低轨增强/GNSS信号捕获一体化方法研究

doi:10.12305/j.issn.1001-506X.2025.10.27

系统工程与电子技术 ›› 2025, Vol. 47 ›› Issue (10): 3433-3445.doi: 10.12305/j.issn.1001-506X.2025.10.27

• 制导、导航与控制 • 上一篇

低轨增强/GNSS信号捕获一体化方法研究

巴晓辉¹^,²^,³^,*, 许哲锴¹, 胡东伟⁴, 蔡伯根¹^,²^,³, 王剑¹^,²^,³, 姜维¹^,²^,³, 刘江¹^,²^,³, 陆德彪¹^,²^,³, 梁坤¹^,²^,³, 柴琳果¹^,²^,³

1. 北京交通大学自动化与智能学院，北京 100044
2. 先进轨道交通自主运行国家重点实验室（北京交通大学），北京 100044
3. 北京市轨道交通电磁兼容与卫星导航工程技术研究中心，北京 100044
4. 中国电子科技集团公司第五十四研究所，石家庄 050080

收稿日期:2024-12-26 出版日期:2025-10-25 发布日期:2025-10-23
通讯作者: 巴晓辉
作者简介:许哲锴（2000—），男，硕士研究生，主要研究方向为卫星导航
胡东伟（1980—），男，高级工程师，主要研究方向为无线通信理论和数字大规模集成电路
蔡伯根（1966—），男，教授，博士，主要研究方向为卫星定位导航、列车运行控制
王　剑（1978—），男，教授，博士，主要研究方向为卫星导航、组合导航、列车运行控制
姜　维（1988—），女，教授，博士，主要研究方向为卫星导航、多源信息融合、室内外无缝定位
刘　江（1985—），男，教授，博士，主要研究方向为智能交通、组合定位导航
陆德彪（1986—），男，教授，博士，主要研究方向为卫星导航
梁　坤（1980—），男，教授，博士，主要研究方向为卫星导航、时间频率测量
柴琳果（1988—），男，副教授，博士，主要研究方向为智能交通
基金资助:
国家自然科学基金联合基金（U2468202，U2268206）；国家自然科学基金重大仪器（62027809）；国家自然科学基金（T2422002）；北京市自然科学基金-丰台轨道交通前沿研究联合基金（L211004）；北京交通大学人才基金（2022XKRC003）资助课题

Integration acquisition method of low earth orbit augmentation signal and GNSS signal

Xiaohui BA¹^,²^,³^,*, Zhekai XU¹, Dongwei HU⁴, Baigen CAI¹^,²^,³, Jian WANG¹^,²^,³, Wei JIANG¹^,²^,³, Jiang LIU¹^,²^,³, Debiao LU¹^,²^,³, Kun LIANG¹^,²^,³, Linguo CHAI¹^,²^,³

1. School of Automation and Intelligence，Beijing Jiaotong University，Beijing 100044，China
2. State Key Laboratory of Advanced Rail Autonomous Operation，Beijing Jiaotong University，Beijing 100044，China
3. Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation，Beijing 100044，China
4. The 54th Research Institute of China Electronics Technology Group Corporation，Shijiazhuang 050080，China

Received:2024-12-26 Online:2025-10-25 Published:2025-10-23
Contact: Xiaohui BA

摘要/Abstract

摘要：

基于低轨（low Earth orbit, LEO）卫星增强系统提升全球卫星导航系统（Global Navigation Satellite System, GNSS）性能已成为当前研究热点之一，本文设计了LEO增强信号与GNSS信号兼容的捕获方法，有助于减小接收机成本。本文理论推导了在地面接收LEO导航增强信号时的多普勒频偏和多普勒变化率特性，分析了短时相关结合快速傅里叶变换在捕获LEO信号中的参数配置方式。在保持GNSS捕获引擎中频存储硬件不变的情况下，仿真分析了LEO增强信号捕获灵敏度性能，并给出了强信号和弱信号的捕获配置方案。强星搜索时对比了单独低速电文分量与低速电文分量+高速电文分量联合捕获两种方案的捕获性能，弱信号搜索时对比了100 ms和300 ms的捕获参数配置方式，给出了在不增加GNSS捕获引擎硬件资源消耗下的LEO导航增强信号的捕获灵敏度，实现了良好的捕获兼容性与灵敏度指标。

关键词: 低轨导航增强系统, 信号兼容捕获, 短时相关, 高灵敏度捕获

Abstract:

Enhancing the performance of the Global Navigation Satellite System （GNSS） based on low Earth orbit （LEO） satellite augmentation system has become one of the current research hotspots. This paper proposes an acquisition method for LEO augmentation signal that is compatible with GNSS signal, which helps reduce the receiver cost. Theoretical derivations of Doppler frequency offset and Doppler rate characteristics for receiving LEO navigation augmentation signal on the ground are presented. The paper analyzes the configuration of parameters in the acquisition of LEO signal by combining short-time correlation with fast Fourier transform. The simulation analysis of the acquisition sensitivity performance of LEO augmentation signal is conducted, with the constraint that the intermediate frequency storage hardware of the GNSS acquisition engine remains unchanged. Acquisition configuration schemes for both strong and weak signals are provided. For strong satellite searches, the acquisition performance of two schemes, separate low-speed data component and combined low-speed data component with high-speed data component, are compared. For weak signal searches, the acquisition parameter configurations for 100 ms and 300 ms are compared, and the acquisition sensitivity of the LEO navigation augmentation signals are provided without increasing the hardware resource consumption of the GNSS acquisition engine. This achieves excellent acquisition compatibility and sensitivity performance.

Key words: low Earth orbit （LEO） navigation augmentation system, signal compatibility acquisition, short-time correlation, high sensitivity acquisition

中图分类号:

TN 967.1

巴晓辉, 许哲锴, 胡东伟, 蔡伯根, 王剑, 姜维, 刘江, 陆德彪, 梁坤, 柴琳果. 低轨增强/GNSS信号捕获一体化方法研究[J]. 系统工程与电子技术, 2025, 47(10): 3433-3445.

Xiaohui BA, Zhekai XU, Dongwei HU, Baigen CAI, Jian WANG, Wei JIANG, Jiang LIU, Debiao LU, Kun LIANG, Linguo CHAI. Integration acquisition method of low earth orbit augmentation signal and GNSS signal[J]. Systems Engineering and Electronics, 2025, 47(10): 3433-3445.

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卫星参数	LEO1	LEO2	GPS	BDS
轨道高度/km	500	1 000	20 192	21 500
轨道半径/km	6 868	7 368	26 560	27 868
运行周期/s	5 664	6 294	43 079	46 300
载波频率采用L波段的最大多普勒/Hz	37 119	33 405	4881	4541
载波频率采用Ka波段的最大多普勒/Hz	706 840	636 120	—	—
载波频率采用L波段的最大一阶多普勒变化率/（Hz·s⁻¹）	566	246	0.94	0.80
载波频率采用Ka波段的最大一阶多普勒变化率/（Hz·s⁻¹）	10 769	4 679	—	—

信号	$ \Delta f $/Hz	$ {f}_{{\mathrm{code}}} $/MHz	T/ms
LEO1	37 119	2.046	10
LEO2	33 405	2.046	12
GPS L1C/A	4 881	1.023	158
BDS B1I	4 541	2.046	85

$ {T}_{{\mathrm{p}}} $/ms	$ \Delta f $/Hz	T/ms
1/2	[−500,500]	385
1/3	[−750,750]	257
1/6	[−1500,1500]	128
1/22	[−5500,5500]	35
1/30	[−7500,7500]	26

方案	捕获方案	$ {T}_{{\mathrm{p}}} $/ms	中频数据时长/ms	主频点数	单频点频率搜素范围/Hz	总分段数	非相干累加次数
方案一	BPSK	1/22	8	9	±5500	22	4
方案二	BPSK+CSK	1/22	8	9	±5500	22	8
方案三	BPSK	1/6	100（由于时分复用，实际只有 50 ms的BPSK调制数据）	33	±1500	6	50
方案四	BPSK	1/2	300（由于时分复用，实际只有 150 ms的BPSK调制数据）	101	±500	2	150

主频点序号	主频点频率/Hz
1	−44688
2	−33516
3	−22344
4	−11172
5	0
6	11172
7	22344
8	33516
9	44688

低轨增强/GNSS信号捕获一体化方法研究

Integration acquisition method of low earth orbit augmentation signal and GNSS signal

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主频点序号	主频点频率/Hz	主频点序号	主频点频率/Hz	主频点序号	主频点频率/Hz
1	−48752	12	−15235	23	18282
2	−45705	13	−12188	24	21329
3	−42658	14	−9141	25	24376
4	−39611	15	−6094	26	27423
5	−36564	16	−3047	27	30470
6	−33517	17	0	28	33517
7	−30470	18	3047	29	36564
8	−27423	19	6094	30	39611
9	−24376	20	9141	31	42658
10	−21329	21	12188	32	45705
11	−18282	22	15235	33	48752

信号	$ {T}_{{\mathrm{p}}} $/ms	$ {T}_{{\mathrm{coh}}} $/ms	单频点频率搜素范围/Hz	总分段数	非相干累加次数	总数据量/ms
GPS L1C/A	1/3	20	±750	60	30	600
L1C	1/6	10	±1500	60	28	280
L2C	1/3	20	±750	60	30	600
BDS B1I	1/3	20	±750	60	14	280
BDS B1C	1/6	10	±1500	60	28	280
GLONASS L1OF	1/6	10	±1500	60	28	280
Galileo E1B/C	1/11	4	±2750	44	73	292
GLONASS L1OC	1/6	8	±1500	48	36	288
GLONASS L3OC	1/11	1	±2750	11	61	61
低轨增强BPSK	1/22	1	±5500	22	4	8
低轨增强BPSK+CSK	1/22	1	±5500	22	8	8
低轨增强BPSK	1/6	1	±1500	6	50	100
低轨增强BPSK	1/2	1	±500	2	150	300

项目	Jetson AGX orin 开发者套件规格
GPU	搭载2 048个NVIDIA®CUDA®核心和64个 Tensor Core 的NVIDIA Ampere架构
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内存	32 GB 256位LPDDR5 204.8 GB/S
存储	64 GB eMMC 5.1