阅读说明：本技术 一种北斗信号接收机接收信号快速并行捕获方法和系统 (Method and system for quickly and parallelly capturing received signals of Beidou signal receiver ) 是由 欧思嘉 肖瑾 谢胜利 谢侃 辜晓波 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种北斗信号接收机接收信号快速并行捕获方法和系统,在频域加入一个缓冲移位寄存器替代在时域的载波串行搜索,实现伪码与载波全并行的捕获设计,大量减少FFT的点数,从而减小了一半的计算量,提高了捕获速度,在得到粗捕获的信号后,对粗捕获的信号剥离掉伪码,得到连续的载波信号,再通过k值迭方式进行精频捕获,得到准确度比较高的载波频率传递给跟踪过程,解决了传统的捕获方法受FFT点数限制,FFT点数过多,会导致繁重的计算量,不仅消耗大量的资源,而且导致捕获时间变长,影响捕获效果的技术问题。(The invention discloses a method and a system for quickly and parallelly capturing a received signal of a Beidou signal receiver, wherein a buffer shift register is added in a frequency domain to replace carrier serial search in a time domain, so that the capturing design of fully parallel pseudo codes and carriers is realized, the number of FFT (fast Fourier transform) points is greatly reduced, half of calculated amount is reduced, the capturing speed is improved, after the coarsely captured signal is obtained, the pseudo codes are stripped off from the coarsely captured signal to obtain continuous carrier signals, then the fine frequency capturing is carried out in a k value overlapping mode, and the carrier frequency with higher accuracy is obtained and transmitted to a tracking process.)

1. A rapid parallel capturing method for a received signal of a Beidou signal receiver is characterized by comprising the following steps:

generating a sine carrier signal and a cosine carrier signal through a local carrier generator, and multiplying the sine carrier signal and the cosine carrier signal with a received signal respectively to obtain an I branch signal and a Q branch signal, wherein the received signal is a zero intermediate frequency signal obtained after front-end processing;

taking the I branch signal as a real part and the Q branch signal as an imaginary part to form a complex signal, and performing FFT (fast Fourier transform) on the complex signal;

inputting a Fourier transform coefficient of the signal after FFT into a cyclic shift register mobile preset bit, performing FFT on the Fourier transform coefficient and a pseudo code generated by a pseudo code generator, and then performing complex conjugate multiplication to obtain a multiplied signal;

performing IFFT on the multiplied signal, and taking an IFFT modulus value as a captured coarse frequency;

carrying out pseudo code stripping on the received signal to obtain a continuous carrier signal after pseudo code stripping;

two data lengths of 1ms and carrier frequencies f are generated by a local carrier generator_r-f_s、f_r+f_sWherein f is the local replica of the carrier signal_rCarrier frequency obtained for capturing coarse frequency, f_sFrequency resolution that varies with the number of iterations;

performing correlation operation on the two local copied carrier signals and the continuous carrier signals with the pseudo codes stripped;

updating f according to the correlation result_r，f_rThe frequency point corresponding to the maximum value of the correlation operation;

judging whether the iteration times reach a preset K value, if so, outputting f_rAnd if not, continuing iteration until the iteration times reach a preset K value.

2. The method for rapidly and parallelly capturing the received signals of the Beidou signal receiver according to claim 1, wherein the preset K value is 5.

3. The rapid parallel acquisition method for the Beidou signal receiver received signals according to claim 1, wherein sine carrier signals and cosine carrier signals generated by a local carrier generator are respectively:

sin(ω_IFt+ω_dkt)

cos(ω_IFt+ω_dkt)

wherein, ω is_IFAt intermediate frequency, omega_dkIs the doppler frequency shift.

4. The utility model provides a big dipper signal receiver received signal is parallelly caught system fast which characterized in that includes: the device comprises an RF front-end processing module, an AD converter, a coarse frequency acquisition module, a fine frequency acquisition module and a tracking and positioning module;

the RF front-end processing module is used for carrying out amplification, down-conversion and filtering processing on the received satellite signals;

the AD converter is used for carrying out analog-to-digital conversion on the signal output by the RF front-end processing module and carrying out intermediate frequency sampling on the intermediate frequency signal output by the RF front-end processing module to obtain a digital zero intermediate frequency signal;

the coarse frequency capturing module comprises a local carrier generator, a first multiplying module, a first FFT (fast Fourier transform) module, a cyclic shift register, a pseudo code generator, a second FFT module, a complex conjugate module, a second multiplying module, an IFFT (inverse fast Fourier transform) module and an output module;

the local carrier generator is used for generating sine carrier signals and cosine carrier signals;

the first multiplying module is used for multiplying the sine carrier signal and the cosine carrier signal with the receiving signal output by the AD converter respectively to obtain an I branch signal and a Q branch signal;

the first FFT conversion module is used for forming a complex signal by taking the I branch signal as a real part and the Q branch signal as an imaginary part, and performing FFT conversion on the complex signal;

the cyclic shift register is used for moving a Fourier transform coefficient of the signal after the FFT transform by preset bits;

the pseudo code generator is used for generating pseudo codes;

the second FFT conversion module is used for carrying out FFT on the pseudo code generated by the pseudo code generator;

the complex conjugate module is used for taking complex conjugate of the FFT conversion signal output by the second FFT conversion module;

the second multiplying module is used for performing FFT (fast Fourier transform) on the signal after the Fourier transform coefficient of the signal after FFT is input into the mobile preset position of the cyclic shift register and the pseudo code generated by the pseudo code generator, and then performing complex conjugate multiplication to obtain a multiplied signal;

the IFFT module is used for carrying out IFFT on the multiplied signal output by the second multiplying module;

the output module is used for taking the IFFT module value as the coarse frequency obtained by capturing;

the fine frequency acquisition module is used for:

carrying out pseudo code stripping on the received signal to obtain a continuous carrier signal after pseudo code stripping;

two data lengths of 1ms and carrier frequencies f are generated by a local carrier generator_r-f_s、f_r+f_sWherein f is the local replica of the carrier signal_rCarrier frequency obtained for capturing coarse frequency, f_sFrequency resolution that varies with the number of iterations;

performing correlation operation on the two local copied carrier signals and the continuous carrier signals with the pseudo codes stripped;

updating f according to the correlation result_r，f_rThe frequency point corresponding to the maximum value of the correlation operation;

judging whether the iteration times reach a preset K value, if so, outputting f_rIf not, continuing iteration until the iteration times reach a preset K value;

and the tracking and positioning module is used for positioning according to the precision frequency acquired by the precision frequency acquisition module.

5. The Beidou signal receiver received signal fast parallel acquisition system according to claim 4, characterized in that the preset K value is 5.

6. The Beidou signal receiver received signal fast parallel acquisition system of claim 4, characterized in that the sine carrier signal and the cosine carrier signal generated by the local carrier generator are respectively:

sin(ω_IFt+ω_dkt)

cos(ω_IFt+ω_dkt)

wherein, ω is_IFAt intermediate frequency, omega_dkIs the doppler frequency shift.

Technical Field

The invention relates to the technical field of receiver signal processing, in particular to a method and a system for quickly and parallelly capturing a received signal of a Beidou signal receiver.

Background

A receiver is an electronic device that receives and demodulates radio signals from an antenna. With the development of aerospace industry, a traditional receiver cannot meet performance requirements on acquisition speed and acquisition precision, signal acquisition takes the longest time in the first positioning of the receiver, and if doppler frequency shift and code phase information of a received signal cannot be quickly obtained, the performance of system tracking is directly influenced.

At present, a signal capturing process of a receiver adopts a code-to-fine code capturing flow, a coarse frequency is obtained through a traditional FFT (fast Fourier transform) parallel capturing algorithm, and a secondary fine frequency capturing is realized through a conventional time domain serial or pseudo code parallel-carrier serial capturing mode.

Disclosure of Invention

The invention provides a method and a system for quickly and parallelly capturing a received signal of a Beidou signal receiver, which are used for solving the technical problems that the traditional capturing method is limited by the number of FFT points, the number of FFT points is too large, heavy calculated amount is caused, a large amount of resources are consumed, capturing time is prolonged, and capturing effect is influenced.

In view of this, the first aspect of the present invention provides a method for quickly and parallelly capturing a received signal of a beidou signal receiver, including:

generating a sine carrier signal and a cosine carrier signal through a local carrier generator, and multiplying the sine carrier signal and the cosine carrier signal with a received signal respectively to obtain an I branch signal and a Q branch signal, wherein the received signal is a zero intermediate frequency signal obtained after front-end processing;

taking the I branch signal as a real part and the Q branch signal as an imaginary part to form a complex signal, and performing FFT (fast Fourier transform) on the complex signal;

inputting a Fourier transform coefficient of the signal after FFT into a cyclic shift register mobile preset bit, performing FFT on the Fourier transform coefficient and a pseudo code generated by a pseudo code generator, and then performing complex conjugate multiplication to obtain a multiplied signal;

performing IFFT on the multiplied signal, and taking an IFFT modulus value as a captured coarse frequency;

carrying out pseudo code stripping on the received signal to obtain a continuous carrier signal after pseudo code stripping;

two data lengths of 1ms and carrier frequencies f are generated by a local carrier generator_r-f_s、f_r+f_sWherein f is the local replica of the carrier signal_rCarrier frequency obtained for capturing coarse frequency, f_sFrequency resolution that varies with the number of iterations;

performing correlation operation on the two local copied carrier signals and the continuous carrier signals with the pseudo codes stripped;

updating f according to the correlation result_r，f_rThe frequency point corresponding to the maximum value of the correlation operation;

judging whether the iteration times reach a preset K value, if so, outputting f_rAnd if not, continuing iteration until the iteration times reach a preset K value.

Optionally, the preset K value is 5.

Optionally, the sine carrier signal and the cosine carrier signal generated by the local carrier generator are respectively:

sin(ω_IFt+ω_dkt)

cos(ω_IFt+ω_dkt)

wherein, ω is_IFAt intermediate frequency, omega_dkIs the doppler frequency shift.

The invention provides a rapid parallel capturing system for a Beidou signal receiver receiving signal, which comprises an RF front-end processing module, an AD converter, a coarse frequency capturing module, a fine frequency capturing module and a tracking and positioning module;

the RF front-end processing module is used for carrying out amplification, down-conversion and filtering processing on the received satellite signals;

the AD converter is used for carrying out analog-to-digital conversion on the signal output by the RF front-end processing module and carrying out intermediate frequency sampling on the intermediate frequency signal output by the RF front-end processing module to obtain a digital zero intermediate frequency signal;

the coarse frequency capturing module comprises a local carrier generator, a first multiplying module, a first FFT (fast Fourier transform) module, a cyclic shift register, a pseudo code generator, a second FFT module, a complex conjugate module, a second multiplying module, an IFFT (inverse fast Fourier transform) module and an output module;

the local carrier generator is used for generating sine carrier signals and cosine carrier signals;

the first multiplying module is used for multiplying the sine carrier signal and the cosine carrier signal with the receiving signal output by the AD converter respectively to obtain an I branch signal and a Q branch signal;

the first FFT conversion module is used for forming a complex signal by taking the I branch signal as a real part and the Q branch signal as an imaginary part, and performing FFT conversion on the complex signal;

the cyclic shift register is used for moving a Fourier transform coefficient of the signal after the FFT transform by preset bits;

the pseudo code generator is used for generating pseudo codes;

the second FFT conversion module is used for carrying out FFT on the pseudo code generated by the pseudo code generator;

the complex conjugate module is used for taking complex conjugate of the FFT conversion signal output by the second FFT conversion module;

the second multiplying module is used for performing FFT (fast Fourier transform) on the signal after the Fourier transform coefficient of the signal after FFT is input into the mobile preset position of the cyclic shift register and the pseudo code generated by the pseudo code generator, and then performing complex conjugate multiplication to obtain a multiplied signal;

the IFFT module is used for carrying out IFFT on the multiplied signal output by the second multiplying module;

the output module is used for taking the IFFT module value as the coarse frequency obtained by capturing;

the fine frequency acquisition module is used for:

carrying out pseudo code stripping on the received signal to obtain a continuous carrier signal after pseudo code stripping;

two data lengths of 1ms and carrier frequencies f are generated by a local carrier generator_r-f_s、f_r+f_sWherein f is the local replica of the carrier signal_rCarrier frequency obtained for capturing coarse frequency, f_sFrequency resolution that varies with the number of iterations;

performing correlation operation on the two local copied carrier signals and the continuous carrier signals with the pseudo codes stripped;

updating f according to the correlation result_r，f_rThe frequency point corresponding to the maximum value of the correlation operation;

judging whether the iteration times reach a preset K value, if so, outputting f_rIf not, continuing iteration until the iteration times reach a preset K value;

and the tracking and positioning module is used for positioning according to the precision frequency acquired by the precision frequency acquisition module.

Optionally, the preset K value is 5.

Optionally, the sine carrier signal and the cosine carrier signal generated by the local carrier generator are respectively:

sin(ω_IFt+ω_dkt)

cos(ω_IFt+ω_dkt)

wherein, ω is_IFAt intermediate frequency, omega_dkIs the doppler frequency shift.

According to the technical scheme, the embodiment of the invention has the following advantages:

the invention provides a rapid parallel capturing method for a Beidou signal receiver received signal, which is characterized in that a buffer shift register is added in a frequency domain to replace carrier serial search in a time domain, the full parallel capturing design of a pseudo code and a carrier is realized, the number of FFT (fast Fourier transform) points is greatly reduced, thus the calculated amount is reduced by half, the capturing speed is improved, after a roughly captured signal is obtained, the pseudo code is stripped off from the roughly captured signal to obtain a continuous carrier signal, and then the fine frequency capturing is carried out in a k value overlapping mode, so that the carrier frequency with higher accuracy is obtained and transmitted to a tracking process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other related drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a method for quickly and parallelly capturing a received signal of a beidou signal receiver according to an embodiment of the present invention;

fig. 2 is a block diagram of a coarse acquisition principle of a rapid parallel acquisition method for a Beidou signal receiver receiving signal provided in the embodiment of the present invention;

fig. 3 is a logic diagram of a precise acquisition principle of a rapid parallel acquisition method for a Beidou signal receiver receiving signal provided in the embodiment of the present invention;

fig. 4 is a diagram illustrating a relationship between a frequency resolution and a calculation amount corresponding to fine frequency acquisition according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a rapid parallel acquisition system for a Beidou signal receiver receiving signal provided in an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

For easy understanding, please refer to fig. 1, an embodiment of a method for quickly and parallelly capturing a received signal of a beidou signal receiver in the present invention includes:

step 101, generating a sine carrier signal and a cosine carrier signal by a local carrier generator, and multiplying the sine carrier signal and the cosine carrier signal by a received signal respectively to obtain an I branch signal and a Q branch signal, wherein the received signal is a zero intermediate frequency signal obtained after front-end processing.

The Beidou receiver antenna converts the received electromagnetic wave signals transmitted by the satellite into voltage or current signals, and the voltage or current signals are transmitted to a capturing link through down-conversion frequency mixing, filtering and AD conversion after being taken and processed by the radio frequency front end of the receiver. In the capturing step, as shown in fig. 2, a local carrier generator generates a sine carrier signal and a cosine carrier signal, and the sine carrier signal and the cosine carrier signal are multiplied by a received signal respectively to obtain an I branch signal and a Q branch signal.

In one embodiment, the sine carrier signal and the cosine carrier signal generated by the local carrier generator are respectively:

sin(ω_IFt+ω_dkt)

cos(ω_IFt+ω_dkt)

wherein, ω is_IFAt intermediate frequency, omega_dkIs the doppler frequency shift.

And 102, forming a complex signal by taking the I branch signal as a real part and the Q branch signal as an imaginary part, and performing FFT (fast Fourier transform) on the complex signal.

In step 101, the obtained I branch signal and Q branch signal are respectively represented as:

wherein, C_k(t_n) Is the PN code of the kth satellite, D_k(t_n) Modulated data information for the kth satellite, ω_dkIs Doppler frequency offset, ω'_dkIs a Doppler frequency offset deviation, theta_kIs the carrier phase, n_i(t_n) Is i channel white Gaussian noise, n_q(t_n) Is q-channel white gaussian noise.

And (3) forming a complex signal by the I branch signal and the Q branch signal, and normalizing to obtain:

wherein, T_Sn is t_nDiscretized value, n'_k(t_n) Is gaussian white noise.

Written as a digital signal form:

and 103, inputting the Fourier transform coefficient of the signal after FFT into a mobile preset position of a cyclic shift register, performing FFT on the Fourier transform coefficient and a pseudo code generated by a pseudo code generator, and then performing complex conjugate multiplication to obtain a multiplied signal.

And step 104, performing IFFT on the multiplied signals, and taking IFFT modulus values as the captured coarse frequency.

And if X (k), C (k) are Fourier transform coefficients of x [ n ] and C [ n ], respectively, then:

by using the above formula, one FFT and one IFFT are used to complete the parallel search of the code phase of a certain frequency point, but when the resolution is set to 1kHz (which is not too small, which may result in the increase of the calculated amount and the loss of the signal-to-noise ratio, and the acquisition time becomes long), 21 frequency points need to be searched (the doppler shift range is ± 10kHz), that is, 21 FFTs are performed. In the present invention, the Fourier transform coefficients X (k) are cycledMoving l bits (i is a positive integer with a value range of 0-N, taking N from 0, sequentially traversing until a proper value l is selected, and taking the value l corresponding to the highest correlation value obtained by inverse Fourier transform) and then C^*(k) Multiplying and performing IFFT to obtain:

as can be seen from the above equation, performing cyclic shift on x (k) is equivalent to performing frequency compensation on x (n) in the time domain and then performing FFT. Therefore, the improved algorithm can complete the parallel search of the frequency and the code phase at the same time by only needing one FFT, and the operation amount is greatly reduced. The calculation amount ratio of the capturing method provided by the invention and the traditional capturing method based on pseudo code parallel-carrier serial is shown in table 1.

TABLE 1

And 105, carrying out pseudo code stripping on the received signal to obtain a pseudo code stripped continuous carrier signal.

Because the algorithm based on FFT improvement adopts the cyclic shift of Fourier coefficients to realize the compensation of carrier frequency, the minimum value of the variable of the frequency is equal to the frequency interval of two adjacent Fourier transform coefficients, therefore, only the coarse frequency with lower resolution can be obtained, and the precision range is far insufficient for the tracking process, therefore, the invention also needs to carry out the fine frequency capture operation. And generating a local spread spectrum code with the same code phase as the received signal by multiplying the received signal by using the pseudo code phase information obtained by coarse acquisition, thereby stripping the pseudo code and generating a continuous carrier signal.

106, generating two data with the length of 1ms and the carrier frequency of f by using a local carrier generator_r-f_s、f_r+f_sWherein f is the local replica of the carrier signal_rCarrier frequency obtained for capturing coarse frequency, f_sAs a frequency varying with the number of iterationsResolution.

And step 107, performing correlation operation on the two local copied carrier signals and the continuous carrier signals with the pseudo codes stripped.

Step 108, updating f according to the correlation operation result_r，f_rThe frequency point corresponding to the maximum value of the correlation operation.

Step 109, judging whether the iteration times reach a preset K value, if so, outputting f_rAnd if not, continuing iteration until the iteration times reach a preset K value.

As shown in fig. 3, the present invention provides a fine frequency acquisition method based on k value iteration, which comprises the following specific steps:

s1, let k equal to 1, refer to frequency f_rEqual to a carrier frequency obtained by capturing a coarse frequency;

s2, let f_s＝500/2^k-1Hz，f_sFrequency resolution that varies with the number of iterations;

s3, generating two data length by a local carrier generator NCO, wherein the two data length are 1ms, and the carrier frequency is f_r-f_s、f_r+f_sThe local replica carrier signal;

s4, the local copy carrier signal is respectively related to the continuous carrier signal stripped of the pseudo code;

s5, reference frequency f_rUpdating according to the frequency point corresponding to the maximum value of the correlation operation, i.e. if at the carrier frequency point f_r-f_sIs the largest, then f is the next time_rThe value is f of this time_r-f_s；

S6, adding 1 to the iteration number, that is, k equals k +1, and determining whether k satisfies k>K, if so, outputting f_rOtherwise, repeating S3-S6 and continuing the iteration until the iteration number satisfies k>K。

For the fine frequency capturing method based on K value iteration in the present invention, an appropriate K value should be set, the frequency resolution of the fine frequency depends on the number of iterations K, and the larger the K value is, the larger the frequency resolution is, but a huge amount of computation is brought, as shown in fig. 4. Therefore, it is necessary to balance the resolution and the calculation amount, setting K to 5 can obtain a relatively ideal result, and when the actual receiver works, due to the influence of noise and multipath effect, a very accurate carrier frequency cannot be obtained even if the K setting is very high.

The embodiment of the invention provides a rapid parallel capturing method for a Beidou signal receiver received signal, which is characterized in that a buffer shift register is added in a frequency domain to replace the carrier serial search in a time domain, the full parallel capturing design of a pseudo code and a carrier is realized, the number of FFT (fast Fourier transform) points is greatly reduced, thus the calculated amount is reduced by half, the capturing speed is improved, after the coarsely captured signal is obtained, the pseudo code is stripped off from the coarsely captured signal to obtain a continuous carrier signal, the fine frequency capturing is carried out in a k value overlapping mode, the carrier frequency with higher accuracy is obtained and transmitted to a tracking process, therefore, the rapid capturing method for the Beidou signal utilizes the combination method of the buffer shift register and the k value iteration to rapidly capture the Beidou signal, the problem that the traditional capturing method is limited by the number of FFT points is solved, the number of FFT points is too many, heavy calculated amount is caused, a large amount of resources is consumed, and the capturing time is lengthened is caused, the technical problem of influencing the capture effect.

For easy understanding, please refer to fig. 5, the present invention provides an embodiment of a rapid parallel acquisition system for a received signal of a beidou signal receiver, which includes an RF front-end processing module, an AD converter, a coarse frequency acquisition module, a fine frequency acquisition module, and a tracking and positioning module;

the RF front-end processing module is used for carrying out amplification, down-conversion and filtering processing on the received satellite signals;

the AD converter is used for carrying out analog-to-digital conversion on the signal output by the RF front-end processing module and carrying out intermediate frequency sampling on the intermediate frequency signal output by the RF front-end processing module to obtain a digital zero intermediate frequency signal;

the coarse frequency capturing module comprises a local carrier generator, a first multiplying module, a first FFT (fast Fourier transform) module, a cyclic shift register, a pseudo code generator, a second FFT module, a complex conjugate module, a second multiplying module, an IFFT (inverse fast Fourier transform) module and an output module;

the local carrier generator is used for generating sine carrier signals and cosine carrier signals;

the first multiplying module is used for multiplying the sine carrier signal and the cosine carrier signal with the receiving signal output by the AD converter respectively to obtain an I branch signal and a Q branch signal;

the first FFT conversion module is used for forming a complex signal by taking the I branch signal as a real part and the Q branch signal as an imaginary part, and performing FFT conversion on the complex signal;

the cyclic shift register is used for moving a Fourier transform coefficient of the signal after the FFT transform by preset bits;

the pseudo code generator is used for generating pseudo codes;

the second FFT conversion module is used for carrying out FFT on the pseudo code generated by the pseudo code generator;

the complex conjugate module is used for taking complex conjugate of the FFT conversion signal output by the second FFT conversion module;

the second multiplying module is used for performing FFT (fast Fourier transform) on the signal after the Fourier transform coefficient of the signal after FFT is input into the mobile preset position of the cyclic shift register and the pseudo code generated by the pseudo code generator, and then performing complex conjugate multiplication to obtain a multiplied signal;

the IFFT module is used for carrying out IFFT on the multiplied signal output by the second multiplying module;

the output module is used for taking the IFFT module value as the coarse frequency obtained by capturing;

the fine frequency acquisition module is used for:

carrying out pseudo code stripping on the received signal to obtain a continuous carrier signal after pseudo code stripping;

two data lengths of 1ms and carrier frequencies f are generated by a local carrier generator_r-f_s、f_r+f_sWherein f is the local replica of the carrier signal_rCarrier frequency obtained for capturing coarse frequency, f_sFrequency resolution that varies with the number of iterations;

performing correlation operation on the two local copied carrier signals and the continuous carrier signals with the pseudo codes stripped;

updating f according to the correlation result_r，f_rThe frequency point corresponding to the maximum value of the correlation operation;

judging whether the iteration times reach a preset K value, if so, outputting f_rIf not, continuing iteration until the iteration times reach a preset K value;

and the tracking and positioning module is used for positioning according to the precision frequency acquired by the precision frequency acquisition module.

The embodiment of the invention provides a rapid parallel capturing system for a Beidou signal receiver receiving signal, which adds a buffer shift register in a frequency domain to replace the carrier serial search in a time domain, realizes the capturing design of fully parallel pseudo codes and carriers, greatly reduces the number of FFT points, thereby reducing half of the calculated amount, improving the capturing speed, strips off the pseudo codes from the coarsely captured signal after obtaining the coarsely captured signal to obtain continuous carrier signals, and then carries out fine frequency capturing in a k value overlapping mode to obtain carrier frequencies with higher accuracy and transmits the carrier frequencies to a tracking process, therefore, the invention utilizes the combination method of the buffer shift register and k value iteration to rapidly capture the Beidou signal, solves the problem that the traditional capturing method is limited by the number of FFT points, the number of FFT points is too many, heavy calculated amount can be caused, a large amount of resources are consumed, and the capturing time is lengthened, the technical problem of influencing the capture effect.

The principle of the rapid parallel capturing system for the Beidou signal receiver received signal provided by the embodiment of the invention is the same as that of the rapid parallel capturing method for the Beidou signal receiver received signal in the embodiment, and the detailed description is omitted here.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.