 It is a diagram of the test layout and physical connection relationship of the present invention. DETAILED DESCRIPTION

[0031] The principles, workflows, processing methods and application modes of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0032] The satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes disclosed in the present invention combines software and hardware, such as Figure 1 and 2 As shown, the software is mainly a simulation controller, which is installed on a computer. The hardware is a time-frequency signal generator and a satellite signal simulator, which are wired to the simulation controller. The test system completes the attitude accuracy test of the satellite navigation receiver under multiple dark box conditions.

[0033] (I) Principle Introduction

[0034] After the simulation controller parameter setting module of the test system packages the setting parameters and sends them to the data processing module, the data processing module needs to calculate the setting parameters. Transform to the Earth-fixed geocentric rectangular coordinate system:

[0035]

[0036]

[0037]

[0038] Where: N is the radius of curvature of the ellipse of the selected earth model; e is the eccentricity of the ellipsoid.

[0039] Secondly, according to the installation position of the satellite navigation receiver antenna relative to the center of mass in the carrier coordinate system (B system) Let i represent the antenna number of the satellite navigation receiver and calculate the position of the antenna in the earth-fixed geocentric coordinate system (e system):

[0040]

[0041]

[0042]

[0043] Secondly, according to the satellite navigation receiver antenna position, carrier center of mass attitude information, set satellite navigation signal type, type, frequency, set delay model, the visible star type u and star sign s of each satellite navigation receiver antenna at each moment in the simulation time; and the visible star type u and star sign s of each satellite navigation receiver antenna at the carrier movement time t c Calculate the starting emission time period of each simulated visible star as a benchmark

[0044]

[0045] in: is the ionospheric delay; T i s is the tropospheric delay; δt is the other time delay; c is the speed of light; is the distance from the phase center of the satellite antenna to the phase center of the satellite navigation receiver, that is, the satellite-to-ground line-of-sight distance. The expression is as follows:

[0046]

[0047] For the satellite navigation receiver antenna i, the initial time of the satellite signal modulated by the navigation signal output by the RF with the simulated visible star type u and the star sign s is End time is

[0048] Calculate the transmission power of the simulated satellite signal. The signal power is calculated as follows:

[0049] EIPR=32.4+20lgd(km)+20lgf(MHz)+G s +G r +P r

[0050] Where: d is the distance from the simulator antenna in the dark box to the quiet area of ​​the dark room, f is the carrier frequency of the satellite navigation signal, G s is the simulator transmitting antenna gain, G r is the satellite navigation receiver antenna gain, P r is the receiving power of the satellite navigation receiver, calculated at -130dbm.

[0051] After receiving the analog signal, the satellite navigation receiver antenna calculates the carrier attitude (heading angle Roll Angle Pitch Angle ) and calculate the root mean square error of the attitude angle:

[0052]

[0053]

[0054]

[0055] in: RMSE θ , RMSE γ are the root mean square errors of heading angle, pitch angle and roll angle respectively.

[0056] (II) Workflow

[0057] Combined with Figure 1-4 As shown, the main steps of the workflow are as follows:

[0058] ① The tester completes the physical connection of the dark box, simulation controller, satellite signal simulator, satellite navigation receiver, and time and frequency generator;

[0059] ② The tester confirms that the time of the simulation controller and the satellite signal simulator is consistent;

[0060] ③ The tester sets the carrier motion information, satellite navigation receiver antenna installation method, satellite navigation signal type, type, frequency, and delay model in the parameter setting module of the simulation controller. The carrier motion information and delay model setting method can be the system's own samples or a new sample can be built according to the protocol. The carrier motion information, satellite navigation receiver antenna installation method, satellite navigation signal type, type, frequency, and delay model data are packaged and sent to the data processing module, and the carrier motion information is packaged and sent to the accuracy evaluation module;

[0061] ④ The data processing module of the simulation controller receives the data packet of the parameter setting module, calculates the position of the satellite navigation receiver antenna, determines the visible star number of the selected navigation satellite type, the start time and end time of the simulated satellite signal RF output, calculates the simulated satellite signal transmission power, and packages the calculation results and sends them to each satellite signal simulator;

[0062] ⑤ The satellite signal simulator receives data from the simulation controller data processing module, completes the system configuration before simulating the satellite signal transmission by combining its own algorithm, and feeds back the configuration completion information to the simulation controller;

[0063] ⑥The tester issues a simulation start command on the simulation controller;

[0064] ⑦The satellite signal simulator sends simulated satellite signals;

[0065] ⑧The satellite navigation receiver receives simulated satellite signals to measure the carrier’s attitude. The satellite navigation receiver sends the positioning results and attitude measurement results to the accuracy evaluation module of the simulation controller. After the simulation is completed, the accuracy evaluation module calculates the attitude measurement accuracy.

[0066] (III) Treatment methods

[0067] After obtaining the information, each module of the simulation controller performs the following processing:

[0068] The parameter setting module distributes two types of information: ① sending carrier motion information, satellite navigation receiver antenna installation method, satellite navigation signal type, category, frequency, and delay model to the data processing module; ② sending carrier motion information to the accuracy assessment module.

[0069] The data processing module processes two types of information and sends one type of information: ① calculates the position of the satellite navigation receiver antenna; ② determines the number of visible stars of the selected navigation satellite type, the start and end time of the simulated satellite signal RF output, and calculates the simulated satellite signal transmission power; ③ packages the visible star type, type, frequency, simulated satellite signal RF output start and end time, and simulated satellite signal transmission power to be simulated and sends them to the signal simulator.

[0070] The accuracy assessment module processes in three situations: ① Before the simulation starts, the accuracy assessment module receives and stores the carrier motion information from the parameter setting module; ② During the simulation time, the accuracy assessment module receives and stores the positioning results and attitude measurement results output by the satellite navigation receiver; ③ After the simulation, the accuracy assessment is performed based on the two types of stored data.

[0071] (IV) Application Mode

[0072] The same dark boxes are configured according to the number of satellite navigation receiver antennas. Each satellite navigation receiver antenna is equipped with a satellite signal simulator. The satellite navigation receiver antenna and the satellite signal simulator antenna are placed in each dark box. The satellite navigation receiver and the satellite signal simulator are placed outside the dark box. The simulation controller connects the satellite navigation receiver and the satellite signal simulator through Ethernet. The time-frequency signal generator connects the simulation controller and the satellite signal simulator. During the test, after the test personnel set the simulation controller parameter setting module and calculate the data processing module, the result is sent to the satellite signal simulator, and the carrier motion information is sent to the accuracy evaluation module. The satellite signal simulator generates and outputs a simulated satellite signal through the satellite signal simulator antenna RF according to the data sent by the simulation controller; the satellite navigation receiver receives the simulated satellite signal for posture measurement, and sends the result to the accuracy evaluation module of the simulation controller through Ethernet in real time. After the simulation, the accuracy evaluation module evaluates the attitude measurement accuracy of the satellite navigation receiver.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes, characterized by: Including simulation A controller, a satellite signal simulator, a time-frequency signal generator and a satellite navigation receiver, each satellite navigation receiver antenna is adapted to a satellite signal simulator, the satellite navigation receiver antenna and the satellite signal simulator antenna are placed in a dark box in a one-to-one correspondence, the satellite navigation receiver and the satellite signal simulator are placed outside the dark box, the simulation controller is connected to the satellite navigation receiver and the satellite signal simulator via Ethernet, and the time-frequency signal generator is connected to the simulation controller and the satellite signal simulator to ensure that their time and frequency are unified; The simulation controller includes a parameter setting module, a data processing module and an accuracy assessment module; The parameter setting module performs parameter setting; The data processing module calculates the motion trajectory of the phase center of each satellite navigation receiver antenna according to the parameters set by the parameter setting module; calculates the visible star number of the selected navigation satellite type and the initial time and end time of the satellite's radio frequency output during the simulation time; Calculate signal transmission power; The calculation result is sent to a satellite signal simulator via Ethernet. The satellite signal simulator generates and outputs a simulated satellite navigation signal according to the received information. The satellite navigation receiver receives the simulated satellite navigation signal to measure the position and posture, and sends the position and posture information to the accuracy evaluation module of the simulation controller via Ethernet. The accuracy assessment module performs accuracy assessment based on the preset carrier posture information and the actual solved posture information.

2. The satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes according to claim 1 is characterized in that: The functions of the parameter setting module include: ① Set the carrier motion information, including the carrier center of mass motion time t c , posture and position; ②Set the installation method of the satellite navigation receiver antenna on the carrier; ③Set the signal type, category and frequency of the satellite navigation signal to be simulated; ④Set the delay model.

3. The satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes according to claim 1 is characterized in that: The functions of the data processing module include: ① Calculate the position of each satellite navigation receiver antenna in the ground-fixed geocentric rectangular coordinate system during the simulation time based on the carrier motion information and the satellite receiver antenna installation method; ② Determine the visible star number of the selected navigation satellite type and the start and end time of the simulated satellite signal RF output according to the position and attitude information of each satellite navigation receiver antenna; ③Calculate the simulated satellite signal transmission power.

4. The satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes according to claim 1 is characterized in that: The functions of the data processing module include: ① Calculate the position of each satellite navigation receiver antenna in the ground-fixed geocentric rectangular coordinate system e during the simulation time according to the carrier motion information and the satellite receiver antenna installation method; ② Determine the visible star number of the selected navigation satellite type and the start and end time of the simulated satellite signal RF output according to the position and attitude information of each satellite navigation receiver antenna; ③Calculate the simulated satellite signal transmission power.

5. The satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes according to claim 1 is characterized in that: The functions of the accuracy assessment module include: ①Store the carrier motion information; ②Store the attitude measurement results of satellite navigation receivers; ③ Based on the carrier attitude preset by the parameter setting module, test the accuracy of the carrier attitude calculated by the satellite navigation receiver.

6. The satellite navigation receiver attitude measurement accuracy test system based on multiple dark boxes according to claim 1 is characterized in that: Satellite signal simulator features include: ① Generate navigation simulation satellite signals according to the information sent by the simulation controller and its own algorithm; ② Transmit simulated satellite signals to satellite navigation receivers.

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