本(ben)發明涉及(ji)導(dao)航領域，特別涉及(ji)一種(zhong)基(ji)于(yu)衛星導(dao)航控(kong)制系統的半實物測試方法及(ji)系統。

背景技術：

近幾年自主(zhu)導航(hang)設備(bei)，特別(bie)(bie)是無(wu)(wu)人(ren)駕(jia)駛技術不斷攻克(ke)與創新，如無(wu)(wu)人(ren)機、無(wu)(wu)人(ren)汽車、無(wu)(wu)人(ren)艦(jian)船等領域呈現出爆炸式的(de)發展(zhan)，特別(bie)(bie)是在民用領域，從(cong)單(dan)純(chun)的(de)無(wu)(wu)人(ren)駕(jia)駛，航(hang)模和航(hang)拍，迅速擴展(zhan)到植(zhi)保(bao)、跟(gen)蹤、救(jiu)援(yuan)、搜尋(xun)、安(an)保(bao)等領域。而每一款新產(chan)品的(de)推(tui)出，或者(zhe)已有產(chan)品的(de)升級(ji)，甚至是剛(gang)裝配好(hao)的(de)成熟(shu)產(chan)品，在進入市場之前都要進行測試和調整(zheng)，以使具備(bei)導航(hang)功(gong)能的(de)自主(zhu)導航(hang)設備(bei)的(de)軟硬(ying)件都處于最佳狀(zhuang)態。

現(xian)階段測(ce)(ce)(ce)試總安排在(zai)全套產品制備(bei)完成后，才(cai)進行整(zheng)機(ji)測(ce)(ce)(ce)試，如果測(ce)(ce)(ce)試出(chu)現(xian)問題，則要拆機(ji)檢(jian)驗，返工(gong)檢(jian)修(xiu)，或重裝，測(ce)(ce)(ce)試效(xiao)率低，從而導致研發周期長(chang)，大(da)大(da)影響(xiang)了成品的上市時機(ji)。

技術實現要素：

本發明克服現有(you)技術問題的(de)不足(zu)，專門針對無需(xu)制出衛(wei)星(xing)導(dao)航載體(ti)的(de)全部實物又能高效地對衛(wei)星(xing)導(dao)航載體(ti)的(de)導(dao)航控(kong)(kong)制系(xi)統進行測(ce)試(shi)的(de)一種衛(wei)星(xing)導(dao)航控(kong)(kong)制系(xi)統的(de)半(ban)實物測(ce)試(shi)方法及系(xi)統。

本發(fa)(fa)明(ming)所(suo)述(shu)(shu)(shu)(shu)的(de)基于衛(wei)(wei)(wei)星導(dao)(dao)(dao)航的(de)控(kong)制(zhi)系統半實物測(ce)試方法，首先，通過(guo)載(zai)體導(dao)(dao)(dao)航控(kong)制(zhi)器發(fa)(fa)送位(wei)(wei)置(zhi)坐(zuo)(zuo)標(biao)給衛(wei)(wei)(wei)星導(dao)(dao)(dao)航信號模(mo)擬器，所(suo)述(shu)(shu)(shu)(shu)衛(wei)(wei)(wei)星導(dao)(dao)(dao)航信號模(mo)擬器根據(ju)位(wei)(wei)置(zhi)坐(zuo)(zuo)標(biao)生成(cheng)仿(fang)(fang)真(zhen)衛(wei)(wei)(wei)星導(dao)(dao)(dao)航信號，并分別將所(suo)述(shu)(shu)(shu)(shu)仿(fang)(fang)真(zhen)衛(wei)(wei)(wei)星導(dao)(dao)(dao)航信號發(fa)(fa)送給所(suo)述(shu)(shu)(shu)(shu)載(zai)體導(dao)(dao)(dao)航控(kong)制(zhi)器和上(shang)位(wei)(wei)機，所(suo)述(shu)(shu)(shu)(shu)載(zai)體導(dao)(dao)(dao)航控(kong)制(zhi)器也將當前位(wei)(wei)置(zhi)坐(zuo)(zuo)標(biao)發(fa)(fa)送給所(suo)述(shu)(shu)(shu)(shu)上(shang)位(wei)(wei)機，所(suo)述(shu)(shu)(shu)(shu)上(shang)位(wei)(wei)機將仿(fang)(fang)真(zhen)衛(wei)(wei)(wei)星導(dao)(dao)(dao)航信號與所(suo)述(shu)(shu)(shu)(shu)當前位(wei)(wei)置(zhi)坐(zuo)(zuo)標(biao)進行評估(gu)分析，從而(er)判(pan)斷衛(wei)(wei)(wei)星導(dao)(dao)(dao)航控(kong)制(zhi)系統的(de)執(zhi)行情況是(shi)否合格。

進一步地，所述(shu)衛星(xing)(xing)導(dao)航(hang)信(xin)(xin)號模擬(ni)器(qi)還可以發送給(gei)GNSS接(jie)收(shou)(shou)機，GNSS接(jie)收(shou)(shou)機將(jiang)衛星(xing)(xing)導(dao)航(hang)信(xin)(xin)號發送給(gei)上位機，在上位機中通過GNSS接(jie)收(shou)(shou)機與所述(shu)載體導(dao)航(hang)控制器(qi)進行比較分析，判斷衛星(xing)(xing)導(dao)航(hang)系統的執行情況是(shi)否(fou)合格。

進一步地，所述衛星(xing)導(dao)航信號(hao)模擬(ni)器(qi)包括依(yi)次信號(hao)連(lian)接的(de)仿(fang)真(zhen)控制單元(yuan)、數學仿(fang)真(zhen)單元(yuan)、信號(hao)仿(fang)真(zhen)單元(yuan)，

所述(shu)仿(fang)真(zhen)控制單(dan)元，用于控制仿(fang)真(zhen)節拍和配置衛星導航載(zai)體軌跡(ji)仿(fang)真(zhen)參數；

數(shu)學仿真(zhen)單元，根據所述仿真(zhen)參數(shu)計算衛(wei)星導航的仿真(zhen)數(shu)據；

信號(hao)仿真(zhen)單元，將所述數學仿真(zhen)單元生(sheng)成的仿真(zhen)數據(ju)轉換成載(zai)體導航控制器能接收到(dao)的射頻導航信號(hao)。

進(jin)一步地，衛星(xing)導(dao)(dao)(dao)航(hang)(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)模(mo)(mo)擬器(qi)(qi)還包括用于控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)輸(shu)(shu)出射(she)(she)頻(pin)導(dao)(dao)(dao)航(hang)(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)的(de)(de)(de)功率(lv)衰(shuai)減范圍(wei)的(de)(de)(de)功率(lv)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)單(dan)(dan)(dan)(dan)元(yuan)(yuan)，數(shu)學仿(fang)(fang)(fang)真單(dan)(dan)(dan)(dan)元(yuan)(yuan)和(he)仿(fang)(fang)(fang)真控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)單(dan)(dan)(dan)(dan)元(yuan)(yuan)在(zai)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)計算機中，信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)真單(dan)(dan)(dan)(dan)元(yuan)(yuan)和(he)功率(lv)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)單(dan)(dan)(dan)(dan)元(yuan)(yuan)合在(zai)一個信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)模(mo)(mo)擬器(qi)(qi)中，控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)計算機中的(de)(de)(de)數(shu)學仿(fang)(fang)(fang)真單(dan)(dan)(dan)(dan)元(yuan)(yuan)在(zai)仿(fang)(fang)(fang)真控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)單(dan)(dan)(dan)(dan)元(yuan)(yuan)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)仿(fang)(fang)(fang)真節拍和(he)配置仿(fang)(fang)(fang)真參數(shu)指(zhi)令(ling)下進(jin)行導(dao)(dao)(dao)航(hang)(hang)(hang)(hang)衛星(xing)仿(fang)(fang)(fang)真數(shu)據的(de)(de)(de)計算，通過數(shu)據傳輸(shu)(shu)，信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)模(mo)(mo)擬器(qi)(qi)中的(de)(de)(de)信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)真單(dan)(dan)(dan)(dan)元(yuan)(yuan)將仿(fang)(fang)(fang)真數(shu)據轉換成射(she)(she)頻(pin)導(dao)(dao)(dao)航(hang)(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)，功率(lv)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)單(dan)(dan)(dan)(dan)元(yuan)(yuan)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)射(she)(she)頻(pin)導(dao)(dao)(dao)航(hang)(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)的(de)(de)(de)功率(lv)衰(shuai)減范圍(wei)，已適于最佳測(ce)試狀態下的(de)(de)(de)衛星(xing)導(dao)(dao)(dao)航(hang)(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)(hao)(hao)，通過天(tian)線發(fa)射(she)(she)給自主(zhu)衛星(xing)導(dao)(dao)(dao)航(hang)(hang)(hang)(hang)載體。

進一(yi)(yi)步(bu)地(di)，通常該數(shu)(shu)(shu)學(xue)仿(fang)真(zhen)單(dan)元包(bao)(bao)(bao)括(kuo)時(shi)(shi)空系(xi)統模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)、衛(wei)星軌道及鐘(zhong)差計(ji)算模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)、用(yong)(yong)(yong)戶(hu)(hu)(hu)仿(fang)真(zhen)、基(ji)本觀測(ce)數(shu)(shu)(shu)據(ju)(ju)(ju)生(sheng)(sheng)成(cheng)模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)、空間(jian)環(huan)境(jing)(jing)模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)、多徑模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)和(he)(he)導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)電文生(sheng)(sheng)成(cheng)模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)。其中(zhong)，用(yong)(yong)(yong)戶(hu)(hu)(hu)仿(fang)真(zhen)包(bao)(bao)(bao)括(kuo)用(yong)(yong)(yong)戶(hu)(hu)(hu)軌跡姿(zi)態技(ji)術模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)、外部輸入(ru)軌跡和(he)(he)慣導(dao)(dao)(dao)(dao)(dao)參數(shu)(shu)(shu)；所述(shu)基(ji)本觀測(ce)數(shu)(shu)(shu)據(ju)(ju)(ju)生(sheng)(sheng)成(cheng)模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)包(bao)(bao)(bao)括(kuo)相(xiang)對(dui)論(lun)效應改正和(he)(he)地(di)球自轉效應改正；所述(shu)空間(jian)環(huan)境(jing)(jing)模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)包(bao)(bao)(bao)括(kuo)電離(li)層模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)、對(dui)流(liu)層模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)和(he)(he)大(da)氣衰減模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)；所述(shu)電文生(sheng)(sheng)成(cheng)模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)包(bao)(bao)(bao)括(kuo)軌道擬(ni)合(he)、鐘(zhong)差擬(ni)合(he)、電離(li)層擬(ni)合(he)和(he)(he)導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)電文編排(pai)模(mo)(mo)(mo)(mo)型(xing)(xing)(xing)。數(shu)(shu)(shu)學(xue)仿(fang)真(zhen)單(dan)元的主要功能是完(wan)成(cheng)中(zhong)國BDS、美國GPS、歐洲Galileo、俄羅斯GlONASS中(zhong)任一(yi)(yi)種衛(wei)星導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)系(xi)統的衛(wei)星軌道、用(yong)(yong)(yong)戶(hu)(hu)(hu)軌跡以及空間(jian)環(huan)境(jing)(jing)，實(shi)時(shi)(shi)計(ji)算用(yong)(yong)(yong)戶(hu)(hu)(hu)天線口面(mian)接收(shou)到的全部可視衛(wei)星的導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)特性，包(bao)(bao)(bao)括(kuo)衛(wei)星相(xiang)對(dui)用(yong)(yong)(yong)戶(hu)(hu)(hu)的偽距(ju)、多普勒、多普勒變(bian)(bian)(bian)化(hua)(hua)率和(he)(he)多普勒變(bian)(bian)(bian)化(hua)(hua)率的變(bian)(bian)(bian)化(hua)(hua)率等數(shu)(shu)(shu)據(ju)(ju)(ju)，用(yong)(yong)(yong)于驅動信(xin)(xin)(xin)號(hao)(hao)發生(sheng)(sheng)單(dan)元生(sheng)(sheng)成(cheng)用(yong)(yong)(yong)戶(hu)(hu)(hu)天線口面(mian)接收(shou)的導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)和(he)(he)天線后(hou)端的導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)。進一(yi)(yi)步(bu)地(di)，信(xin)(xin)(xin)號(hao)(hao)仿(fang)真(zhen)單(dan)元包(bao)(bao)(bao)括(kuo)基(ji)帶信(xin)(xin)(xin)號(hao)(hao)仿(fang)真(zhen)模(mo)(mo)(mo)(mo)塊和(he)(he)上(shang)(shang)變(bian)(bian)(bian)頻(pin)單(dan)元，基(ji)帶信(xin)(xin)(xin)號(hao)(hao)仿(fang)真(zhen)模(mo)(mo)(mo)(mo)塊根據(ju)(ju)(ju)導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)衛(wei)星觀測(ce)數(shu)(shu)(shu)據(ju)(ju)(ju)產生(sheng)(sheng)基(ji)帶導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)，上(shang)(shang)變(bian)(bian)(bian)頻(pin)單(dan)元負責將基(ji)帶導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)上(shang)(shang)變(bian)(bian)(bian)頻(pin)為射頻(pin)導(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)信(xin)(xin)(xin)號(hao)(hao)。

進(jin)一步(bu)地，信(xin)(xin)號(hao)仿(fang)(fang)真(zhen)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)可以包括(kuo)(kuo)基(ji)帶(dai)信(xin)(xin)號(hao)仿(fang)(fang)真(zhen)和上變頻單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)兩個(ge)(ge)部(bu)分(fen)(fen)，基(ji)帶(dai)信(xin)(xin)號(hao)仿(fang)(fang)真(zhen)模(mo)塊通過系統總(zong)線來的(de)(de)(de)導(dao)(dao)航(hang)衛星觀測數(shu)(shu)(shu)據產生基(ji)帶(dai)導(dao)(dao)航(hang)信(xin)(xin)號(hao)，基(ji)帶(dai)信(xin)(xin)號(hao)仿(fang)(fang)真(zhen)模(mo)塊由1個(ge)(ge)基(ji)帶(dai)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)，基(ji)帶(dai)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)采用(yong)數(shu)(shu)(shu)字信(xin)(xin)號(hao)處(chu)理技(ji)術完成(cheng)，結構(gou)上基(ji)帶(dai)FPGA和基(ji)帶(dai)DA組成(cheng)，共(gong)同完成(cheng)數(shu)(shu)(shu)字基(ji)帶(dai)信(xin)(xin)號(hao)的(de)(de)(de)精密延遲控(kong)(kong)(kong)(kong)制(zhi)和碼(ma)、載波(bo)相位控(kong)(kong)(kong)(kong)制(zhi)，上變頻單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)負責將基(ji)帶(dai)導(dao)(dao)航(hang)信(xin)(xin)號(hao)上變頻為射頻導(dao)(dao)航(hang)信(xin)(xin)號(hao)。仿(fang)(fang)真(zhen)控(kong)(kong)(kong)(kong)制(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)負責對整(zheng)個(ge)(ge)設備仿(fang)(fang)真(zhen)節拍控(kong)(kong)(kong)(kong)制(zhi)、仿(fang)(fang)真(zhen)參數(shu)(shu)(shu)配置(zhi)(zhi)以及(ji)仿(fang)(fang)真(zhen)狀(zhuang)態(tai)實(shi)時(shi)監測顯示。仿(fang)(fang)真(zhen)控(kong)(kong)(kong)(kong)制(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)包括(kuo)(kuo)顯示仿(fang)(fang)真(zhen)狀(zhuang)態(tai)的(de)(de)(de)實(shi)時(shi)監測單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)。仿(fang)(fang)真(zhen)控(kong)(kong)(kong)(kong)制(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)還(huan)包括(kuo)(kuo)用(yong)戶(hu)界面(mian)、可視化、場(chang)景配置(zhi)(zhi)與(yu)管理單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)，用(yong)戶(hu)軌跡參數(shu)(shu)(shu)配置(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)，仿(fang)(fang)真(zhen)控(kong)(kong)(kong)(kong)制(zhi)與(yu)參數(shu)(shu)(shu)設置(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)，天線陣列參數(shu)(shu)(shu)配置(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)。仿(fang)(fang)真(zhen)控(kong)(kong)(kong)(kong)制(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)還(huan)包括(kuo)(kuo)自校(xiao)準(zhun)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)控(kong)(kong)(kong)(kong)制(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)，用(yong)于(yu)完成(cheng)時(shi)延、功(gong)率參數(shu)(shu)(shu)的(de)(de)(de)自動(dong)校(xiao)準(zhun)。仿(fang)(fang)真(zhen)控(kong)(kong)(kong)(kong)制(zhi)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)是(shi)操作(zuo)控(kong)(kong)(kong)(kong)制(zhi)中(zhong)(zhong)心，運(yun)行于(yu)仿(fang)(fang)真(zhen)控(kong)(kong)(kong)(kong)制(zhi)計算(suan)機中(zhong)(zhong)，實(shi)現導(dao)(dao)航(hang)信(xin)(xin)號(hao)仿(fang)(fang)真(zhen)的(de)(de)(de)協(xie)(xie)同管理，以保證各組成(cheng)部(bu)分(fen)(fen)之間的(de)(de)(de)協(xie)(xie)調(diao)性和同步(bu)性。本實(shi)施例中(zhong)(zhong)，數(shu)(shu)(shu)學仿(fang)(fang)真(zhen)單(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)在測試中(zhong)(zhong)構(gou)建了一個(ge)(ge)良好的(de)(de)(de)測試環境條件。

進一步地，所述衛星(xing)導航載體(ti)軌跡(ji)仿真參數包括車載、艦船(chuan)、飛行器、無人機(ji)、飛機(ji)和導彈中的任意一個運動模(mo)型。

本發明還提供一種(zhong)基于衛星導(dao)航(hang)(hang)控(kong)制系統的半實物測試系統，包(bao)括相(xiang)互連(lian)接的載(zai)體導(dao)航(hang)(hang)控(kong)制器(qi)和衛星導(dao)航(hang)(hang)信號模擬器(qi)，所述衛星導(dao)航(hang)(hang)信號模擬器(qi)與載(zai)體導(dao)航(hang)(hang)控(kong)制器(qi)又分(fen)別與上位機(ji)連(lian)接。

進一步地，載體(ti)導航控制(zhi)器通過串口或(huo)網口與上位機連接。

進一步地，衛星(xing)導航信(xin)號模擬器生成BDS、GPS、GLONASS、GALILEO中的至少任(ren)意(yi)一種(zhong)仿(fang)真衛星(xing)導航信(xin)號。

與現有技術相比，本發明具有如下優點：

通過載體(ti)(ti)導(dao)(dao)(dao)航控制(zhi)(zhi)(zhi)器(qi)(qi)發(fa)送位(wei)置(zhi)坐標給衛(wei)星(xing)導(dao)(dao)(dao)航信(xin)號(hao)(hao)模(mo)擬(ni)(ni)器(qi)(qi)，衛(wei)星(xing)導(dao)(dao)(dao)航信(xin)號(hao)(hao)模(mo)擬(ni)(ni)器(qi)(qi)根據(ju)位(wei)置(zhi)坐標生成仿真(zhen)(zhen)衛(wei)星(xing)導(dao)(dao)(dao)航信(xin)號(hao)(hao)，并(bing)分別發(fa)送仿真(zhen)(zhen)衛(wei)星(xing)導(dao)(dao)(dao)航信(xin)號(hao)(hao)給所述載體(ti)(ti)導(dao)(dao)(dao)航控制(zhi)(zhi)(zhi)器(qi)(qi)和上(shang)(shang)(shang)位(wei)機，載體(ti)(ti)導(dao)(dao)(dao)航控制(zhi)(zhi)(zhi)器(qi)(qi)發(fa)送當(dang)前位(wei)置(zhi)坐標給上(shang)(shang)(shang)位(wei)機，上(shang)(shang)(shang)位(wei)機將仿真(zhen)(zhen)衛(wei)星(xing)導(dao)(dao)(dao)航信(xin)號(hao)(hao)與當(dang)前位(wei)置(zhi)坐標進行評估分析，從而(er)判斷(duan)衛(wei)星(xing)導(dao)(dao)(dao)航系統的(de)執行情況(kuang)是否合格(ge)。對載體(ti)(ti)導(dao)(dao)(dao)航控制(zhi)(zhi)(zhi)器(qi)(qi)進行半實物(wu)的(de)導(dao)(dao)(dao)航測(ce)試，可以不(bu)(bu)必(bi)要(yao)等(deng)(deng)待(dai)具備(bei)該(gai)載體(ti)(ti)導(dao)(dao)(dao)航控制(zhi)(zhi)(zhi)器(qi)(qi)的(de)整機完全制(zhi)(zhi)(zhi)備(bei)與組裝好后再進行導(dao)(dao)(dao)航測(ce)試，也更不(bu)(bu)必(bi)要(yao)在室(shi)(shi)外(wai)受嚴寒酷暑、風(feng)速、溫度等(deng)(deng)天氣的(de)影響，及室(shi)(shi)外(wai)場地的(de)大小、布局等(deng)(deng)外(wai)部環境限制(zhi)(zhi)(zhi)，可以在室(shi)(shi)內進行多次簡單快(kuai)速、重復(fu)性(xing)測(ce)試，縮(suo)短研發(fa)周期，與提高(gao)整機產品合格(ge)率與加(jia)快(kuai)上(shang)(shang)(shang)市時間(jian)。

附圖說明

構(gou)成本(ben)發(fa)明的(de)(de)一部分(fen)的(de)(de)附圖用(yong)來提供對本(ben)發(fa)明的(de)(de)進一步理(li)解(jie)(jie)，本(ben)發(fa)明的(de)(de)示意性實施例及其(qi)說明用(yong)于解(jie)(jie)釋本(ben)發(fa)明，并不(bu)構(gou)成對本(ben)發(fa)明的(de)(de)不(bu)當限(xian)定。

圖(tu)1是本(ben)發(fa)明一種實施例(li)所述測試系統的結構圖(tu)；

圖2是(shi)本(ben)發(fa)明另(ling)一種(zhong)實施例所述測(ce)試系統的結構圖；

圖3是圖2中所示測(ce)試裝置(zhi)中的衛(wei)星(xing)導(dao)航信號模擬器的示意圖；

圖(tu)4是圖(tu)3中(zhong)所示衛星導航信號模擬器中(zhong)的數(shu)學仿(fang)真單元(yuan)的結構框圖(tu)；

圖5是圖3中所示衛星導(dao)航信號模擬器(qi)中的(de)信號仿(fang)真(zhen)單(dan)元的(de)結構框圖。

具體實施方式

下(xia)面結合附圖對本(ben)(ben)發明(ming)進行詳細描述(shu)(shu)，本(ben)(ben)部分的(de)(de)描述(shu)(shu)僅(jin)是示(shi)范(fan)性和(he)解(jie)釋性，不應對本(ben)(ben)發明(ming)的(de)(de)保(bao)護范(fan)圍有任何的(de)(de)限制作(zuo)用(yong)。此外，本(ben)(ben)領(ling)域技術人員(yuan)根據本(ben)(ben)文(wen)件(jian)(jian)的(de)(de)描述(shu)(shu)，可(ke)以(yi)對本(ben)(ben)文(wen)件(jian)(jian)中(zhong)實施例中(zhong)以(yi)及不同(tong)實施例中(zhong)的(de)(de)特征進行相應組合。

實(shi)施例一，結合圖1至圖5所示(shi)，本發(fa)明(ming)的(de)基于衛星(xing)導(dao)航(hang)(hang)的(de)控(kong)(kong)制(zhi)(zhi)系統半實(shi)物測(ce)試方法，首(shou)先通過載體導(dao)航(hang)(hang)控(kong)(kong)制(zhi)(zhi)器(qi)(qi)(qi)發(fa)送位(wei)(wei)置坐(zuo)標給衛星(xing)導(dao)航(hang)(hang)信(xin)號(hao)模(mo)擬(ni)器(qi)(qi)(qi)，衛星(xing)導(dao)航(hang)(hang)信(xin)號(hao)模(mo)擬(ni)器(qi)(qi)(qi)根(gen)據(ju)位(wei)(wei)置坐(zuo)標生(sheng)成仿真(zhen)衛星(xing)導(dao)航(hang)(hang)信(xin)號(hao)，并分別(bie)將(jiang)所述(shu)仿真(zhen)衛星(xing)導(dao)航(hang)(hang)信(xin)號(hao)發(fa)送給所述(shu)載體導(dao)航(hang)(hang)控(kong)(kong)制(zhi)(zhi)器(qi)(qi)(qi)和上(shang)(shang)位(wei)(wei)機(ji)，所述(shu)載體導(dao)航(hang)(hang)控(kong)(kong)制(zhi)(zhi)器(qi)(qi)(qi)也將(jiang)當(dang)前位(wei)(wei)置坐(zuo)標發(fa)送給所述(shu)上(shang)(shang)位(wei)(wei)機(ji)，所述(shu)上(shang)(shang)位(wei)(wei)機(ji)將(jiang)衛星(xing)導(dao)航(hang)(hang)仿真(zhen)信(xin)號(hao)與(yu)當(dang)前位(wei)(wei)置坐(zuo)標進行評估分析(xi)，從而對載體導(dao)航(hang)(hang)控(kong)(kong)制(zhi)(zhi)器(qi)(qi)(qi)進行半實(shi)物的(de)導(dao)航(hang)(hang)性能進行判(pan)斷，可(ke)以不(bu)必要(yao)等待具(ju)備(bei)該載體導(dao)航(hang)(hang)控(kong)(kong)制(zhi)(zhi)器(qi)(qi)(qi)的(de)整(zheng)(zheng)機(ji)完(wan)全(quan)制(zhi)(zhi)備(bei)與(yu)組裝(zhuang)好(hao)后(hou)再進行導(dao)航(hang)(hang)測(ce)試，更不(bu)必要(yao)在室外(wai)受嚴(yan)寒酷(ku)暑、風速、溫度等天氣的(de)影(ying)響(xiang)，及(ji)室外(wai)場地的(de)大小(xiao)、布局等外(wai)部環境限制(zhi)(zhi)，可(ke)以在室內進行多次(ci)簡單快速、重復性測(ce)試，縮短研(yan)發(fa)周(zhou)期(qi)，與(yu)提高整(zheng)(zheng)機(ji)產品合格(ge)率與(yu)加(jia)快上(shang)(shang)市(shi)時間(jian)。

進(jin)(jin)一步地，衛星(xing)導(dao)航(hang)信號模擬(ni)器(qi)還可(ke)以(yi)發送給(gei)GNSS接(jie)收(shou)(shou)(shou)機(ji)，GNSS接(jie)收(shou)(shou)(shou)機(ji)將衛星(xing)導(dao)航(hang)信號發送給(gei)上(shang)位(wei)(wei)機(ji)，在上(shang)位(wei)(wei)機(ji)中通過GNSS接(jie)收(shou)(shou)(shou)機(ji)與載體(ti)導(dao)航(hang)控制器(qi)進(jin)(jin)行比較(jiao)分(fen)析，判斷衛星(xing)導(dao)航(hang)系統的執(zhi)行情況是否合格，可(ke)以(yi)避免衛星(xing)導(dao)航(hang)信號模擬(ni)器(qi)與載體(ti)導(dao)航(hang)控制器(qi)的衰減(jian)不一致的問題，檢測(ce)(ce)數據可(ke)比性高(gao)，檢測(ce)(ce)結果可(ke)靠性更高(gao)。

具體(ti)(ti)(ti)地(di)，如(ru)(ru)圖3所(suo)(suo)示，衛(wei)(wei)星(xing)(xing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)模(mo)(mo)(mo)(mo)(mo)擬(ni)(ni)器可以包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)依次信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)連(lian)接(jie)(jie)(jie)的(de)(de)(de)(de)(de)(de)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)、數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)、信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，用(yong)于(yu)(yu)控(kong)(kong)(kong)(kong)制(zhi)(zhi)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)節拍(pai)和(he)配(pei)置(zhi)(zhi)(zhi)衛(wei)(wei)星(xing)(xing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)載體(ti)(ti)(ti)軌(gui)(gui)(gui)跡(ji)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)；數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，根據(ju)所(suo)(suo)述(shu)(shu)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)計(ji)(ji)算衛(wei)(wei)星(xing)(xing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)的(de)(de)(de)(de)(de)(de)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)；信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，將(jiang)所(suo)(suo)述(shu)(shu)數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)生(sheng)(sheng)成(cheng)(cheng)(cheng)的(de)(de)(de)(de)(de)(de)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)轉(zhuan)換(huan)(huan)成(cheng)(cheng)(cheng)載體(ti)(ti)(ti)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)控(kong)(kong)(kong)(kong)制(zhi)(zhi)器能(neng)接(jie)(jie)(jie)收到的(de)(de)(de)(de)(de)(de)射頻(pin)(pin)(pin)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)。具體(ti)(ti)(ti)地(di)，本實(shi)施(shi)例(li)中(zhong)，如(ru)(ru)圖3所(suo)(suo)示，衛(wei)(wei)星(xing)(xing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)模(mo)(mo)(mo)(mo)(mo)擬(ni)(ni)器包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)根據(ju)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)計(ji)(ji)算導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)衛(wei)(wei)星(xing)(xing)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)的(de)(de)(de)(de)(de)(de)數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)、將(jiang)數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)生(sheng)(sheng)成(cheng)(cheng)(cheng)的(de)(de)(de)(de)(de)(de)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)轉(zhuan)換(huan)(huan)成(cheng)(cheng)(cheng)射頻(pin)(pin)(pin)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)的(de)(de)(de)(de)(de)(de)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)、用(yong)于(yu)(yu)控(kong)(kong)(kong)(kong)制(zhi)(zhi)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)節拍(pai)和(he)配(pei)置(zhi)(zhi)(zhi)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)的(de)(de)(de)(de)(de)(de)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)和(he)用(yong)于(yu)(yu)控(kong)(kong)(kong)(kong)制(zhi)(zhi)輸(shu)(shu)出射頻(pin)(pin)(pin)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)的(de)(de)(de)(de)(de)(de)功(gong)率衰(shuai)減范圍的(de)(de)(de)(de)(de)(de)功(gong)率控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)在仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)控(kong)(kong)(kong)(kong)制(zhi)(zhi)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)節拍(pai)和(he)配(pei)置(zhi)(zhi)(zhi)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)指(zhi)令(ling)下進行(xing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)衛(wei)(wei)星(xing)(xing)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)的(de)(de)(de)(de)(de)(de)計(ji)(ji)算，通(tong)(tong)過數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)傳輸(shu)(shu)，衛(wei)(wei)星(xing)(xing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)模(mo)(mo)(mo)(mo)(mo)擬(ni)(ni)器中(zhong)的(de)(de)(de)(de)(de)(de)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)將(jiang)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)轉(zhuan)換(huan)(huan)成(cheng)(cheng)(cheng)射頻(pin)(pin)(pin)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)，功(gong)率控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)控(kong)(kong)(kong)(kong)制(zhi)(zhi)射頻(pin)(pin)(pin)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)的(de)(de)(de)(de)(de)(de)功(gong)率衰(shuai)減范圍，已(yi)適于(yu)(yu)最佳測(ce)(ce)試(shi)狀態下的(de)(de)(de)(de)(de)(de)衛(wei)(wei)星(xing)(xing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)，通(tong)(tong)過天(tian)線(xian)(xian)發射給載體(ti)(ti)(ti)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)控(kong)(kong)(kong)(kong)制(zhi)(zhi)器、GNSS接(jie)(jie)(jie)收機(ji)；如(ru)(ru)圖4所(suo)(suo)示，通(tong)(tong)常該數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)時(shi)空(kong)系(xi)(xi)統(tong)模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)、衛(wei)(wei)星(xing)(xing)軌(gui)(gui)(gui)道及鐘差計(ji)(ji)算模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)、用(yong)戶仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)、基(ji)(ji)(ji)(ji)本觀測(ce)(ce)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)生(sheng)(sheng)成(cheng)(cheng)(cheng)模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)、空(kong)間(jian)(jian)環(huan)境模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)、多(duo)徑模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)和(he)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)電(dian)文生(sheng)(sheng)成(cheng)(cheng)(cheng)模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)。其中(zhong)，用(yong)戶仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)用(yong)戶軌(gui)(gui)(gui)跡(ji)姿態技術模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)、外部(bu)輸(shu)(shu)入軌(gui)(gui)(gui)跡(ji)和(he)慣導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)；所(suo)(suo)述(shu)(shu)基(ji)(ji)(ji)(ji)本觀測(ce)(ce)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)生(sheng)(sheng)成(cheng)(cheng)(cheng)模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)相對(dui)(dui)論(lun)效應改(gai)正和(he)地(di)球自轉(zhuan)效應改(gai)正；所(suo)(suo)述(shu)(shu)空(kong)間(jian)(jian)環(huan)境模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)電(dian)離(li)層(ceng)模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)、對(dui)(dui)流層(ceng)模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)和(he)大氣衰(shuai)減模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)；所(suo)(suo)述(shu)(shu)電(dian)文生(sheng)(sheng)成(cheng)(cheng)(cheng)模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)軌(gui)(gui)(gui)道擬(ni)(ni)合、鐘差擬(ni)(ni)合、電(dian)離(li)層(ceng)擬(ni)(ni)合和(he)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)電(dian)文編排模(mo)(mo)(mo)(mo)(mo)型(xing)(xing)(xing)(xing)(xing)。數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)的(de)(de)(de)(de)(de)(de)主要功(gong)能(neng)是完(wan)(wan)成(cheng)(cheng)(cheng)中(zhong)國(guo)BDS、美國(guo)GPS、歐洲(zhou)Galileo、俄羅斯GlONASS中(zhong)任一(yi)種衛(wei)(wei)星(xing)(xing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)系(xi)(xi)統(tong)的(de)(de)(de)(de)(de)(de)衛(wei)(wei)星(xing)(xing)軌(gui)(gui)(gui)道、用(yong)戶軌(gui)(gui)(gui)跡(ji)以及空(kong)間(jian)(jian)環(huan)境，實(shi)時(shi)計(ji)(ji)算用(yong)戶天(tian)線(xian)(xian)口面接(jie)(jie)(jie)收到的(de)(de)(de)(de)(de)(de)全部(bu)可視衛(wei)(wei)星(xing)(xing)的(de)(de)(de)(de)(de)(de)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)特性，包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)衛(wei)(wei)星(xing)(xing)相對(dui)(dui)用(yong)戶的(de)(de)(de)(de)(de)(de)偽(wei)距、多(duo)普(pu)勒(le)、多(duo)普(pu)勒(le)變(bian)(bian)(bian)化(hua)率和(he)多(duo)普(pu)勒(le)變(bian)(bian)(bian)化(hua)率的(de)(de)(de)(de)(de)(de)變(bian)(bian)(bian)化(hua)率等(deng)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)，用(yong)于(yu)(yu)驅動信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)發生(sheng)(sheng)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)生(sheng)(sheng)成(cheng)(cheng)(cheng)用(yong)戶天(tian)線(xian)(xian)口面接(jie)(jie)(jie)收的(de)(de)(de)(de)(de)(de)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)和(he)天(tian)線(xian)(xian)后端的(de)(de)(de)(de)(de)(de)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)。進一(yi)步地(di)，信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)基(ji)(ji)(ji)(ji)帶(dai)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)模(mo)(mo)(mo)(mo)(mo)塊(kuai)(kuai)(kuai)和(he)上(shang)(shang)變(bian)(bian)(bian)頻(pin)(pin)(pin)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，基(ji)(ji)(ji)(ji)帶(dai)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)模(mo)(mo)(mo)(mo)(mo)塊(kuai)(kuai)(kuai)根據(ju)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)衛(wei)(wei)星(xing)(xing)觀測(ce)(ce)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)產生(sheng)(sheng)基(ji)(ji)(ji)(ji)帶(dai)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)，上(shang)(shang)變(bian)(bian)(bian)頻(pin)(pin)(pin)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)負責將(jiang)基(ji)(ji)(ji)(ji)帶(dai)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)上(shang)(shang)變(bian)(bian)(bian)頻(pin)(pin)(pin)為(wei)(wei)射頻(pin)(pin)(pin)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)。如(ru)(ru)圖5所(suo)(suo)示，信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)基(ji)(ji)(ji)(ji)帶(dai)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)和(he)上(shang)(shang)變(bian)(bian)(bian)頻(pin)(pin)(pin)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)兩個部(bu)分(fen)，基(ji)(ji)(ji)(ji)帶(dai)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)模(mo)(mo)(mo)(mo)(mo)塊(kuai)(kuai)(kuai)通(tong)(tong)過系(xi)(xi)統(tong)總線(xian)(xian)來(lai)的(de)(de)(de)(de)(de)(de)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)衛(wei)(wei)星(xing)(xing)觀測(ce)(ce)數(shu)(shu)(shu)(shu)(shu)(shu)據(ju)產生(sheng)(sheng)基(ji)(ji)(ji)(ji)帶(dai)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)，基(ji)(ji)(ji)(ji)帶(dai)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)采用(yong)數(shu)(shu)(shu)(shu)(shu)(shu)字信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)處理技術完(wan)(wan)成(cheng)(cheng)(cheng)，結構(gou)上(shang)(shang)基(ji)(ji)(ji)(ji)帶(dai)FPGA和(he)基(ji)(ji)(ji)(ji)帶(dai)DA組成(cheng)(cheng)(cheng)，共同(tong)完(wan)(wan)成(cheng)(cheng)(cheng)數(shu)(shu)(shu)(shu)(shu)(shu)字基(ji)(ji)(ji)(ji)帶(dai)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)的(de)(de)(de)(de)(de)(de)精(jing)密(mi)延遲控(kong)(kong)(kong)(kong)制(zhi)(zhi)和(he)碼(ma)、載波(bo)相位控(kong)(kong)(kong)(kong)制(zhi)(zhi)，上(shang)(shang)變(bian)(bian)(bian)頻(pin)(pin)(pin)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)負責將(jiang)基(ji)(ji)(ji)(ji)帶(dai)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)上(shang)(shang)變(bian)(bian)(bian)頻(pin)(pin)(pin)為(wei)(wei)射頻(pin)(pin)(pin)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)。仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)負責對(dui)(dui)整(zheng)個設(she)(she)備仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)節拍(pai)控(kong)(kong)(kong)(kong)制(zhi)(zhi)、仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)配(pei)置(zhi)(zhi)(zhi)以及仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)狀態實(shi)時(shi)監(jian)測(ce)(ce)顯示。仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)顯示仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)狀態的(de)(de)(de)(de)(de)(de)實(shi)時(shi)監(jian)測(ce)(ce)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)。仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)還(huan)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)用(yong)戶界(jie)面、可視化(hua)、場景配(pei)置(zhi)(zhi)(zhi)與管理單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，用(yong)戶軌(gui)(gui)(gui)跡(ji)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)配(pei)置(zhi)(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)與參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)設(she)(she)置(zhi)(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，天(tian)線(xian)(xian)陣列(lie)參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)配(pei)置(zhi)(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)。仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)還(huan)包(bao)(bao)括(kuo)(kuo)(kuo)(kuo)自校(xiao)準單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)，用(yong)于(yu)(yu)完(wan)(wan)成(cheng)(cheng)(cheng)時(shi)延、功(gong)率參(can)(can)數(shu)(shu)(shu)(shu)(shu)(shu)的(de)(de)(de)(de)(de)(de)自動校(xiao)準。仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)是操作控(kong)(kong)(kong)(kong)制(zhi)(zhi)中(zhong)心，運行(xing)于(yu)(yu)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)控(kong)(kong)(kong)(kong)制(zhi)(zhi)計(ji)(ji)算機(ji)中(zhong)，實(shi)現導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)(hang)(hang)(hang)(hang)信(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)(hao)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)的(de)(de)(de)(de)(de)(de)協同(tong)管理，以保證各組成(cheng)(cheng)(cheng)部(bu)分(fen)之間(jian)(jian)的(de)(de)(de)(de)(de)(de)協調性和(he)同(tong)步性。本實(shi)施(shi)例(li)中(zhong)，數(shu)(shu)(shu)(shu)(shu)(shu)學(xue)仿(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)(fang)真(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)(zhen)單(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)(dan)元(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)在測(ce)(ce)試(shi)中(zhong)構(gou)建了一(yi)個良好的(de)(de)(de)(de)(de)(de)測(ce)(ce)試(shi)條件。

在上(shang)述實(shi)施(shi)例的(de)基(ji)(ji)礎上(shang)，本發明(ming)另(ling)一實(shi)施(shi)例中(zhong)，所述信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制單元可(ke)以包括數(shu)字(zi)(zi)信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制和可(ke)程控(kong)(kong)(kong)(kong)衰減(jian)(jian)(jian)器功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制，其中(zhong)數(shu)字(zi)(zi)信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制，為(wei)在數(shu)字(zi)(zi)基(ji)(ji)帶部分(fen)(fen)(fen)對衛星信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)進(jin)(jin)行(xing)控(kong)(kong)(kong)(kong)制。導航(hang)信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)模擬器要求輸(shu)(shu)出的(de)射(she)頻信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)的(de)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)范圍為(wei)-60dBm～-150dBm，功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)分(fen)(fen)(fen)辨率(lv)(lv)(lv)(lv)為(wei)0.1dB，功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)準(zhun)確度為(wei)0.2dB。因此需要將輸(shu)(shu)出的(de)射(she)頻信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)進(jin)(jin)行(xing)分(fen)(fen)(fen)級處理。信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制單元完成(cheng)(cheng)(cheng)輸(shu)(shu)出射(she)頻信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)的(de)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)衰減(jian)(jian)(jian)控(kong)(kong)(kong)(kong)制，包括數(shu)字(zi)(zi)信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制和可(ke)程控(kong)(kong)(kong)(kong)衰減(jian)(jian)(jian)器功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制兩部分(fen)(fen)(fen)。數(shu)字(zi)(zi)信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制主(zhu)要是(shi)在數(shu)字(zi)(zi)基(ji)(ji)帶部分(fen)(fen)(fen)完成(cheng)(cheng)(cheng)衛星信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)的(de)控(kong)(kong)(kong)(kong)制，從(cong)而滿(man)足用戶(hu)對衛星功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)0.1dB分(fen)(fen)(fen)辨率(lv)(lv)(lv)(lv)的(de)測(ce)試需求。可(ke)程控(kong)(kong)(kong)(kong)衰減(jian)(jian)(jian)器功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)控(kong)(kong)(kong)(kong)制主(zhu)要任務是(shi)完成(cheng)(cheng)(cheng)對合路輸(shu)(shu)出的(de)導航(hang)信(xin)(xin)(xin)(xin)(xin)(xin)號(hao)(hao)(hao)(hao)(hao)進(jin)(jin)行(xing)整體(ti)的(de)0～90dB大范圍的(de)功(gong)(gong)(gong)(gong)率(lv)(lv)(lv)(lv)衰減(jian)(jian)(jian)控(kong)(kong)(kong)(kong)制。

在上述實(shi)施(shi)例的基礎上，本發明(ming)另一實(shi)施(shi)例中，如(ru)圖1和(he)圖2所(suo)示，一種基于衛星(xing)(xing)(xing)導航的控制系(xi)統(tong)(tong)半(ban)實(shi)物測試系(xi)統(tong)(tong)，包括相互連(lian)(lian)接的載(zai)體(ti)導航控制器和(he)衛星(xing)(xing)(xing)導航信號(hao)模擬器，所(suo)述衛星(xing)(xing)(xing)導航信號(hao)模擬器與載(zai)體(ti)導航控制器又分別(bie)與上位(wei)機(ji)連(lian)(lian)接。

進一(yi)步地，所述衛星導(dao)航信(xin)號模擬器(qi)與(yu)上位機之(zhi)間還設置有(you)GNSS接收機，以避免衛星導(dao)航信(xin)號模擬器(qi)與(yu)載體(ti)導(dao)航控制器(qi)的衰減不一(yi)致(zhi)的問(wen)題，檢(jian)測結果可靠性更高(gao)。

具體(ti)地，載(zai)體(ti)導航控制器通過串口或網口與上位機連(lian)接(jie)。

以上(shang)本(ben)發明實(shi)施例所述的(de)(de)(de)(de)測試方法均(jun)適(shi)于(yu)帶有中國、美國GPS、歐洲Galileo、俄羅斯GlONASS中任一(yi)種(zhong)衛星(xing)(xing)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)系統的(de)(de)(de)(de)載(zai)(zai)(zai)體(ti)，即衛星(xing)(xing)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)信號(hao)模擬器(qi)可(ke)以生成BDS、GPS、GLONASS、GALILEO、QZSS和GAGAN中的(de)(de)(de)(de)至(zhi)少任意(yi)一(yi)種(zhong)仿真衛星(xing)(xing)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)信號(hao)，提供一(yi)種(zhong)兼容性的(de)(de)(de)(de)衛星(xing)(xing)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)模擬信號(hao)以適(shi)于(yu)不(bu)同衛星(xing)(xing)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)載(zai)(zai)(zai)體(ti)的(de)(de)(de)(de)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)控制器(qi)。進一(yi)步地，在其他實(shi)施例中，衛星(xing)(xing)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)載(zai)(zai)(zai)體(ti)軌跡仿真參數配置單元包括(kuo)車載(zai)(zai)(zai)、艦(jian)船、飛機和導(dao)(dao)(dao)(dao)彈中至(zhi)少一(yi)個運動模型，也就是說導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)載(zai)(zai)(zai)體(ti)可(ke)以為帶衛星(xing)(xing)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)系統的(de)(de)(de)(de)無(wu)(wu)人(ren)機、無(wu)(wu)人(ren)汽車、無(wu)(wu)人(ren)艦(jian)船，甚至(zhi)是導(dao)(dao)(dao)(dao)彈等(deng)，載(zai)(zai)(zai)體(ti)導(dao)(dao)(dao)(dao)航(hang)(hang)(hang)控制器(qi)的(de)(de)(de)(de)先行(xing)測試對于(yu)導(dao)(dao)(dao)(dao)彈研制的(de)(de)(de)(de)重要性就更(geng)為突出。

與現(xian)有技術相比，本發(fa)明具有如下(xia)優(you)點：

通過載體(ti)導(dao)(dao)航(hang)控(kong)制(zhi)器(qi)(qi)發(fa)送(song)位置(zhi)(zhi)坐(zuo)(zuo)(zuo)標(biao)給(gei)衛星(xing)(xing)導(dao)(dao)航(hang)信(xin)號(hao)模(mo)擬(ni)(ni)器(qi)(qi)，衛星(xing)(xing)導(dao)(dao)航(hang)信(xin)號(hao)模(mo)擬(ni)(ni)器(qi)(qi)根據位置(zhi)(zhi)坐(zuo)(zuo)(zuo)標(biao)生成仿(fang)(fang)真衛星(xing)(xing)導(dao)(dao)航(hang)信(xin)號(hao)，并分(fen)別(bie)發(fa)送(song)仿(fang)(fang)真衛星(xing)(xing)導(dao)(dao)航(hang)信(xin)號(hao)給(gei)所(suo)述(shu)載體(ti)導(dao)(dao)航(hang)控(kong)制(zhi)器(qi)(qi)和(he)上位機(ji)，載體(ti)導(dao)(dao)航(hang)控(kong)制(zhi)器(qi)(qi)發(fa)送(song)當(dang)前位置(zhi)(zhi)坐(zuo)(zuo)(zuo)標(biao)給(gei)上位機(ji)，上位機(ji)將仿(fang)(fang)真衛星(xing)(xing)導(dao)(dao)航(hang)信(xin)號(hao)與當(dang)前位置(zhi)(zhi)坐(zuo)(zuo)(zuo)標(biao)進(jin)行(xing)評估分(fen)析，從(cong)而判斷衛星(xing)(xing)導(dao)(dao)航(hang)系統的(de)執行(xing)情況是(shi)否合(he)格(ge)。對載體(ti)導(dao)(dao)航(hang)控(kong)制(zhi)器(qi)(qi)進(jin)行(xing)半實物的(de)導(dao)(dao)航(hang)測(ce)試(shi)(shi)，可以不必要(yao)(yao)等(deng)(deng)待具備該載體(ti)導(dao)(dao)航(hang)控(kong)制(zhi)器(qi)(qi)的(de)整(zheng)機(ji)完全制(zhi)備與組裝好后(hou)再進(jin)行(xing)導(dao)(dao)航(hang)測(ce)試(shi)(shi)，也更不必要(yao)(yao)在室(shi)外(wai)受嚴(yan)寒酷暑(shu)、風速、溫度等(deng)(deng)天氣的(de)影(ying)響，及(ji)室(shi)外(wai)場地的(de)大小、布局(ju)等(deng)(deng)外(wai)部環境限制(zhi)，可以在室(shi)內進(jin)行(xing)多次簡單快速、重復性(xing)測(ce)試(shi)(shi)，縮短研發(fa)周期，與提高整(zheng)機(ji)產(chan)品合(he)格(ge)率與加快上市(shi)時間。

以上所述僅是本(ben)發(fa)明的(de)(de)優(you)選實(shi)施方(fang)式，應當指出，對(dui)于(yu)本(ben)技術(shu)領域的(de)(de)普通(tong)技術(shu)人員來說(shuo)，在(zai)不脫離本(ben)發(fa)明原(yuan)理的(de)(de)前(qian)提下，還可(ke)以做出若干改(gai)進(jin)和潤飾，這些改(gai)進(jin)和潤飾也應視為本(ben)發(fa)明的(de)(de)保護范(fan)圍。