JP5565643B1 - Positioning system and positioning method for positioning with a GPS receiver mounted on a flying object - Google Patents

Abstract

The present invention provides a positioning system and a positioning method capable of acquiring flight data of a shell at an early stage of flight.
In a positioning system 100, a GPS receiver 11 has a memory 11d for storing a digital output signal T based on input signals generated from a plurality of satellite radio waves W, and an analysis device 40 receives the digital output signal T. After executing the carrier frequency and code phase search and the carrier component and code phase synchronous tracking while reproducing, the control unit 41 executes the pseudo distance and navigation message collection and positioning while reproducing the digital output signal T again. Have
[Selection] Figure 2

Description

  The present invention relates to a positioning system and a positioning method for positioning with a GPS receiver mounted on a flying object.

  Conventionally, a shell capable of positioning its own position by capturing a satellite radio wave transmitted from a GPS satellite with a GPS receiver is known (see Patent Document 1). In this GPS receiver, after a shell is fired from a cannon, a preparatory process including searching for carrier frequency and code phase of satellite radio waves, synchronous tracking of carrier component and code phase, and collection of pseudorange and navigation messages is performed. After being executed, positioning of the current position of the GPS receiver is executed.

JP 2000-65500 A

  However, with a conventional GPS receiver, it takes a considerable amount of time for the preparation process until positioning, and thus it is not possible to acquire the flight data of the shells at the initial stage of flight. Therefore, there is a problem that it is impossible to analyze the behavior of a shell in the early flight.

  The present invention has been made in view of the above-described situation, and an object thereof is to provide a positioning system and a positioning method capable of acquiring the flight data of a shell in the early stage of flight.

  The positioning system which concerns on the 1st aspect of this invention is a positioning system provided with the GPS receiver mounted in a flying body, and the analyzer which measures the position of a GPS receiver. The positioning system GPS receiver includes an antenna that receives a plurality of satellite radio waves transmitted from a plurality of GPS satellites and generates an input signal, a down converter that converts the input signal into an intermediate frequency signal of a predetermined frequency, and an intermediate frequency signal An A / D converter that converts the signal into a digital output signal, and a memory that is connected to the A / D converter and stores the digital output signal. The analysis device performs the carrier frequency and code phase search and the carrier component and code phase synchronous tracking while reproducing the digital output signal stored in the memory, and then reproduces the digital output signal stored in the memory. It has a control part which performs collection of a pseudo distance and a navigation message, and positioning of a GPS receiver.

  According to the positioning system according to the first aspect of the present invention, positioning can be performed using the digital output signal stored in the GPS receiver from the launching to landing of the flying object. Therefore, it is easier to acquire flight data of the flying object at the initial stage of flight than when positioning using a digital output signal during the flight of the flying object. Therefore, it becomes possible to accurately analyze the behavior of the flying object at the early stage of flight.

  The positioning system which concerns on the 2nd aspect of this invention concerns on a 1st aspect, and a control part changes the analysis parameter used for positioning, whenever it performs positioning of a GPS receiver.

  According to the positioning system according to the second aspect of the present invention, analysis parameters suitable for a GPS receiver mounted on a flying object can be verified easily and accurately. Therefore, when a GPS receiver capable of positioning its own position is mounted on a shell, by setting a suitable analysis parameter obtained in the analysis device, each process for positioning in the GPS receiver is completed quickly. be able to.

  The GPS receiver according to the third aspect of the present invention is a GPS receiver mounted on a flying object. This GPS receiver includes an antenna that receives a plurality of satellite radio waves transmitted from a plurality of GPS satellites and generates an input signal, a down converter that converts the input signal into an intermediate frequency signal of a predetermined frequency, and an intermediate frequency signal. An A / D converter that converts the digital output signal; and a memory that is connected to the A / D converter and stores the digital output signal.

  The positioning method according to the fourth aspect of the present invention is a positioning method for positioning the position of a GPS receiver mounted on a flying object. The positioning method includes a step of generating an input signal by receiving a plurality of satellite radio waves transmitted from a plurality of GPS satellites, a step of converting the input signal into an intermediate frequency signal of a predetermined frequency, and digitally outputting the intermediate frequency signal. Converting to a signal; storing a digital output signal; performing carrier frequency and code phase searching and carrier component and code phase synchronization tracking while reproducing the digital output signal stored in the memory; Performing pseudo-range and navigation message collection and GPS receiver positioning while reproducing the digital output signal stored in the memory.

  ADVANTAGE OF THE INVENTION According to this invention, the positioning system and the positioning method which can acquire the flight data of the shell in the early stage of flight can be provided.

Schematic which shows the whole structure of the positioning system which concerns on 1st Embodiment. The block diagram which shows the structure of the GPS receiver which concerns on 1st Embodiment. The block diagram which shows the structure of the analyzer which concerns on 1st Embodiment The flowchart for demonstrating operation | movement of the positioning system which concerns on 1st Embodiment. The block diagram which shows the structure of the analyzer which concerns on 2nd Embodiment.

  Next, embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, the drawings are schematic, and the ratio of each dimension may be different from the actual one. Accordingly, specific dimensions and the like should be determined in consideration of the following description. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings.

[First Embodiment]
(Overall configuration of positioning system 100)
The overall configuration of the positioning system 100 according to the first embodiment will be described with reference to the drawings. FIG. 1 is a schematic diagram showing the overall configuration of the positioning system 100.

  The positioning system 100 includes a cannonball 10, a cannon 20, a plurality of GPS satellites 30, and a ground device 40.

  The cannonball 10 is an example of a flying object, and is fired from the artillery 20 and flies toward a predetermined position. The shell 10 includes a GPS receiver 11 that receives a plurality of satellite radio waves W transmitted from a plurality of GPS satellites 30. The GPS receiver 11 stores a digital output signal T generated based on a plurality of satellite radio waves W in a memory 11d (see FIG. 2) described later. The memory 11d can be recovered from the GPS receiver 11 after the shell 10 has landed. In the present embodiment, the GPS receiver 11 does not have a function of analyzing the digital output signal T, and the analysis of the digital output signal T is assumed to be performed by the analysis device 40. The configuration of the GPS receiver 11 will be described later.

  The artillery 20 is disposed on the ground or on a moving body (such as a tank or a ship). The artillery 20 can fire the shell 10 at an arbitrary angle.

  The plurality of GPS satellites 30 are artificial satellites used in the global positioning system. The plurality of GPS satellites 30 are artificial satellites that are located on the horizon when the shell 10 is flying among GPS artificial satellites that orbit the earth. Each of the plurality of GPS satellites 30 transmits a satellite wave W.

  The analysis device 40 is a component different from the cannonball 10, and is installed on the ground, for example. The analysis device 40 can take the digital output signal T from the memory 11d collected from the shell 10 and analyze the digital output signal T. Specifically, the analysis device 40 performs a carrier frequency and code phase search and a carrier component and code phase synchronization tracking. Subsequently, the analysis apparatus 40 performs collection and positioning of pseudo distances and navigation messages. The configuration of the analysis device 40 will be described later.

(Configuration of GPS receiver 11)
Next, the configuration of the GPS receiver 11 mounted on the shell 10 will be described with reference to the drawings. FIG. 2 is a block diagram showing the configuration of the GPS receiver 11.

  The GPS receiver 11 is activated simultaneously with the cannonball 10 being fired from the gun 20. The GPS receiver 11 includes an antenna 11a, a frequency conversion unit 11b, an A / D conversion unit 11c, and a memory 11d.

  The antenna 11 a receives a plurality of satellite radio waves W from a plurality of GPS satellites 30 and generates an input signal S. A plurality of satellite radio waves W are superimposed on the input signal S. Further, the input signal S may include environmental radio waves and noise other than the plurality of satellite radio waves W.

  The frequency converter 11b amplifies the input signal S with a low noise amplifier, and then mixes the reference signal output from the reference oscillator with the input signal S. Thereby, the frequency converter 11b generates an intermediate frequency signal IF having a predetermined frequency.

  The A / D converter 11c generates a digital output signal T by performing A / D conversion processing on the intermediate frequency signal IF.

  The memory 11d stores the digital output signal T output from the A / D converter 11c. As a result, the memory 11d stores the digital output signal T for the entire period from the launch of the shell 10 to the landing. The memory 11 d is taken out from the GPS receiver 11 after the bullet 10 is landed and connected to the analysis device 40.

(Configuration of analysis device 40)
Next, the configuration of the analysis device 40 will be described with reference to the drawings. FIG. 3 is a block diagram illustrating a configuration of the analysis device 40.

  The analysis device 40 includes a memory reading unit 40a, a memory 40b, a memory playback unit 40c, a GPS processing unit 40d, and a display unit 40e. The memory reproducing unit 40c and the GPS processing unit 40d constitute a control unit 41.

  The memory reading unit 40a is connected to the memory 11d extracted from the GPS receiver 11. The memory reading unit 40a reads the digital output signal T from the memory 11d. The memory reading unit 40a stores the digital output signal T in the memory 40b.

  The memory reproducing unit 40c reads and reproduces the digital output signal T from the memory 40b. In the present embodiment, the memory playback unit 40c plays back the digital output signal T twice in conjunction with the GPS processing unit 40d.

  The GPS processing unit 40d executes a carrier frequency and code phase search and a carrier component and code phase synchronization tracking in response to the memory reproduction unit 40c starting the first reproduction of the digital output signal T. Specifically, the GPS processing unit 40d performs a correlation search for 1023 chips while changing the code phase at a predetermined carrier frequency for each chip, and then moves the predetermined frequency width from the predetermined carrier frequency to the carrier frequency. The code phase search is executed again. As described above, the frequency search and the code phase detection in the digital output signal T are executed, whereby a plurality of satellite radio waves W are captured. The GPS processing unit 40d measures the phase difference between the digital output signal T and the carrier generated in the GPS processing unit 40d, and causes the code phase to follow the digital output signal T based on the phase difference. As described above, by performing the bit synchronization and the frame synchronization in the digital output signal T, a plurality of satellite radio waves W are synchronized and tracked.

  In addition, the GPS processing unit 40d executes the pseudo distance and navigation message collection and the positioning of the GPS receiver in response to the memory reproduction unit 40c starting the second reproduction of the digital output signal T. Specifically, the GPS processing unit 40d calculates the pseudo distance based on the code phase that is being synchronously tracked. Further, the GPS processing unit 40d performs spectrum despreading with a code synchronized with the C / A code included in the digital output signal T, and then reproduces a carrier synchronized with the carrier component of the digital output signal T, thereby reproducing a navigation message. Is demodulated. As described above, the GPS processing unit 40d collects the pseudoranges and navigation messages of all the plurality of GPS satellites 30, and then calculates the exact position of each GPS satellite 30 calculated from the ephemeris included in the navigation message and each GPS satellite 30. The position of the receiver 11 is measured based on the pseudo-range.

  The display unit 40e displays the positioning result calculated by the GPS processing unit 40d. For example, a liquid crystal display can be used as the display unit 40e.

(Operation of positioning system 100)
Next, the operation of the positioning system 100 will be described with reference to FIG. FIG. 4 is a flowchart for explaining the operation of the positioning system 100.

  First, in step S <b> 1, the shell 10 is fired from the firearm 20.

  Next, in step S2, the GPS receiver 11 generates a digital output signal T from the intermediate frequency signal IF based on the input signal S.

  Next, in step S3, the GPS receiver 11 stores the generated digital output signal T in the memory 11d.

  Next, in step S4, the memory 11d is recovered from the shell 10 that has landed at a predetermined point.

  Next, in step S5, the analysis device 40 stores the digital output signal T read from the memory 11d.

  Next, in step S6, the analysis device 40 starts the first reproduction of the stored digital output signal T.

  Next, in step S <b> 7, the analysis device 40 performs a carrier frequency and code phase search and carrier component and code phase synchronization tracking while reproducing the digital output signal T.

  Next, in step S8, when the first reproduction of the digital output signal T is completed, the analysis device 40 starts the second reproduction of the digital output signal T.

  Next, in step S <b> 9, the analysis device 40 collects pseudoranges and navigation messages and performs positioning by the GPS receiver while reproducing the digital output signal T.

  Next, in step S10, the analysis device 40 displays the positioning result.

(Function and effect)
In the positioning system 100 according to the first embodiment, the GPS receiver 11 includes a memory 11d that stores a digital output signal T based on input signals generated from a plurality of satellite radio waves W, and the analysis device 40 includes a digital output signal. Control of performing pseudorange and navigation message collection and positioning while reproducing digital output signal T again after performing carrier frequency and code phase search and carrier component and code phase synchronization tracking while reproducing T Part 41 is provided.

  In this way, positioning can be performed using the digital output signal T stored in the GPS receiver 11 from the launching to the landing of the shell 10. Therefore, it is easier to obtain the flight data of the shell 10 at the initial stage of the flight than when positioning using the digital output signal T during the flight of the shell 10. Therefore, it becomes possible to accurately analyze the behavior of the cannonball 10 at the early stage of flight.

[Second Embodiment]
Next, the positioning system 100 according to the second embodiment will be described. The difference of the second embodiment from the first embodiment is that a suitable analysis parameter can be verified by changing the analysis parameter each time the analysis apparatus reproduces the digital output signal T. In the following, the differences will be mainly described.

(Configuration of analysis device 50)
The configuration of the analysis device 50 according to the second embodiment will be described with reference to the drawings. FIG. 5 is a block diagram illustrating a configuration of the analysis device 50. The difference between the analysis device 50 and the analysis device 40 according to the first embodiment is that the control unit 41 includes a parameter changing unit 40f.

  The parameter changing unit 40f changes an analysis parameter for analyzing the digital output signal T in the GPS processing unit 40d. Examples of the analysis parameter include the carrier frequency width and movement amount in the code phase search, the frequency tracking loop control constant, and the number of GPS satellites 30 used for positioning.

  The GPS processing unit 40d repeatedly executes the analysis (positioning) of the digital output signal T every time the analysis parameter is changed by the parameter changing unit 40f. The GPS processing unit 40d displays the positioning result on the display unit 40e every time the analysis of the digital output signal T is completed.

(Function and effect)
In the positioning system 100 according to the second embodiment, the control unit 41 of the analysis device 50 changes the analysis parameter every time the digital output signal T is analyzed.

  Therefore, analysis parameters suitable for the GPS receiver 11 mounted on the cannonball 10 can be verified easily and accurately. Therefore, when a GPS receiver capable of positioning its own position is mounted on a shell, it is possible to quickly complete each process for positioning in the GPS receiver by setting suitable analysis parameters obtained in the analysis device 40. Can be made. As a result, it is possible to accurately grasp the behavior of the shell from the beginning of the flight.

[Other Embodiments]
Although the present invention has been described according to the above-described embodiments, it should not be understood that the descriptions and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  (A) In the above embodiment, the shell 10 has been described as an example of a flying object, but the present invention is not limited to this. Examples of flying objects include guided bullets, rocket bullets, and missiles.

  (B) In the above embodiment, the carrier frequency and code phase search, the carrier component and code phase synchronization tracking, the pseudorange and navigation message collection, and the positioning method in the analysis device 40 have been briefly described. Various known methods can be applied as the processing method.

  (C) In the second embodiment, when the digital output signal T is reproduced for the first time, search for the carrier frequency and code phase and synchronous tracking of the carrier component and code phase are executed, and the digital output signal T is reproduced for the second time. Sometimes it is assumed that pseudoranges and navigation messages are collected and measured, but this is not a limitation. The analysis device 40 may perform all the processes while reproducing the digital output signal T once. Even in this case, the analysis device 40 can verify analysis parameters suitable for the receiver 11 mounted on the shell 10.

  As described above, the present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 10 ... Bullet, 11 ... GPS receiver, 11a ... Antenna, 11b ... Frequency conversion part, 11c ... A / D conversion part, 11d ... Memory, 20 ... Artillery, 30 ... GPS satellite, 40, 50 ... Analysis apparatus, 40a ... Memory reading unit, 40b ... memory, 40c ... memory reproduction unit, 40d ... GPS processing unit, 40e ... display unit, 40f ... parameter changing unit, S ... input signal, IF ... intermediate frequency signal, T ... digital output signal

Claims (4)

A positioning system comprising a GPS receiver mounted on a flying object, and an analysis device for positioning the position of the GPS receiver,
The GPS receiver
An antenna that receives a plurality of satellite radio waves transmitted from a plurality of GPS satellites and generates an input signal;
A down converter for converting the input signal into an intermediate frequency signal of a predetermined frequency;
An A / D converter for converting the intermediate frequency signal into a digital output signal;
A memory connected to the A / D converter for storing the digital output signal;
Have
The analysis device includes:
While performing the carrier frequency and code phase search and the carrier component and code phase synchronization tracking while reproducing the digital output signal stored in the memory, reproducing the digital output signal stored in the memory A control unit that performs pseudorange and navigation message collection and positioning of the GPS receiver;
Positioning system. The control unit changes an analysis parameter used for positioning every time positioning of the GPS receiver is executed.
The positioning system according to claim 1. A GPS receiver mounted on a flying object,
An antenna that receives a plurality of satellite radio waves transmitted from a plurality of GPS satellites and generates an input signal;
A down converter for converting the input signal into an intermediate frequency signal of a predetermined frequency;
An A / D converter for converting the intermediate frequency signal into a digital output signal;
A memory connected to the A / D converter for storing the digital output signal;
A GPS receiver. A positioning method for positioning the position of a GPS receiver mounted on a flying object,
Receiving a plurality of satellite radio waves transmitted from a plurality of GPS satellites and generating an input signal;
Converting the input signal into an intermediate frequency signal of a predetermined frequency;
Converting the intermediate frequency signal into a digital output signal;
Storing the digital output signal;
Performing a carrier frequency and code phase search and carrier component and code phase synchronization tracking while reproducing the digital output signal stored in the memory;
Performing pseudo-range and navigation message collection and positioning of the GPS receiver while reproducing the digital output signal stored in the memory;
A positioning method comprising:

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