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Article(id=1239133503686766709, tenantId=1146029695717560320, journalId=1238841944844054536, issueId=1239133496480953194, articleNumber=null, orderNo=null, doi=10.12347/j.ycyk.20241012001, pmid=null, cstr=32406.14.ycyk.20241012001, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1728662400000, receivedDateStr=2024-10-12, revisedDate=1734537600000, revisedDateStr=2024-12-19, acceptedDate=null, acceptedDateStr=null, onlineDate=1773362049265, onlineDateStr=2026-03-13, pubDate=1747238400000, pubDateStr=2025-05-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773362049265, onlineIssueDateStr=2026-03-13, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773362049265, creator=13701087609, updateTime=1773362049265, updator=13701087609, issue=Issue{id=1239133496480953194, tenantId=1146029695717560320, journalId=1238841944844054536, year='2025', volume='46', issue='3', pageStart='1', pageEnd='152', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773362047547, creator=13701087609, updateTime=1773363045127, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1239137680697651401, tenantId=1146029695717560320, journalId=1238841944844054536, issueId=1239133496480953194, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1239137680697651402, tenantId=1146029695717560320, journalId=1238841944844054536, issueId=1239133496480953194, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=127, endPage=138, ext={EN=ArticleExt(id=1239133503946813577, articleId=1239133503686766709, tenantId=1146029695717560320, journalId=1238841944844054536, language=EN, title=Research and Implementation of A Compatible Reception Method for High, Medium, and Low Orbit Navigation Signals Capture, columnId=1239133503154081962, journalTitle=Journal of Telemetry, Tracking and Command, columnName=TT & C Communication and Navigation, runingTitle=null, highlight=null, articleAbstract=

In recent years, low-orbit navigation enhancement system has been gradually incorporated into the construction of integrated PNT system, and the capture and tracking of low-orbit signals has gradually become a hot research issue. In the scenario that the integrated PNT application terminal needs to receive BeiDou + LEO navigation augmentation signals at the same time, due to the large resource consumption of the capture module, using two sets of hardware resources to compatibly receive high, medium and low orbit-signals will cause a great waste of resources, and it is not possible to realize the small size and low power consumption requirements of the user terminal. This paper further optimizes the algorithm on the basis of the existing BeiDou signal capture module, and through the design of flexible and reusable matched filter plus FFT structure, on-chip distributed processing and off-chip ultra-long storage architecture, and techniques such as high Doppler pseudo-code, carrier frequency compensation, etc., it realizes the compatible reception of high, medium and low-orbit signals, and at the same time, it can realize the capture of high and medium orbit BeiDou B1C signals with a capture sensitivity of -145 dBm capture sensitivity and 40 kHz STL burst signal in low orbit.

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近年来，由于低轨导航增强系统逐步纳入综合PNT体系建设，如何对低轨信号的捕获跟踪逐渐成为热点研究问题。在综合PNT应用终端需要同时接收北斗+低轨导航增强信号的场景下，由于捕获模块的资源庞大，利用两套硬件资源分别对高、中、低轨信号进行兼容接收会造成极大的资源浪费，无法实现用户终端的小体积、低功耗需求。本文在现有北斗信号捕获模块基础上进一步优化算法，通过设计灵活可复用的匹配滤波加FFT结构实现匹配滤波器的长度与FFT点数灵活可配，片内分布式处理加片外超长存储架构存储超长数据，以及高多普勒伪码、载波频率补偿等方法，完成了对高、中、低轨信号的兼容接收，同时可实现对中、高轨北斗B1C信号-145 dBm捕获灵敏度和低轨±40 kHz STL(卫星时间和位置)突发信号的捕获。

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王琳舒　2000年生，硕士研究生。

黄喆　1990年生，硕士，高级工程师。

郭欣　1990年生，硕士，工程师。

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王琳舒　2000年生，硕士研究生。

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王琳舒　2000年生，硕士研究生。

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黄喆　1990年生，硕士，高级工程师。

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黄喆　1990年生，硕士，高级工程师。

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郭欣　1990年生，硕士，工程师。

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郭欣　1990年生，硕士，工程师。

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Analysis of Beidou and STL signal systems

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系统北斗(B1C信号体制)STL
调制方式BOC，包含数据和导频DQPSK
落地电平-129 dBm-123 dBm
多普勒频率范围(地面接收机静止)±5 kHz±40 kHz
信号连续性连续信号突发信号，突发周期1.4 s
), ArticleFig(id=1239263575366234596, tenantId=1146029695717560320, journalId=1238841944844054536, articleId=1239133503686766709, language=CN, label=表1, caption=

北斗系统和STL系统的信号体制分析

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系统北斗(B1C信号体制)STL
调制方式BOC，包含数据和导频DQPSK
落地电平-129 dBm-123 dBm
多普勒频率范围(地面接收机静止)±5 kHz±40 kHz
信号连续性连续信号突发信号，突发周期1.4 s
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Capture parameter settings

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信号参数STL参数配置B1C参数配置
中频(MHz)0.520.42
载波多普勒(Hz)30 0003 500
采样频率(MHz)2626
码速率(cps)64 0002 046 000
AD采样率(MHz)1.284.096
码采样率(MHz)0.642.048
频率搜索步长(Hz)625625
相干积分长度(ms)1.68
FFT点数128256
非相干积分长度14
AD滑动长度1.4 s10 ms
信号功率-123 dBm-145 dBm
载噪比(dBHz)4927
频率覆盖范围±40 kHz±8 kHz
), ArticleFig(id=1239263575571755498, tenantId=1146029695717560320, journalId=1238841944844054536, articleId=1239133503686766709, language=CN, label=表2, caption=

捕获参数设置

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信号参数STL参数配置B1C参数配置
中频(MHz)0.520.42
载波多普勒(Hz)30 0003 500
采样频率(MHz)2626
码速率(cps)64 0002 046 000
AD采样率(MHz)1.284.096
码采样率(MHz)0.642.048
频率搜索步长(Hz)625625
相干积分长度(ms)1.68
FFT点数128256
非相干积分长度14
AD滑动长度1.4 s10 ms
信号功率-123 dBm-145 dBm
载噪比(dBHz)4927
频率覆盖范围±40 kHz±8 kHz
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一种兼容接收高中低轨导航信号捕获方法研究与仿真实现
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王琳舒 , 黄喆 , 郭欣
遥测遥控 | 测控通信与导航 2025,46(3): 127-138
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遥测遥控 | 测控通信与导航 2025, 46(3): 127-138
一种兼容接收高中低轨导航信号捕获方法研究与仿真实现
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王琳舒, 黄喆, 郭欣
作者信息
  • 北京遥测技术研究所 北京 100076

    • 王琳舒　2000年生，硕士研究生。

    黄喆　1990年生，硕士，高级工程师。

    郭欣　1990年生，硕士，工程师。

Research and Implementation of A Compatible Reception Method for High, Medium, and Low Orbit Navigation Signals Capture
Linshu WANG, Zhe HUANG, Xin GUO
Affiliations
  • Beijing Research Institute of Telemetry, Beijing 100076, China
出版时间: 2025-05-15 doi: 10.12347/j.ycyk.20241012001
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摘要
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近年来，由于低轨导航增强系统逐步纳入综合PNT体系建设，如何对低轨信号的捕获跟踪逐渐成为热点研究问题。在综合PNT应用终端需要同时接收北斗+低轨导航增强信号的场景下，由于捕获模块的资源庞大，利用两套硬件资源分别对高、中、低轨信号进行兼容接收会造成极大的资源浪费，无法实现用户终端的小体积、低功耗需求。本文在现有北斗信号捕获模块基础上进一步优化算法，通过设计灵活可复用的匹配滤波加FFT结构实现匹配滤波器的长度与FFT点数灵活可配，片内分布式处理加片外超长存储架构存储超长数据，以及高多普勒伪码、载波频率补偿等方法，完成了对高、中、低轨信号的兼容接收，同时可实现对中、高轨北斗B1C信号-145 dBm捕获灵敏度和低轨±40 kHz STL(卫星时间和位置)突发信号的捕获。

高中低轨兼容接收  /  低轨导航增强系统  /  STL突发信号  /  捕获算法

In recent years, low-orbit navigation enhancement system has been gradually incorporated into the construction of integrated PNT system, and the capture and tracking of low-orbit signals has gradually become a hot research issue. In the scenario that the integrated PNT application terminal needs to receive BeiDou + LEO navigation augmentation signals at the same time, due to the large resource consumption of the capture module, using two sets of hardware resources to compatibly receive high, medium and low orbit-signals will cause a great waste of resources, and it is not possible to realize the small size and low power consumption requirements of the user terminal. This paper further optimizes the algorithm on the basis of the existing BeiDou signal capture module, and through the design of flexible and reusable matched filter plus FFT structure, on-chip distributed processing and off-chip ultra-long storage architecture, and techniques such as high Doppler pseudo-code, carrier frequency compensation, etc., it realizes the compatible reception of high, medium and low-orbit signals, and at the same time, it can realize the capture of high and medium orbit BeiDou B1C signals with a capture sensitivity of -145 dBm capture sensitivity and 40 kHz STL burst signal in low orbit.

High, medium, and low rail compatible reception  /  Low orbit navigation enhancement system  /  STL burst signal  /  Capture algorithm
王琳舒, 黄喆, 郭欣. 一种兼容接收高中低轨导航信号捕获方法研究与仿真实现. 遥测遥控, 2025 , 46 (3) : 127 -138 . DOI: 10.12347/j.ycyk.20241012001
Linshu WANG, Zhe HUANG, Xin GUO. Research and Implementation of A Compatible Reception Method for High, Medium, and Low Orbit Navigation Signals Capture[J]. Journal of Telemetry, Tracking and Command, 2025 , 46 (3) : 127 -138 . DOI: 10.12347/j.ycyk.20241012001
正文
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0　引言
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低轨星座因其落地电平高、收敛速度快、覆盖范围广、路径损耗小等优势，有望将其作为天基信息源纳入国家综合PNT体系[1]。按照低轨星座提供PNT服务的模式，主要包括两种：① 通过联合定轨、缩短精密定位收敛时间、信息增强等途径，提高GNSS的导航性能；② 播发导航测距信号，在信号拒止环境下，提供基本导航服务，实现导航备份。对于第二种服务模式，在下一代铱星系统设计中，基于突发信号的STL信号体制，可在GNSS信号拒止环境下独立提供PNT服务[2-4]。
由于高中低轨信号特点不同，多类型信号在捕获过程中处理过程复杂、捕获算法不一致、占用资源较大。文献[5]在并行码相位捕获算法基础上，加入双路信号传输设计。文献[6]采用时域并行搜索法实现对2个频段信号的接收。文献[7]选用自相关函数边峰消除技术来实现GPSL1C信号和GalilecE1B 信号的无模糊度捕获。文献[8]介绍了一种兼容新旧体制信号的快速捕获方法。文献[9]介绍了高中低轨卫星在信息层融合处理处理，未涉及信号层融合处理算法。综上，目前国内大多数研究倾向于北斗系统与GPS卫星导航系统、高中低轨信息层面的兼容互操作，对终端实现高中低轨卫星信号处理层面的融合提及较少。
随着综合PNT系统建设的逐渐完善，用户终端和算法的设计也是低轨星座提供综合PNT服务的重要一环[10,11]。如何在不替换或少改动现有设备基础上，使用一套终端设备同时实现高轨微弱旁瓣信号、中轨北斗导航信号、低轨卫星导航测距信号接收，尤其是在高轨弱信号捕获[12]、低轨突发信号快速建链，高动态低轨卫星的捕获与跟踪等问题上，都对系统终端研制提出了极大挑战。
基于上述需求，本文设计一种兼容接收高中低轨导航信号快速捕获方法，解决不同信号体制下信号兼容快速捕获问题，是系统服务性能提升和扩展应用的基础和关键。本文首先对以铱星STL突发信号为代表的低轨增强导航信号体制和北斗三号信号体制进行深入研究及解析；然后提出一种可兼容STL突发信号和北斗信号的捕获方法；最后，对捕获方法进行设计、仿真和实测，进一步验证了算法的可行性，节省硬件资源，提高捕获效率。
1　STL与北斗信号特性分析
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1.1　STL信号体制分析
铱星星座是目前全球唯一已经全球覆盖并提供服务的低轨卫星系统，国内低轨卫星星座在布设时多有参考与借鉴铱星星座构型与信号体制。在本文中，主要参考铱星信号体制对低轨增强导航信号进行论述。
铱星系统采用了时分双工(TDD)方式和时分多址(TDMA)与频分多址(FDMA)的混合多址方式。信号频率范围在1 616～1 626.5 MHz，总带宽10.5 MHz。在铱星信号1 626～1 626.5 MHz频率内被STL信号占用，播发单工信道。信道分为单向信道和双向信道，其分配包含一个载波频率和一个时隙，二者具备相同的TDMA帧结构，但频率划分并不相同，每个信道间隔41.667 kHz。双向信道中每8个接入频率组成1个子频带，每个子频带占据8个信道间隔(333.333 kHz)的带宽，铱星系统总共拥有30个双向通信的子频带，共包含240个接入频点[13]。
每个TDMA帧结构总时隙90 ms，数据速率为50 kbps，符号速率为25 ksps。单个TDMA帧结构包括一个单向下行时隙(长为20.32 ms)、4个上行链路时隙(长为8.28 ms)和4个等长的下行链路时隙(长为8.28 ms)，这些时隙之间存在保护时间。其中突发信号(STL burst)在前20.32 ms播发导航定位信息[14]。图1为具体帧结构。
STL突发信号包括CW(连续波)、UW(唯一字)与导航定位数据。采用差分四相相对相移键控(Differential Quadrature Reference Phase Shift Keying, DQPSK)调制，起始端为连续波，用于检测突发信号并对频率快速捕获，导航数据分为导频通道数据(PRN码)和数据通道数据，在伪随机噪声序列中，有效的信息数据传递速率降低，同时与本地产生的伪码序列相关达到进一步精密测量的目的。STL突发信号的播发时间约为1.4 秒/次，图2为STL突发信号结构示意图。
以L频段的信号为例，计算低轨卫星多普勒频移范围。STL信号载波中心频率为1 626.25 MHz，地面站静止不动，低轨卫星绕行时间为90 min，地球半径按照 Re=6 400 km计算，低轨卫星轨道高度按照HS=550 km，低轨卫星到地心的距离Rs=6 950 km计算，以此估计多普勒频率偏移量[15]。根据卫星绕行时间可得出：
线速度为：
最大径向速度为：
根据卫星速度与采用的工作载波频率计算信号的最大多普勒偏移为：
式中fc为STL信号载波中心频率，c为光速，结果表明：对于静止的导航接收机，卫星移动所导致的多普勒频移最大可达到±40 kHz。
1.2　STL与北斗信号体制对比
卫星导航系统具有覆盖范围广、全天候和精度高等优势，但是导航卫星均为高轨或中轨道卫星，通常信号最高落地电平为-130 dBm左右，信号幅度低于噪声幅度。卫星导航信号落地电平低，导致接收机在城市峡谷、树木遮挡处、室内定位等部分环境下无法正常捕获跟踪，同时也存在易被干扰以及易被欺骗的问题。
而低轨星座的近地特性带来了更强的信号，这使它们对干扰更有抵抗力，在城市峡谷和室内等深衰减环境中更加强大，且低轨星座几何变化大，易于高精度定位快速收敛。综上，北斗和STL时间位置均可用的环境中，北斗通常会更准确。STL的主要优势在于其能够在遮挡、欺骗或其他原因无法使用北斗的情况下提供时间和位置。在此方面，北斗和STL可以被视为互补。
目前，针对GNSS系统应用终端较为成熟，而如何在不替换或少改动现有设备基础上，实现对STL的高动态、突发信号捕获跟踪，并最终实现对高中低轨卫星兼容接收是本文的研究重点。表1对北斗系统和STL系统信号体制进行分析与对比。
2　基于PMF-FFT捕获算法研究及优化
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2.1　基于PMF-FFT算法数学模型分析
接收到的中频信号表达式为：
式中，A为信号振幅，C(t)为C/A码，D(t)为导航电文信息，fIF为信号中频，fD为多普勒频率，φ为载波初始相位。
首先，中频信号需要剥离载波，STL输入信号与本地载波相乘，完成下变频得到零中频信号，表达式为：
载波剥离后对STL信号进行采样率为fs的降采样，即每W个点取均值得到采样后的STL信号x(k)：
设信号码长为N，Tc为码元宽度，对信号进行捕获时，当下的归一化相关值为[16]：
再将长度为N的匹配滤波器分为K个M长的部分匹配滤波器(N=K×M)，得到：
对输出的K个相关值进行k点FFT运算，得到输出值第k点归一化幅频响应[17]：
由上式可知，相干累加结果会受到残留载波多普勒频移的影响。不同频率误差和不同相干积分时间条件下对相干累加结果的影响，如图3所示。
利用非相关积分检测来降低捕获过程中接收信号载波与本地载波之间相位差对捕获检测量的影响，检测量如式(11)所示[18]：
式中，IP、QP分别为STL信号同向和正交两支路分量，最终得到：
式中，R(τ)为伪码的自相关函数，Tcoh为积分时间。
当伪码同步时，R(τ)=1，在多普勒频移是整数倍的码周期倒数时，多普勒频移对捕获检测量的影响最大。从图4中可以看出，当多普勒频移在一定范围之外时检测量幅值衰减严重，大大增加了漏补概率。
从上文可知，对于静止的导航接收机来说，由于低轨卫星移动所导致的多普勒频移最大可达到±40 kHz，该多普勒偏移引起的伪码相位误差和载波频率偏差对捕获算法的实现带来了较大挑战和难度。
2.2　PMF-FFT捕获算法工程实现
典型PMF-FFT捕获算法流程为：经过下变频后的中频信号与载波NCO产生的本地载波相乘，存储在同相、正交AD采样数据RAM中，此后分成P段，与码NCO产生的本地码一起进入P个匹配滤波器进行相关运算。将相关运算结果进行N点FFT运算，保存相关运算结果，并与下一段相关运算结果进行非相干积分，当计算结果超过捕获门限时，捕获成功，否则继续采集下一段信号进行上述操作，直至捕获结束[19]。流程图如图5所示：
算法的具体步骤如下：
① 数字中频信号经过数字下变频后得到同相和正交两路包含残留多普勒的信号；
② 按照设置的预相关速率完成预相关后，存入同相AD采样数据RAM和正交AD采样数据RAM；码NCO产生本地伪码存入码片存储RAM中；一般可设置预相关速率为两倍的伪码速率；
③ 在当前多普勒频率栅格上，每一时钟节拍将存储在AD采样数据RAM中的同相AD预相关信号和正交AD预相关信号各分成P段，送入长度为L的匹配滤波器中进行匹配滤波；每拍时钟得到P个累加长度为N的相干运算结果，即每拍时钟运算分析的数据量为M，其中M=L×P；匹配滤波器的长度L需合理配置，L值过大会导致捕获带宽变窄，过小会导致 FFT 点数过多及 FFT 计算量过大，资源占用和计算延时增加。在北斗导航信号的捕获中，常设置L=1023，P=32。
④ 将相干运算结果进行N点FFT运算，考虑到扇贝损失和运算量的影响，FFT点数不宜过大也不宜过小，通常选用N=64或128 (N≥P) 。即当数据经过P个部分匹配滤波器后，可将输出的数据加窗处理后进行P点FFT运算，或进行(N-P)个点的补零操作来减少扇贝损失的影响。
⑤ 将步骤④得到的FFT运算结果与非相干累加结果缓存FIFO中的前一组运算结果进行非相干累加，并将新的非相干累加结果存入非相干累加结果缓存FIFO 中，进行非相干累加R次；
⑥ 重复步骤④至步骤⑥，清零信号在第一次非相干累加时有效。循环进行非相干累加运算，直到非相干累加次数达到设置的非相干累加次数后，开始进行相关峰比较，若最大值大于等于噪声门限则记录捕获的码相位及对应的多普勒频率并给出捕获结束标志；
⑦ 若小于噪声门限则继续滑动下一个AD信号并重复上述相干非相干积分累加，直至RAM中存储的AD数据全部分析完成，RAM中存储的AD数据应至少覆盖分析数据长度(M×R)与信号扩频周期长度(如B1C信号扩频周期长度为10 ms)之和；
⑧ 如果一直未出现超过门限的数据，则将AD滑动过程中相关峰最大值对应的码相位和多普勒频率锁存，并给出捕获完成标志，捕获结束。
2.3　针对PMF-FFT捕获算法的进一步优化
PMF-FFT捕获算法充分利用了匹配滤波器及FFT的优点，可以实现时频二维快速捕获，硬件复杂度及硬件规模中等，是对导航信号接收最优的解决方法[20]。但是针对在高轨弱信号捕获，低轨突发、高动态信号快速建链，使用上节所述PMF-FFT捕获算法仍存在如下难题：
① 高轨卫星接收导航旁瓣信号，信号功率弱，但是卫星动态较小，为获得较高的相干增益，相干运算长度(M值)应尽可能长。而低轨卫星落地电平高，对灵敏度指标无严苛要求，但是动态范围大，相干积分运算长度(M值)不宜过长，以避免频率搜索范围过窄，高动态情况下多次捕获带来的捕获速度过慢的问题。如何优化匹配滤波器的设计，是实现高中低轨导航信号兼容接收需要解决的重要问题。
② 本地缓存RAM中存储的AD数据应覆盖分析数据长度(M×R)加上信号扩频周期长度，对于常规导航信号，信号扩频周期较短，如B1C信号扩频周期为10 ms。低轨STL突发信号的播发时间约为1.4秒/次，为保证每次捕获分析的数据能覆盖STL突发信号，AD数据缓存长度应不少于1.4 s对应数据量。STL突发信号捕获消耗庞大的硬件存储资源对接收端设计带来了巨大挑战。
③ 常规导航信号卫星动态一般不超过±5 kHz，而前文所述低轨导航信号卫星动态为±40 kHz，低轨星座运行带来的巨大的载波频率偏移和伪码频率偏差对相干积分、非相干积分损耗严重，高效实现对载波、伪码相位频偏的补偿以满足高动态捕获系统的要求，是低轨信号快速建链的重要手段。
面向上述重要问题，针对上节PMF-FFT捕获算法架构进行优化，使接收机捕获模块的参数可根据不同信号体制信号进行配置，提出了：
① 灵活可复用的匹配滤波加FFT结构。
② 片内分布式处理加片外超长存储架构。
③ 高多普勒伪码频率补偿等方法。
对PMF+FFT捕获算法结构的三个方面进行优化，最终实现对高中低轨导航信号的兼容接收。
基于图5架构进行优化与改进，改进后的PMF-FFT捕获算法实现方法如图6所示。接收STL信号经下变频和采样后得到AD采样数据，降采样后与本地载波NCO产生的本地载波相乘形成同相、正交两路信号并分别存储在同相AD 采样数据RAM 和正交AD 采样数据RAM 中。此后经多普勒频率补偿后送入N×M矩阵匹配滤波器进行匹配滤波，每个匹配滤波器组由N组M点相关器组成，I、Q两路数据先相关再累加生成n个数据，补零后将累加结果送入N(N≥n)点FFT模块和非相干累加模块进行运算，将输出结果与预设门限进行判决，若输出结果高于门限，则表示成功捕获，通过捕获的相位位置计算可得出系统频差。
算法的具体步骤如下：
① 数字中频信号经过数字下变频后得到同相和正交两路包含残留多普勒的信号。
② 按照设置的预相关速率完成预相关后，存入同相AD采样数据RAM和正交AD采样数据RAM；码NCO产生本地伪码存入码片存储RAM中。
③ 当需要存储的AD长度超过内部RAM存储门限，将数据存储在位于片外的AD数据二级缓存区中。
④ 载波、伪码多普勒补偿模块对存储的AD数据和伪码数据进行频率补偿。
⑤ 在当前多普勒频率栅格上，每一时钟节拍将存储在AD采样数据RAM中的同相AD预相关信号和正交AD预相关信号各分成P段，送入灵活可复用的匹配滤波进行相干累加。
⑥ 将相干运算结果进行FFT运算，该FFT模块可通过配置支持256点、128点、64点FFT结果输出。
⑦ 将步骤⑥得到的FFT运算结果与非相干累加结果缓存FIFO中的前一组运算结果进行非相干累加，并将新的非相干累加结果存入非相干累加结果缓存FIFO 中，进行非相干累加R次。
⑧ 重复步骤④至步骤⑦，清零信号在第一次非相干累加时有效。循环进行非相干累加运算，直到非相干累加次数达到设置的非相干累加次数后，开始进行相关峰比较，若最大值大于等于噪声门限则记录捕获的码相位及对应的多普勒频率并给出捕获结束标志。
⑨ 若小于噪声门限则继续滑动下一组AD信号并重复上述相干/非相干积分累加。
⑩ 在AD数据滑动同时，采用环形结构同步读取片外AD数据二级缓冲区数据进行补充，直至RAM及片外AD数据二级缓冲区存储的AD数据全部分析完成。
⑪ 如果一直未出现超过门限的数据，则将AD滑动过程中相关峰最大值对应的码相位和多普勒频率锁存，并给出捕获完成标志，捕获结束。
下面对提出改进算法的三方面进行重点描述。
2.3.1　灵活可复用的匹配滤波加FFT结构
在PMF-FFT捕获算法中，匹配滤波器的长度与FFT点数需要配合配置。通过增加匹配滤波器点数，可增加相干积分长度，但是会导致捕获带宽变窄。如果匹配滤波器点数过小会导致FFT点数过多，导致FFT计算量过大，增加资源占用和计算延时[21]。
灵活可复用的匹配滤波器加FFT架构图如图7所示。
① 在经典架构中采用长度为N的匹配滤波器对N点数据进行直接匹配，由硬件资源直接实现，不能进行软件配置更改，无法满足高中低轨不同相干积分长度的需求。
② 将N点匹配滤波器长度拆分为P×R矩形匹配滤波器，其中N=P×R，P点匹配滤波器用于实现同一时刻P个点同时进行累加，R表示矩形滤波器并行度系数，表征R个匹配滤波器同时并行对不同AD信号进行匹配。
③ 在每组P点匹配滤波累加器后，额外增加一级累加器，实现T次P个点相关数据的累加，其中T值可通过软件进行配置。对于高轨信号，可设置较大T值，保证足够相干积分时间；对于低轨信号，可设置较小T值，保证捕获频率范围充分。
④ FFT采用流水线结构进行设计，256点串行FFT结构，同时支持256点、128点、64点FFT结果输出。
⑤ 每一次AD滑动点数由1个提高至R，其中R为矩形滤波器的并行度系数。
基于上述五点优化，可以在同样的捕获时间和灵敏度条件下，实现匹配滤波器的长度与FFT点数灵活可配，即匹配滤波器长度(P×T)中的T值可灵活配置，FFT点数也同时支持256点、128点和64点输出。
2.3.2　片内分布式处理加片外超长存储架构
GNSS卫星导航信号为连续卫星信号，如B1C信号周期为10 ms，RAM中存储的AD数据需覆盖分析数据长度(相干积分长度×非相干积分长度)加上信号周期长度(如B1C信号扩频周期长度为10 ms)，FPGA片内存储资源即可对AD滑动量进行存储。对于STL突发信号，其突发周期为1.4 s，为了保证能够捕获得到突发卫星信号，AD存储长度至少为1.4 s对应数据量加分析数据长度(相干积分长度×非相干积分长度)，存储资源消耗巨大，FPGA片内存储资源已经无法满足突发信号捕获要求。
本文采用片内分布式处理，片外超长存储架构，将片上小容量双端口RAM(AD采样数据缓存RAM)作为一级缓存，用于降采样后的AD信号直接存储以及AD信号的高速缓存。高速缓存容量一般为本次捕获对应的分析数据量，寻址采用环型移位的方法实现复用。选择片外存储设备作为AD信号的二级缓存，用于降采样后的AD信号直接存储。该片外存储设备可以选择DDR存储单元或者SDRAM存储单元，且片外存储设备亦可作为导航CPU软件程序内存扩展区，实现资源的复用。AD采样数据缓存RAM采用分布式处理策略，将AD数据按段划分，每将一段数据进入后续矩形匹配滤波器中后，读取二级缓存中AD信号覆盖该段数据，实现对超长AD数据的分段式覆盖。其结构示意图如图8所示。
2.3.3　高多普勒伪码、载波频率补偿
STL突发信号多普勒频偏较大，使得对其捕获的难度大大提高，具体影响主要包括相干累积损耗、相关函数峰值移位和相关峰展开等[22-25]。同时积累时间、扩频码标称频率以及相对偏移率等因素会对导致STL突发信号伪码频偏损耗，因此需要对其进行伪码和载波频率补偿。接收信号的载波和伪码频率偏移与接收机满足如下关系式：
其中Δfc为伪码频偏，fc为伪码频率，Δfo为载波频偏，fo为载波频率，η为相对偏移率。
频率补偿方法实现框图如图9所示。通过数控振荡器(NCO)实现对本地码的抽取，根据NCO的工作原理计算其输出频率fo为：
其中fi为NCO时钟频率，K为NCO相位累加器的字长，W为频率控制字。因此，只需令：
即可完成本地码抽取频率补偿，式中fs为本地码采样率，frs为接收信号原始采样率。最初本地码x[n]为：
如图10为载波频率补偿。补偿后的本地码频率与最初本地码频率Ck的关系为：
3　算法实现与行为级仿真验证
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上一节已经从理论和实现方式上对兼容接收高中低轨导航信号捕获方法进行了阐述，本节主要对算法的捕获性能进行评估。通过MATLAB生成突发中频信号，利用Modelsim软件实现行为级仿真，对比理论分析与仿真结果是否一致。
将经过下变频、滤波、IQ采样后的STL突发信号导入Modelsim软件进行行为级仿真。仿真参数设置如表2所示。
本次仿真使用的中频信号是模拟STL突发中频信号，多普勒频移为30 kHz，中频频率为0.52 MHz，信号周期为60 ms。每一个样点为I/Q各4比特sign/mag格式(每个样点8比特，从高位到低位的排列为I路符号、I路幅度、Q路符号、Q路幅度)。1比特符号位为0表示正，为1表示负。3比特幅度从000到111分别表示1、3、5…15。
输入的I/Q两路仿真信号(ad_acq_i1、ad_acq_q1)即为MATLAB中产生的4 bit信号，与载波NCO产生的本地载波混频，实现多普勒剥离，使信号下变频到零中频。得到下变频后的信号(i1、q1)，如图11所示：
接着对STL中频信号进行降采样和量化，得到的数据如图12所示。
按照UW独特字结构将参数配置到仿真中，图13中code_out即为UW段。
当本地产生的伪码与接收到的信号码相位一致时，相关值达到最大,捕获成功，如图14所示。
从图14中可以看出，仿真输出doppler_fre值为48。根据表2配置，频率搜索步进量为625 Hz，当doppler_fre值为48，表示捕获到的频率范围为[30 000,30 625]，与表2中载波多普勒值(30 kHz)相符，频率捕获结果正确，捕获到的相位值与AD初始化置入的偏移量相同。
同理，仅需要修改输入参数为表2中的参数，可以实现对B1C信号的捕获。对多普勒频率覆盖范围内的信号进行遍历性捕获测试，统计捕获成功率，该算法对中、高轨北斗B1C信号(-145 dBm、±8 kHz)和低轨(-123 dBm、±40 kHz)STL突发信号捕获概率为100%。
为了进一步验证优化后捕获算法的独创性，采用典型PMF-FFT架构对STL信号进行捕获，仿真参数设置与表2一致。结果表明peak1_fre(即上文的doppler_fre)值为20，表示捕获到的频率范围为[12500,13125]，与表2中载波多普勒值(30 kHz)不一致，捕获失败。
4　结束语
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本文首先对铱星系统STL突发信号体制与GNSS导航信号体制进行分析并对比，在现有GNSS信号捕获模块的基础上，通过设计灵活可复用的匹配滤波加FFT结构、片内分布式处理加片外超长存储架构，高多普勒伪码频率补偿等方法，通过配置不同参数可实现对高动态STL突发信号和高轨弱信号等的兼容接收；最后通过MATLAB生成STL突发信号，并导入Modelsim软件中对改进后的捕获架构进行行为级模型仿真，验证优化后的捕获架构能够同时实现对中、高轨北斗B1C信号-145 dBm捕获灵敏度和低轨±40 kHz STL突发信号的捕获。本文的研究可以较好地满足高动态低轨导航增强信号突发建链需求和中高轨道弱信号捕获需求，对国内将来研制兼容接收高中低轨信号的综合PNT终端，并实现其小型化具有借鉴意义。
基金
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  • 中国航天科技集团基于低轨星座的实时高精度导航增强系统项目
文献
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2025年第46卷第3期
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doi: 10.12347/j.ycyk.20241012001
  • 接收时间：2024-10-12
  • 首发时间：2026-03-13
  • 出版时间：2025-05-15
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  • 收稿日期：2024-10-12
  • 修回日期：2024-12-19
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中国航天科技集团基于低轨星座的实时高精度导航增强系统项目
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    北京遥测技术研究所 北京 100076
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2种不同金属材料的力学参数
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Number of
species		 占总种数比例
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total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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