CN101887113A - Signal structure for the integration of navigation and communication - Google Patents
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Abstract
一种导航和通信一体化的信号结构，由电文、扩频码和载波等组成。其中电文包括待传输的通信电文，定位所需的卫星轨位、时间、坐标等有关的导航信息，以及误差修正模型的有关参量等。扩频码采用m序列码、混沌序列码或其他伪随机码，这些选用的伪随机码应有良好的自相关特性和互相关特性，可供多用户使用，应有良好的捕获与跟踪等特性，不但能起到扩频作用，而且还可以作为测距码，实现发端与收端之间的伪距和载波相位的精密测量。载波可以选用VHF、UHF、L、S、C、Ku、Ka等频段的载波，根据现有卫星资源，以C、S、L波段为宜。本发明可运用于有导航定位要求和通信传输要求的领域中，功能多、性能好、特别是抗干扰性能好。
A signal structure integrating navigation and communication, which is composed of message, spread spectrum code and carrier wave. The message includes the communication message to be transmitted, the satellite orbit position, time, coordinates and other related navigation information required for positioning, and the relevant parameters of the error correction model. Spread spectrum codes use m-sequence codes, chaotic sequence codes or other pseudo-random codes. These selected pseudo-random codes should have good autocorrelation and cross-correlation characteristics, can be used by multiple users, and should have good acquisition and tracking characteristics. , not only can play the role of spread spectrum, but also can be used as a ranging code to realize the precise measurement of the pseudo-range and carrier phase between the transmitting end and the receiving end. Carriers can be selected from VHF, UHF, L, S, C, Ku, Ka and other frequency bands. According to the existing satellite resources, C, S, and L bands are suitable. The invention can be applied in the fields with navigation and positioning requirements and communication transmission requirements, and has multiple functions and good performance, especially good anti-jamming performance.
Description
技术领域technical field
本发明涉及卫星导航技术领域，特别是涉及无线电信息技术中的卫星通信和卫星导航领域。The invention relates to the technical field of satellite navigation, in particular to the fields of satellite communication and satellite navigation in radio information technology.
背景技术Background technique
从上世纪晚期开始，导航技术，特别是卫星导航技术迅速发展，其中美国全球卫星定位系统GPS的成功和广泛应用，引起社会的极大关注。现在除了GPS以外，又有前苏联建设的全球卫星导航系统GLONASS，中国的北斗定位系统(COMPASS)，以及中国区域定位系统CAPS。在卫星导航系统中，信号均采用伪码扩频体制。其中扩频码即为测距码，导航电文中提供时间刻度、轨道参数以及各类误差修正等有关参数。而在一般卫星通信系统中，电文则是通信电文，通信电文直接调制到载波上。卫星通信中有一类卫星扩频通信，它与导航扩频类似，将基带信号d(t)与一个高速的伪码信号c(t)进行时域相乘，得到一个扩频码流，然后对扩频码流进行调制，再送入卫星信道。由于伪码速率远大于信号的信息传输速率，将基带信号与伪码信号进行时域调制，相当于在频域进行频谱的卷积，信号频谱被拓宽。这样功率谱密度被大大降低。而解扩后的中频信号带宽较窄，进入中频滤波器的干扰和噪声功率被降低，使解调器输入端的载噪比和信噪比被提高。从而提高了系统的干扰抑制能力。同时扩频通信还具有抗截获、抗监测能力强、有较好的抗衰落和抗多径能力以及多址通信能力等特点。从中也可以看到，现有的卫星扩频通信和卫星导航扩频技术的应用是相通的，这样就提出一个问题，是否可以利用卫星通信中的扩频伪码，象它在卫星定位系统中应用一样，不但用作为扩频码，也用作为测距码。若再加入一些简单的与定位有关的参数与信息，加上必要的时间刻度、卫星轨道以及与传输途径中的时延误差计算有关的参量，这样就能实现伪距测量，以及求解测量方程实现定位。这样的链路不但具有通信能力，还具有测量伪距和定位的能力。这时通信电文已是具有通信信息和导航定位信息的电文，我们称它为复合电文。2006年，施浒立、尚俊娜等登记的发明专利“复合导航电文”中对上述理念已作了初步阐述；2008年，施浒立和宁春林等又在发明专利“利用卫星对目标进行通信和定位的方法”(发明专利申请号：200810116829.2)中提出了定位和通信一体化设计理念；同年，施浒立、韩延本等在发明专利“地壳毫米级位移的实时精密测量方法”(发明专利申请号：200810240073.2)中，进一步提出了实现上述理念的系统设计。Since the late last century, navigation technology, especially satellite navigation technology, has developed rapidly. Among them, the success and wide application of GPS, the US global satellite positioning system, has aroused great concern from the society. In addition to GPS, there are the global satellite navigation system GLONASS built by the former Soviet Union, China's Beidou positioning system (COMPASS), and the Chinese regional positioning system CAPS. In the satellite navigation system, the signal adopts the pseudo-code spread spectrum system. Among them, the spread spectrum code is the ranging code, and relevant parameters such as time scale, orbital parameters and various error corrections are provided in the navigation message. In a general satellite communication system, the message is a communication message, and the communication message is directly modulated onto the carrier. There is a kind of satellite spread spectrum communication in satellite communication, which is similar to navigation spread spectrum. The baseband signal d(t) is multiplied by a high-speed pseudo-code signal c(t) in the time domain to obtain a spread spectrum code stream, and then the The spread spectrum code stream is modulated and then sent to the satellite channel. Since the pseudocode rate is much greater than the information transmission rate of the signal, time-domain modulation of the baseband signal and the pseudocode signal is equivalent to performing spectrum convolution in the frequency domain, and the signal spectrum is broadened. In this way the power spectral density is greatly reduced. However, the bandwidth of the IF signal after despreading is narrow, the interference and noise power entering the IF filter are reduced, and the carrier-to-noise ratio and signal-to-noise ratio at the input end of the demodulator are improved. Therefore, the interference suppression capability of the system is improved. At the same time, spread spectrum communication also has the characteristics of anti-interception, strong anti-monitoring ability, good anti-fading and anti-multipath ability, and multi-address communication ability. It can also be seen from it that the application of existing satellite spread spectrum communication and satellite navigation spread spectrum technology is interlinked, so a question is raised, whether it is possible to use the spread spectrum pseudocode in satellite communication, as it is in the satellite positioning system The application is the same, not only used as a spreading code, but also used as a ranging code. If we add some simple parameters and information related to positioning, plus the necessary time scale, satellite orbit and parameters related to the calculation of delay error in the transmission path, we can realize pseudo-range measurement and solve the measurement equation to realize position. Such a link not only has communication capabilities, but also has the ability to measure pseudoranges and locate. At this time, the communication message is already a message with communication information and navigation and positioning information, we call it a composite message. In 2006, Shi Huli, Shang Junna, etc. registered the invention patent "composite navigation message" and made a preliminary explanation of the above concept; in 2008, Shi Huli and Ning Chunlin et al. The method of communication and positioning" (invention patent application number: 200810116829.2) proposed the integrated design concept of positioning and communication; Application No.: 200810240073.2), further proposed a system design to realize the above concept.
发明内容Contents of the invention
本发明的目的是在现有理念和技术的基础上，公开一种导航和通信一体化的信号结构，在信号结构层面上，对“复合导航电文”作了进一步的发展。The purpose of the present invention is to disclose a signal structure integrating navigation and communication on the basis of existing concepts and technologies, and to further develop the "composite navigation message" on the level of signal structure.
为达到上述目的，本发明的技术解决方案是：For achieving the above object, technical solution of the present invention is:
一种导航和通信一体化的信号结构，其电文包括待传输的通信电文，定位所需的卫星轨位、时间、坐标的有关导航信息，以及误差修正模型的有关参量；其扩频码采用m序列码、混沌序列码或其他伪随机码，扩频码又是测距码，调制的电文是导航通信组合电文；其中，A signal structure integrating navigation and communication, the message includes the communication message to be transmitted, the satellite orbit position, time, coordinate related navigation information required for positioning, and the relevant parameters of the error correction model; its spreading code adopts m sequence code, chaotic sequence code or other pseudo-random code, the spread spectrum code is the ranging code, and the modulated message is a navigation communication combination message; among them,
第一种信号结构是：在I支路上扩频调制简单导航电文，在Q支路上扩频调制通信电文，两支路是正交支路；一支路采用短码，采用低信息速率，这样利于捕获；另一支路采用长码，利于提高测距精度；两路信号扩频后合成再调制到载波上；The first kind of signal structure is: the simple navigation message is modulated on the I branch, and the communication message is modulated on the Q branch. The two branches are orthogonal branches; one branch adopts short code and low information rate, so It is good for capture; the other branch adopts long code, which is good for improving the ranging accuracy; the two signals are synthesized after spreading and then modulated onto the carrier;
另一种信号结构是：在通信电文中加上最简单的与导航定位和伪码测量有关的参数，而调制的电文是通信电文与导航定位短电文交替的组合电文；通信段和导航定位段采用的伪码相同或不同，导航定位段采用短码，采用低信息速率传输，这样利于快速捕获，并引导通信段跟踪；通信段伪码采用长码，长码利于提高测距精度，不易破译、抗干扰性能好；接收端以扩频码作为测距码，测量伪距和完成导航定位计算；组合电文先调制到测距伪码上，最后调制到载波上；组合电文中有导航定位信息和通信信息，具有通信和导航定位双重功能。Another signal structure is: add the simplest parameters related to navigation positioning and pseudo code measurement to the communication message, and the modulated message is a combined message in which the communication message alternates with the short navigation and positioning message; the communication segment and the navigation positioning segment The pseudocodes used are the same or different. The navigation and positioning segment adopts short codes and low information rate transmission, which is conducive to fast capture and guides the tracking of the communication segment; the pseudo code of the communication segment adopts long codes, which are conducive to improving ranging accuracy and are not easy to decipher , Good anti-interference performance; the receiving end uses the spread spectrum code as the ranging code to measure the pseudo-range and complete the calculation of navigation and positioning; the combined message is first modulated to the ranging pseudo-code, and finally modulated to the carrier; the combined message contains navigation and positioning information And communication information, with dual functions of communication and navigation and positioning.
所述的信号结构，其所述第一种信号结构中，I支路和Q支路的组合信号采用直接序列扩频技术扩频调制到载波信号上，传输时信号为：Described signal structure, in its described first kind of signal structure, the combined signal of I branch and Q branch adopts direct sequence spread spectrum technology spread spectrum modulation to carrier signal, and signal during transmission is:
其中，Ac为通信扩频码振幅；Cc(t)为通信的扩频码；Dc(t)为通信信息；fsc为通信信息的载波频率；
所述的信号结构，其所述另一种信号结构中，信号传输格式为：The signal structure, in another signal structure, the signal transmission format is:
式中，A为扩频码振幅；P(t)为扩频码；D(t)为导航定位和通信信息；fs为载波频率；
所述的信号结构，其所述另一种信号结构中，链路只有一个支路，扩频码分为两段，一段是导航定位段，一段为通信段，其中，前段为捕获段，其上的电文有用户ID号、通信电文长度、时间信息以及导航定位相关信息；后段为跟踪段，调制通信电文，通信电文长度分固定长度与变长度两种；在捕获段采用短码利于快捕；在跟踪段采用长码，利于提高测距精度，不易破译，抗干扰能力强；后段的捕获由前段引导，或由前段辅助后段重捕；Described signal structure, in its described another kind of signal structure, link has only one branch, and spreading code is divided into two sections, and one section is navigation and positioning section, and one section is communication section, and wherein, front section is acquisition section, and its The message on the screen includes the user ID number, the length of the communication message, time information, and information related to navigation and positioning; the latter section is the tracking segment, which modulates the communication message, and the length of the communication message is divided into two types: fixed length and variable length; Capture; the long code is used in the tracking section, which is beneficial to improve the ranging accuracy, is not easy to decipher, and has strong anti-interference ability; the capture of the rear section is guided by the front section, or the front section assists the rear section to recapture;
两段不同的信号结构，交替传输。Two different signal structures are transmitted alternately.
所述的信号结构，其采用哪一类信号结构，由系统的能力决定，当传输系统中的功率(或载噪比)足够承担I支路和Q支路的传输要求时，采用第一种信号格式传输；当传输系统中的功率(或载噪比)受限而不能承担两支路信号传输时，则采用单支路传输，即采用第二种信号传输格式。The signal structure, which type of signal structure it adopts, is determined by the capability of the system. When the power (or carrier-to-noise ratio) in the transmission system is sufficient to bear the transmission requirements of the I branch and the Q branch, the first one is adopted. Signal format transmission; when the power (or carrier-to-noise ratio) in the transmission system is limited and cannot undertake two-branch signal transmission, single-branch transmission is adopted, that is, the second signal transmission format is adopted.
所述的信号结构，其所述载波为VHF、UHF、L、S、C、Ku、Ka频段的载波。Said signal structure, said carrier is VHF, UHF, L, S, C, Ku, Ka frequency band carrier.
所述的信号结构，其所述载波，依据现有卫星资源，优选为C、S、L波段。The signal structure and the carrier wave are preferably C, S, and L bands based on existing satellite resources.
本发明的一种导航和通信一体化的信号结构，可运用于有导航定位要求和通信传输要求的领域中去，具有功能多、性能好、特别是抗干扰性能好的特点。The integrated signal structure of navigation and communication of the present invention can be used in the fields that require navigation and positioning and communication transmission, and has the characteristics of multiple functions and good performance, especially good anti-interference performance.
附图说明Description of drawings
图1为第一类组合信号格式；Fig. 1 is the format of the first type combined signal;
图2为第二类组合信号格式。Figure 2 shows the second type of combined signal format.
具体实施方式Detailed ways
本发明的一种导航和通信一体化的信号结构，它由电文、扩频码和载波等组成。其中电文包括待传输的通信电文，定位所需的卫星轨位、时间、坐标等有关的导航信息，以及误差修正模型的有关参量等。扩频码采用m序列码、混沌序列码或其他伪随机码，这些选用的伪随机码应有良好的自相关特性和互相关特性，可供多用户使用，应有良好的捕获与跟踪等特性，不但能起到扩频作用，而且还可以作为测距码，实现发端与收端之间的伪距和载波相位的精密测量。载波可以选用VHF、UHF、L、S、C、Ku、Ka等频段的载波，但根据现有卫星资源，以C、S、L波段为宜。A navigation and communication integrated signal structure of the present invention is composed of message, spread spectrum code and carrier wave. The message includes the communication message to be transmitted, the satellite orbit position, time, coordinates and other related navigation information required for positioning, and the relevant parameters of the error correction model. Spread spectrum codes use m-sequence codes, chaotic sequence codes or other pseudo-random codes. These selected pseudo-random codes should have good autocorrelation and cross-correlation characteristics, can be used by multiple users, and should have good acquisition and tracking characteristics. , not only can play the role of spread spectrum, but also can be used as a ranging code to realize the precise measurement of the pseudo-range and carrier phase between the transmitting end and the receiving end. Carriers can be selected from VHF, UHF, L, S, C, Ku, Ka and other frequency bands, but according to the existing satellite resources, C, S, and L bands are suitable.
本发明的一种导航和通信一体化的信号结构，在信号体系结构上，提出了实现导航通信一体化的信号设计，即扩频码也是测距码，调制的电文是导航通信组合电文。在信号结构设计上本发明具体提出两种设计方案。其中一种方案是在I支路上扩频调制简单导航电文，在Q支路上扩频调制通信电文，两支路是正交支路，两个支路上采用的扩频码可以不一样，一路采用短码，利于捕获；另一路采用长码，利于提高测距精度。两路信号扩频后合成再调制到载波上，组成导航通信一体化信号结构。The signal structure of the integration of navigation and communication in the present invention proposes a signal design to realize the integration of navigation and communication in terms of the signal system structure, that is, the spread spectrum code is also the ranging code, and the modulated message is the combined message of navigation and communication. In terms of signal structure design, the present invention specifically proposes two design schemes. One of the schemes is to modulate the simple navigation message on the I branch, and spread the spectrum to modulate the communication message on the Q branch. The two branches are orthogonal branches. The spreading codes used on the two branches can be different. The short code is good for capture; the other way is long code, which is good for improving the ranging accuracy. The two-way signals are synthesized after frequency spreading and then modulated onto the carrier to form an integrated signal structure for navigation and communication.
另一种方案是在通信电文中加上最简单导航定位和伪码测量等有关的参数，而调制的电文可以是通信电文与导航定位短电文交替的组合电文。组合电文先经测距伪码进行扩频，最后调制到载波上。通信段和导航定位段采用的伪码可以相同，也可以不同，导航定位段采用短码，利于快速捕获，并可引导通信段跟踪；通信段伪码采用长码，长码利于提高测距精度，还有不易破译、抗干扰性能好等特点。接收端可以利用本地伪随机码作为测距码，测量伪距和完成导航定位计算。因组合电文中有导航定位信息和通信信息，所以具有通信和导航定位双重功能。Another solution is to add the simplest navigation and positioning and pseudo code measurement related parameters to the communication message, and the modulated message can be a combined message that alternates between communication messages and short navigation and positioning messages. The combined message is firstly spread by the ranging pseudo code, and finally modulated onto the carrier. The pseudo-code used in the communication section and the navigation and positioning section can be the same or different. The navigation and positioning section adopts a short code, which is conducive to fast capture and can guide the communication section to track; the pseudo-code in the communication section uses a long code, which is conducive to improving the ranging accuracy , and it is not easy to decipher, good anti-interference performance and so on. The receiving end can use the local pseudo-random code as the ranging code to measure the pseudo-range and complete the navigation and positioning calculation. Because there are navigation and positioning information and communication information in the combined message, it has dual functions of communication and navigation and positioning.
一体化信号的跟踪完成精确测距段应采用宽带扩频体制，或特宽带扩频体制。这样能得到很高的扩频增益。在一体化信号传输过程中，信号埋在噪声底下，具有很好的抗干扰性能。The tracking of the integrated signal is completed and the precise ranging section should adopt a broadband spread spectrum system, or an ultra-wideband spread spectrum system. In this way, a high spreading gain can be obtained. In the process of integrated signal transmission, the signal is buried under the noise floor, which has good anti-interference performance.
当多路传输时，测距为冗余测距，可提高测距精度。When multiplexed, the ranging is redundant ranging, which can improve the ranging accuracy.
上述两种方案中，前一种方案适宜于信号功率(或载噪比)较充裕的传输链路，后一种方法较适宜于功率(或载噪比)不充裕的传输链路。Among the above two schemes, the former scheme is suitable for transmission links with sufficient signal power (or carrier-to-noise ratio), and the latter method is more suitable for transmission links with insufficient power (or carrier-to-noise ratio).
本发明导航通信一体化信号结构具体实施方案有两类：There are two types of specific implementation schemes for the navigation and communication integrated signal structure of the present invention:
第一类是信号分I支路和Q支路，两支路信号正交，其中一路为通信信号传输支路；另一路是导航定位信号传输支路，两支路的组合信号采用直接序列扩频(DSSS)技术扩频调制到载波信号上。所以传输时信号为：The first type is that the signal is divided into I branch and Q branch. The signals of the two branches are orthogonal, one of which is the communication signal transmission branch; the other is the navigation positioning signal transmission branch. The combined signal of the two branches adopts direct sequence expansion. Spectrum spread modulation (DSSS) technology onto the carrier signal. So the signal during transmission is:
其中，Ac为通信扩频码振幅；Cc(t)为通信的扩频码；Dc(t)为通信信息；fsc为通信信息的载波频率；
图1是第一类组合信号格式。Figure 1 is the first type of composite signal format.
在通信传输支路中，主要是传送通信信息。在导航定位传输支路中，主要是提供时间信号、定位信息和导航电文。因信号结构能连续稳定地提供测距和导航定位信号，所以如GPS定位系统一样，可以提供连续实时的导航定位。In the communication transmission branch, communication information is mainly transmitted. In the navigation and positioning transmission branch, it mainly provides time signal, positioning information and navigation message. Because the signal structure can continuously and stably provide ranging and navigation and positioning signals, it can provide continuous real-time navigation and positioning like the GPS positioning system.
在这类信号结构中，导航定位传输支路的扩频码，采用短码，短码利于快速捕获；在另一通信传输支路中，扩频伪码采用长码、长码的扩频增益高、测距精度高、抗干扰能力强。长码捕获可由短码引导。In this type of signal structure, the spreading code of the navigation and positioning transmission branch adopts a short code, which is conducive to fast acquisition; in another communication transmission branch, the spreading code adopts a long code and the spreading gain of the long code High, high ranging accuracy, strong anti-interference ability. Long code capture can be guided by short code.
导航定位信息支路中的扩频码，采用短码，这样捕获快，重捕也快，能起到捕获和跟踪双重功能；而通信支路上采用宽带扩频通信体制，扩频码采用长码，长码保密性好，扩频增益高，能起到跟踪和精密测时差的作用。它由易捕获的信息支路上的短码相关快捕后，引导实现精密跟踪。The spread spectrum code in the navigation and positioning information branch adopts a short code, so that the capture is fast and the recapture is fast, and it can play the dual functions of capture and tracking; while the communication branch adopts a broadband spread spectrum communication system, and the spread code adopts a long code , the long code has good confidentiality, high spreading gain, and can play the role of tracking and precision time difference measurement. It is guided to realize precise tracking after the short code related quick capture on the easy-to-capture information branch.
第二类信号传输格式为The second type of signal transmission format is
式中，A为扩频码振幅；P(t)为扩频码；D(t)为导航定位或通信信息；fs为载波频率；
图2为第二类组合信号格式，第二类信号结构，链路只有一个支路，不设正交支路信号，这时扩频码分为两段，其中前段为捕获段，其上的电文有用户ID号、通信电文长度、时间信息以及导航定位相关信息；后段为跟踪段，上面主要调制通信电文。通信电文长度分固定长度与变长度两种。在捕获段采用短码利于快捕；在跟踪段采用长码，利于提高测距精度，不易破译，还有抗干扰能力强等长处。Figure 2 is the format of the second type combined signal, the second type of signal structure, the link has only one branch, and no orthogonal branch signal is set. At this time, the spreading code is divided into two sections, wherein the front section is the capture section, and the above The message includes the user ID number, the length of the communication message, time information, and information related to navigation and positioning; the latter section is the tracking section, and the above part mainly modulates the communication message. There are two types of communication message length: fixed length and variable length. The use of short codes in the capture section is beneficial to quick capture; the use of long codes in the tracking section is beneficial to improve ranging accuracy, is not easy to decipher, and has strong anti-interference ability and other advantages.
第二类不分I支路和Q支路，(或I支路和Q支路信号格式一样)，在一个支路上既有定位信息又有通信信息。只是分时传送导航定位或通信信息。其信号可以表示为两段，一段是导航定位段，一段为通信段。The second type does not distinguish between the I branch and the Q branch, (or the I branch and the Q branch have the same signal format), and there are both positioning information and communication information on one branch. Only time-sharing transmission of navigation positioning or communication information. The signal can be expressed as two sections, one is the navigation and positioning section, and the other is the communication section.
这类信号分为两段不同的信号结构，交替传输。前段主要功能是捕获和传输导航定位有关信息，亦可称导航定位段；后段主要是传输通信信息和实现精密测距。后段的捕获由前段引导，也可由前段辅助后段重捕。This type of signal is divided into two different signal structures, which are transmitted alternately. The main function of the front section is to capture and transmit information related to navigation and positioning, which can also be called the navigation and positioning section; the back section is mainly to transmit communication information and realize precise ranging. The capture of the rear section is guided by the front section, and the rear section can also be assisted by the front section to recapture.
上述两类信号除了要根据需求决定究竟采用哪一类信号结构以外，也要由系统的能力决定。也就是说，当传输系统中的功率(或载噪比)足够承担I支路和Q支路的功率要求时，可以采用第一类信号格式传输；但当传输系统中的功率(或载噪比)受限而不能承担两支路时，则可以采用单支路传输，即采用第二类信号传输格式。In addition to deciding which type of signal structure to use for the above two types of signals, it is also determined by the capabilities of the system. That is to say, when the power (or carrier-to-noise ratio) in the transmission system is sufficient to bear the power requirements of the I branch and the Q branch, the first type of signal format can be used for transmission; but when the power (or carrier-to-noise ratio) in the transmission system When the ratio) is limited and cannot bear two branches, single-branch transmission can be used, that is, the second type of signal transmission format is adopted.
本发明的一种导航和通信一体化的信号结构，有别于卫星通信系统和卫星导航定位系统中已应用的信号传输结构。在电文中除了有通信内容外，还包括导航定位所需的相关信息，扩频采用的伪随机码除起到扩频作用外，同时又是测距码，可以精确测伪距。它与通信信号的区别在于可以测量伪距，可以定位导航；它与导航定位信号的不同在于它有很强的通信传输能力。也可以说，它在保留通信信号功能的同时，把信号功能扩展到可以测距定位。或者可以说，在通信信号中扩充了导航定位能力，在信号层面上实现了通信和导航定位组合的信号结构。The integrated signal structure of navigation and communication of the present invention is different from the signal transmission structure used in satellite communication system and satellite navigation and positioning system. In addition to the communication content, the message also includes relevant information required for navigation and positioning. The pseudo-random code used in spread spectrum not only plays the role of spread spectrum, but also is a ranging code, which can accurately measure pseudo-range. The difference between it and the communication signal is that it can measure the pseudo-range, and it can locate and navigate; the difference between it and the navigation and positioning signal is that it has a strong communication transmission capability. It can also be said that while retaining the communication signal function, it extends the signal function to range measurement and positioning. Or it can be said that the navigation and positioning capability is expanded in the communication signal, and the signal structure of the combination of communication and navigation and positioning is realized at the signal level.
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