Frequency domain single channel based RN / RD simulator course angle calibration method and device

Abstract

The application discloses a kind of RN / RD simulator course angle calibration methods based on frequency domain single channel, comprising the following steps: RN / RD simulator sets static scene, obtains the frequency deviation Δf0 of RN / RD simulator output signal;RN / RD simulator sets dynamic scene, course angle is set to 0, obtains the frequency deviation Δf of each digital channel signal of RN / RD simulator 11 ~ Δf 1n , calculate the frequency deviation Δf1 of RN / RD simulator output signal;According to the frequency deviation Δf1 of RN / RD simulator output signal, calculate the speed error Δv and course angle error Δθ0 of RN / RD simulator output signal;RN / RD simulator course angle is set to other angles, respectively calculated to obtain course angle error, and the control precision Δθ of course angle error is calculated.The application measures angle by carrier wave mode, improves quadrant information resolution, and is more compatible and has high measurement accuracy.

Description

Technical Field

[0001] This invention relates to the field of RN / RD simulator calibration technology, and more specifically, to a method and apparatus for calibrating the navigation angle of an RN / RD simulator based on a single channel in the frequency domain. Background Technology

[0002] An RN / RD simulator is a signal simulation device that combines Radio Navigation Satellite Service (RNSS) and Radio Determination Satellite Service (RDSS). It simulates specific satellite navigation system signals and can provide these signals for simulation experiments. It is widely used in the research, development, production, testing, and quality management of equipment that uses satellite navigation system signals for positioning and navigation.

[0003] RNSS user terminals use satellite navigation system signals for positioning and navigation by receiving broadcast signals, while RDSS user terminals need to transmit signals to satellites for positioning and navigation; the entire calculation process is not independent. RN / RD user terminals that integrate RNSS and RDSS can calculate parameters such as time, latitude and longitude, altitude, speed, acceleration, and navigation angle based on satellite navigation system signals.

[0004] During the calibration process in the quality management stage, the RN / RD simulator is used to provide satellite navigation system signals to the RN / RD user terminal. The values ​​displayed by the RN / RD simulator are used as reference values, and the parameters displayed by the RN / RD user terminal are used as measured values. The calibration work is completed by comparing the reference values ​​and measured values ​​of each parameter.

[0005] Currently, there are methods to trace the time, latitude and longitude, elevation, speed and acceleration in the RN / RD simulator. However, there is no approximate test method for parameters such as navigation angle to provide a reference for the calibration process. This fails to form a complete traceability chain and thus cannot meet the needs of instrument users in terms of metrological calibration and traceability of measurement values. Summary of the Invention

[0006] The purpose of this invention is to address the situation where there are no approximate testing methods for parameters such as navigation angles in RN / RD simulators to provide a reference for the calibration process, thus making it impossible to form a complete traceability chain. This invention provides a single-channel frequency domain RN / RD simulator navigation angle calibration method and device, which has high measurement accuracy, meets traceability requirements, and is reasonably and reliably designed.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] A method for calibrating the navigation angle of an RN / RD simulator based on a single channel in the frequency domain includes the following steps:

[0009] Set up a static scene in the RN / RD simulator and obtain the frequency deviation Δf0 of the RN / RD simulator output signal;

[0010] With a dynamic scene set in the RN / RD simulator and the heading angle set to 0, the frequency offset Δf of each digital channel signal in the RN / RD simulator was obtained. 11 ~Δf 1n Calculate the frequency offset Δf1 of the output signal of the RN / RD simulator;

[0011] Based on the frequency deviation Δf1 of the RN / RD simulator output signal, calculate the velocity error Δv and the navigation angle error Δθ0 of the RN / RD simulator output signal;

[0012] The RN / RD simulator's heading angle is set to other angles, and the heading angle error is calculated. The heading angle error control accuracy Δθ is then calculated.

[0013] Furthermore, by setting a static scene in the RN / RD simulator, the frequency offset Δf0 of the RN / RD simulator output signal is obtained, specifically:

[0014] The RN / RD simulator is set to a static scene. The acquisition and playback device sends an inbound request signal to the RN / RD simulator. The center frequency of the spectrum analyzer is set to the output carrier signal frequency f0 of the RN / RD simulator, and the sweep bandwidth is set to 1kHz~20kHz. When the RN / RD simulator outputs the signal to the spectrum analyzer, the central controller records the difference between the peak value of the frequency domain test marker signal and f0, which is recorded as Δf0.

[0015] Furthermore, by setting a dynamic scenario in the RN / RD simulator and setting the heading angle to 0, the frequency offset Δf of each digital channel signal in the RN / RD simulator was obtained. 11 ~Δf 1n Calculate the frequency offset Δf1 of the RN / RD simulator output signal, specifically as follows:

[0016] The RN / RD simulator is set to a dynamic scene, with the heading angle set to 0. In digital channel 1, the velocity in the signal is set to v, and the theoretical carrier frequency is f1. The acquisition and playback unit sends an inbound request signal to the RN / RD simulator. The center frequency of the spectrum analyzer is set to f1, and the sweep bandwidth is set to 10Δf0. When the RN / RD simulator outputs the signal to the spectrum analyzer, the central controller records the difference between the peak value of the frequency domain test marker signal and f0, which is recorded as Δf0. 11 ;

[0017] Replace with other digital channels 2 to n, and record Δf. 12 ~Δf1n ;

[0018] Δf 11 The calculation formula is:

[0019] Δf1=max(Δf 11 , Δf 12 , …, Δf 1n )-min(Δf 11 , Δf 12 , …, Δf 1n )

[0020] In the formula, Δf1 represents the frequency deviation of the output signal of the RN / RD simulator; Δf 12 Indicates the frequency offset of digital channel 2 signal in the RN / RD simulator; Δf 1n This indicates the frequency offset of the digital channel n signal in the RN / RD simulator.

[0021] Furthermore, based on the frequency offset Δf1 of the RN / RD simulator output signal, the velocity error Δv and the navigation angle error Δθ0 of the RN / RD simulator output signal are calculated, specifically as follows:

[0022] The formula for calculating speed error is:

[0023] Δv=[(f1+Δf1-f0-Δf0)·c / (f0+Δf0)-v] / v

[0024] In the formula, c represents the speed of light;

[0025] The formula for calculating navigation angle error is:

[0026] Δθ0=|max[atan((1+Δv) / (1-Δv)),atan((1-Δv) / (1+Δv))]-π / 4|.

[0027] Furthermore, the RN / RD simulator's heading angle is set to other angles, and the heading angle error is calculated separately. The heading angle error control accuracy Δθ is then calculated, specifically as follows:

[0028] The RN / RD simulator heading angles are set to π / 2, π, and 3π / 2, and the heading angle error Δθ is calculated for each. π / 2 , Δθ π , Δθ 3π / 2 ;

[0029] Based on the navigation angle error Δθ π / 2 , Δθ π , Δθ 3π / 2 The calculated heading angle error control accuracy Δθ is:

[0030]

[0031] A frequency-domain single-channel RN / RD simulator navigation angle calibration device, applying the frequency-domain single-channel RN / RD simulator navigation angle calibration method described above, includes a signal generator, a spectrum analyzer, an acquisition and playback device, and a central controller. The central controller is serially connected to the signal generator, spectrum analyzer, and acquisition and playback device. The signal generator is RF connected to the spectrum analyzer. The RN / RD simulator to be calibrated is RF connected to the signal generator, spectrum analyzer, and acquisition and playback device to perform navigation angle calibration.

[0032] The RN / RD simulator is used to set the single-carrier output of each digital channel and output the signal to the spectrum analyzer. The central controller is used to calculate the frequency shift between the signal generator and the output signal of the RN / RD simulator. The spectrum analyzer is used to record the frequency change values ​​of various signal carriers of the RN / RD simulator. The acquisition and playback device is used to send the inbound application signal to the RN / RD simulator. The central controller records the frequency deviation between the outbound and inbound signals of the RN / RD simulator.

[0033] Furthermore, the RN / RD simulator includes an interface for transmitting radio frequency signals, an interface for receiving radio frequency signals, and an interface for outputting pulse signals.

[0034] Furthermore, the RN / RD simulator has a built-in RDSS unit, which is used to demodulate the outgoing signal frequency of the RN / RD simulator.

[0035] Furthermore, the signal generator is used to output a reference signal to the RN / RD simulator for homogeneous setup, and the signal generator outputs a carrier signal.

[0036] Furthermore, the acquisition and playback unit is used to submit message communication requests to the RN / RD simulator, confirm that the power is within the sensitivity requirement range, and that the RN / RD simulator normally broadcasts the outgoing signal to the acquisition and playback unit and the spectrum analyzer.

[0037] Compared with existing technologies, the method and apparatus of this invention measure angles via carrier waves, improving quadrant information resolution, enhancing compatibility, and increasing measurement accuracy. The method designed in this invention does not require testing at a specific actual site and allows for adjustments to the passing thresholds affecting navigation angle parameters according to customer requirements, making it widely applicable. Attached Figure Description

[0038] Figure 1 This is a flowchart illustrating the navigation angle calibration method for a frequency-domain single-channel RN / RD simulator.

[0039] Figure 2 This is a schematic diagram of the structure of a frequency-domain single-channel RN / RD simulator navigation angle calibration device. Detailed Implementation

[0040] The following description, in conjunction with the accompanying drawings and specific embodiments, further illustrates the present invention's method and apparatus for calibrating the navigation angle of a frequency-domain single-channel RN / RD simulator.

[0041] Please see Figure 1 This invention discloses a method for calibrating the navigation angle of an RN / RD simulator based on a single channel in the frequency domain, comprising the following steps:

[0042] Set up a static scene in the RN / RD simulator and obtain the frequency deviation Δf0 of the RN / RD simulator output signal;

[0043] With a dynamic scene set in the RN / RD simulator and the heading angle set to 0, the frequency offset Δf of each digital channel signal in the RN / RD simulator was obtained. 11 ~Δf 1n Calculate the frequency offset Δf1 of the output signal of the RN / RD simulator;

[0044] Based on the frequency deviation Δf1 of the RN / RD simulator output signal, calculate the velocity error Δv and the navigation angle error Δθ0 of the RN / RD simulator output signal;

[0045] The RN / RD simulator's heading angle is set to other angles, and the heading angle error is calculated. The heading angle error control accuracy Δθ is then calculated.

[0046] Specifically, the RN / RD simulator is set to a static scene, the acquisition and playback device sends an inbound request signal to the RN / RD simulator, the center frequency of the spectrum analyzer is set to the RN / RD simulator output carrier signal frequency f0, and the sweep bandwidth is set to 1kHz~20kHz. When the RN / RD simulator outputs the signal to the spectrum analyzer, the central controller records the difference between the peak value of the frequency domain test marker signal and f0, which is recorded as Δf0.

[0047] Specifically, the RN / RD simulator is set to a dynamic scene with a heading angle of 0°. The velocity in the signal is set to v in digital channel 1, and the theoretical carrier frequency is f1. The acquisition and playback unit sends an inbound request signal to the RN / RD simulator. The center frequency of the spectrum analyzer is set to f1, and the sweep bandwidth is set to 10Δf0. When the RN / RD simulator outputs the signal to the spectrum analyzer, the central controller records the difference between the peak value of the frequency domain test marker signal and f0, which is recorded as Δf. 11 .

[0048] Replace with other digital channels 2 to n, and record Δf. 12 ~Δf 1n ;

[0049] Δf 11 The calculation formula is:

[0050] Δf1=max(Δf 11 , Δf 12 , …, Δf 1n )-min(Δf 11 , Δf 12 , …, Δf 1n )

[0051] In the formula, Δf1 represents the frequency deviation of the output signal of the RN / RD simulator; Δf 12 Indicates the frequency offset of digital channel 2 signal in the RN / RD simulator; Δf 1n This indicates the frequency offset of the digital channel n signal in the RN / RD simulator.

[0052] Specifically, based on the frequency deviation Δf1 of the RN / RD simulator output signal, the formula for calculating the velocity error Δv of the RN / RD simulator output signal is as follows:

[0053] Δv=[(f1+Δf1-f0-Δf0)·c / (f0+Δf0)-v] / v

[0054] In the formula, c represents the speed of light.

[0055] The formula for calculating the navigation angle error of the RN / RD simulator output signal is:

[0056] Δθ0=|max[atan((1+Δv) / (1-Δv)),atan((1-Δv) / (1+Δv))]-π / 4|.

[0057] Specifically, the heading angles of the RN / RD simulator were set to π / 2, π, and 3π / 2, and the heading angle error Δθ was calculated accordingly. π / 2 , Δθ π , Δθ 3π / 2 .

[0058] Based on the navigation angle error Δθ π / 2 , Δθ π , Δθ 3π / 2 The calculated heading angle error control accuracy Δθ is:

[0059]

[0060] Please see Figure 2 The present invention also discloses a frequency domain single-channel RN / RD simulator navigation angle calibration device, which applies the frequency domain single-channel RN / RD simulator navigation angle calibration method described in any of the above claims, including a signal generator, a spectrum analyzer, an acquisition and playback device, and a central controller, wherein the central controller is serially connected to the signal generator, the spectrum analyzer, and the acquisition and playback device.

[0061] The signal generator is RF connected to the spectrum analyzer. The RN / RD simulator to be calibrated is RF connected to the signal generator, spectrum analyzer, and acquisition / playback unit for calibration of the navigation angle. The acquisition / playback unit is used to trigger the RN / RD simulator output signal, and the signal generator is used to dynamically reduce the Type A measurement uncertainty of the spectrum analyzer.

[0062] The RN / RD simulator includes interfaces for transmitting and receiving radio frequency signals, as well as an interface for outputting pulse signals. The RN / RD simulator incorporates an RDSS unit, which is used to demodulate the outgoing signal frequency of the RN / RD simulator. The RN / RD simulator is used to individually set the single-carrier output of each digital channel and output pulse signals to a spectrum analyzer.

[0063] The signal generator outputs a reference signal to the RN / RD simulator for source matching, and also outputs a carrier signal. The central controller calculates the frequency shift between the signal generator and the RN / RD simulator output signals. The spectrum analyzer records the carrier frequency variations of various signals from the RN / RD simulator, and the central controller records the frequency deviations between the outgoing and incoming signals from the RN / RD simulator.

[0064] The acquisition and playback unit is used to send inbound application signals and uplink signals to the RN / RD simulator, submit message communication requests to the RN / RD simulator, and confirm that the power is within the sensitivity requirement range before the RN / RD simulator can broadcast outbound signals to the acquisition and playback unit and spectrum analyzer normally.

[0065] The above description is a detailed description of the preferred embodiments of the present invention. However, the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modifications made under the technical spirit disclosed in the present invention should fall within the patent scope covered by the present invention.

Claims

1. A method for calibrating the navigation angle of an RN / RD simulator based on a single channel in the frequency domain, characterized in that, Includes the following steps: Set up a static scene in the RN / RD simulator and obtain the frequency deviation Δf0 of the RN / RD simulator output signal; With a dynamic scene set in the RN / RD simulator and the heading angle set to 0, the frequency offset Δf of each digital channel signal in the RN / RD simulator was obtained. 11 ~Δf 1n Calculate the frequency offset Δf1 of the output signal of the RN / RD simulator; Based on the frequency deviation Δf1 of the RN / RD simulator output signal, calculate the velocity error Δv and the navigation angle error Δθ0 of the RN / RD simulator output signal; The RN / RD simulator's heading angle is set to other angles, and the heading angle error is calculated. The heading angle error control accuracy Δθ is then calculated.

2. The method for calibrating the navigation angle of an RN / RD simulator based on a single channel in the frequency domain according to claim 1, characterized in that, By setting a static scene in the RN / RD simulator, the frequency offset Δf0 of the RN / RD simulator output signal is obtained, specifically: The RN / RD simulator is set to a static scene. The acquisition and playback device sends an inbound request signal to the RN / RD simulator. The center frequency of the spectrum analyzer is set to the output carrier signal frequency f0 of the RN / RD simulator, and the sweep bandwidth is set to 1kHz~20kHz. When the RN / RD simulator outputs the signal to the spectrum analyzer, the central controller records the difference between the peak value of the frequency domain test marker signal and f0, which is recorded as Δf0.

3. The method for calibrating the navigation angle of an RN / RD simulator based on a single channel in the frequency domain according to claim 2, characterized in that, With a dynamic scene set in the RN / RD simulator and the heading angle set to 0, the frequency offset Δf of each digital channel signal in the RN / RD simulator was obtained. 11 ~Δf 1n Calculate the frequency offset Δf1 of the RN / RD simulator output signal, specifically as follows: The RN / RD simulator is set to a dynamic scene, with the heading angle set to 0. In digital channel 1, the velocity in the signal is set to v, and the theoretical carrier frequency is f1. The acquisition and playback unit sends an inbound request signal to the RN / RD simulator. The center frequency of the spectrum analyzer is set to f1, and the sweep bandwidth is set to 10Δf0. When the RN / RD simulator outputs the signal to the spectrum analyzer, the central controller records the difference between the peak value of the frequency domain test marker signal and f0, which is recorded as Δf0. 11 ; Replace with other digital channels 2 to n, and record Δf. 12 ~Δf 1n ; Δf 11 The calculation formula is: Δf1=max(Δf 11 ,Δf 12 ,…,Δf 1n )-min(Δf 11 ,Δf 12 ,…,Δf 1n ) In the formula, Δf1 represents the frequency deviation of the output signal of the RN / RD simulator; Δf 12 Indicates the frequency offset of digital channel 2 signal in the RN / RD simulator; Δf 1n This indicates the frequency offset of the digital channel n signal in the RN / RD simulator.

4. The method for calibrating the navigation angle of an RN / RD simulator based on a single channel in the frequency domain according to claim 3, characterized in that, Based on the frequency offset Δf1 of the RN / RD simulator output signal, calculate the velocity error Δv and the navigation angle error Δθ0 of the RN / RD simulator output signal, specifically as follows: The formula for calculating speed error is: Δv=[(f1+Δf1-f0-Δf0)·c / (f0+Δf0)-v] / v In the formula, c represents the speed of light; The formula for calculating navigation angle error is: Δθ0=|max[atan((1+Δv) / (1-Δv)),atan((1-Δv) / (1+Δv))]-π / 4|.

5. The method for calibrating the navigation angle of an RN / RD simulator based on a single channel in the frequency domain according to claim 4, characterized in that, The RN / RD simulator heading angle is set to other angles, and the heading angle error is calculated for each. The heading angle error control accuracy Δθ is then calculated, specifically as follows: The RN / RD simulator heading angles are set to π / 2, π, and 3π / 2, and the heading angle error Δθ is calculated for each. π / 2 , Δθ π , Δθ 3π / 2 ; Based on the navigation angle error Δθ π / 2 , Δθ π , Δθ 3π / 2 The calculated heading angle error control accuracy Δθ is:

6. A frequency-domain single-channel RN / RD simulator navigation angle calibration device, employing the frequency-domain single-channel RN / RD simulator navigation angle calibration method according to any one of claims 1 to 5, characterized in that: It includes a signal generator, a spectrum analyzer, a data acquisition and playback unit, and a central controller. The central controller is serially connected to the signal generator, spectrum analyzer, and data acquisition and playback unit. The signal generator is RF connected to the spectrum analyzer. The RN / RD simulator to be calibrated is RF connected to the signal generator, spectrum analyzer, and data acquisition and playback unit to calibrate the navigation angle. The RN / RD simulator is used to set the single-carrier output of each digital channel and output the signal to the spectrum analyzer. The central controller is used to calculate the frequency shift between the signal generator and the output signal of the RN / RD simulator. The spectrum analyzer is used to record the frequency change values ​​of various signal carriers of the RN / RD simulator. The acquisition and playback device is used to send the inbound application signal to the RN / RD simulator. The central controller records the frequency deviation between the outbound and inbound signals of the RN / RD simulator.

7. The RN / RD simulator navigation angle calibration device based on a single channel in the frequency domain according to claim 6, characterized in that, The RN / RD simulator includes an interface for transmitting radio frequency signals, an interface for receiving radio frequency signals, and an interface for outputting pulse signals.

8. The RN / RD simulator navigation angle calibration device based on a single channel in the frequency domain according to claim 6, characterized in that, The RN / RD simulator has a built-in RDSS unit, which is used to demodulate the outgoing signal frequency of the RN / RD simulator.

9. The RN / RD simulator navigation angle calibration device based on a single channel in the frequency domain according to claim 6, characterized in that, The signal generator is used to output a reference signal to the RN / RD simulator for homogeneous configuration, and the signal generator outputs a carrier signal.

10. The RN / RD simulator navigation angle calibration device based on a single channel in the frequency domain according to claim 6, characterized in that, The acquisition and playback unit is used to submit message communication requests to the RN / RD simulator, confirm that the power is within the sensitivity requirement range, and ensure that the RN / RD simulator broadcasts the outgoing signal to the acquisition and playback unit and the spectrum analyzer normally.

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