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Parallel Software Architecture and Algorithms for GNSS Signal

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Parallel Software Architecture and Algorithms for GNSS Signal 0 Zusammenfassung Parallel Software Architecture and Algorithms for GNSS Signal Simulation Mgr. Iva Bartůňková Vollständiger Abdruck der von der Fakultät für Luft- und Raumfahrttechnik der Universität der Bundeswehr München zur Erlangung des akademischen Grades eines Doktors der Ingenieurwissenschaften (Dr.-Ing.) genehmigten Dissertation. Gutachter/Gutachterin Vorsitzender: Prof. Dr.-Ing. Roger Förstner 1. Berichterstatter: Prof. Dr.-Ing. habil. Bernd Eissfeller 2. Berichterstatter: Prof. Letizia Lo Presti Die Dissertation wurde am 10.6.2016 bei der Universität der Bundeswehr München eingereicht und durch die Fakultät für Luft- und Raumfahrttechnik am 17.6.2017 angenommen. Die mündliche Prüfung fand am 11.7.2017 statt. 1 0 Zusammenfassung Zusammenfassung Für die Entwicklung sowie für die Zertifizierung jedes Satellitennavigationsempfängers sind Spezielle Tests und Verifikationen mittels realistischer GNSS-Signale notwendig. Prinzipiell bieten sich im GNSS-Bereich Feldtests zur Evaluierung von Empfängern an, dieses einfache Verfahren birgt jedoch auch eine Reihe von Nachteilen: So ist das Auftreten unterschiedlicher Kombinationen von GNSS- Signalen nicht kontrollierbar oder reproduzierbar. Einen weiteren Nachteil stellt die fehlende Möglichkeit dar, immer wieder dieselben Signale oder Empfangsszenarien zu reproduzieren. Gleichzeitig ist das Durchführen von Feldtests sehr teuer und mit viel Aufwand verbunden. Daher ist es von besonderer Bedeutung für die Validierung und Tests von GNSS-Empfängern, GNSS-Signale mittels spezieller Geräte unter kontrollierten und wiederholbaren Laborbedingungen zu simulieren. GNSS-Simulatoren dienen daher als Testgeräte während des gesamten Entwicklungs- und Lebenszyklus eines Satellitennavigationsempfängers. Preiswerte Mehrfrequenz- und Mehrsystem- GNSS-Simulatoren tragen zusätzlich zur Konkurrenzfähigkeit der modernen Mehrfrequenz- und Mehrsystem- GNSS-Empfänger bei. Die Architektur der herkömmlichen Mehrfrequenz-GNSS-Simulatoren basiert auf der Generierung jeweils eines einzelnen Frequenzbandes in digitaler Form mittels sog. Field Programmable Gate Arrays (FPGAs) oder digitalen Signalprozessoren (DSPs). Hierauf folgt die einzelne Konvertierung zu den jeweiligen analogen Signalen und das Mischen aller simulierten Signale in die Zielfrequenzbänder. Die Kosten für die speziellen Hochleistungs-FPGAs oder DPSs und teure Hardware für das hochpräzise und hochsynchrone Mischen der analogen Signalbänder tragen zu den hohen Gesamtkosten dieser Simulatoren bei. In dieser Arbeit wird eine alternative breitbandige Architektur eines Echtzeit- und Mehrfrequenz- GNSS-Signalsimulators erprobt und evaluiert. Die Signalgenerierung ist auf einem Grafikprozessor implementiert. Das digitale Mehrfrequenz-GNSS-Signal wird als ein einzelnes Signalband mit der Bandbreite des ganzen GNSS-Frequenzbereiches generiert. Das breitbandige Signal wird mit einem breitbandigen Digital-zu-Analog Wandler in ein analoges Signal umgewandelt und kann ohne das problematische analoge Zusammenführen und Synchronisieren in das Zielfrequenzband hochgemischt werden. Eine spezifische und anspruchsvolle Aufgabe der realistischen GNSS-Signalsimulation ist die Generierung von Mehrwegeeffekten. Für eine realistische Modellierung wird eine Vielzahl an Kanälen mit reflektierten Signalen benötigt. Kanalmodelle für Mehrwegeeffekte sowohl in Outdoor- als auch in Indoor- Umgebungen wurden ausgewählt und in einem Softwaresignalsimulator integriert. Hierfür wurde ein Algorithmus für die beschleunigte Generierung der Mehrwegekanäle entworfen und implementiert. Im Anschluss wurden die simulierten Signale mit den Ergebnissen eines Feldtests verglichen und evaluiert. Im Rahmen dieser Arbeit wurde ein Testsimulator mit breitbandiger Architektur aufgebaut. Dieser setzt sich aus einem leistungsstarken aber kostengünstigen PC und zwei Grafikkarten aus dem Bereich der Unterhaltungselektronik sowie einem DAC-Wandler zusammen. Für die Signalgenerierung und GNSS-Signalmodulierung wurde hochparallele Algorithmik entworfen, welche die hohe Zahl an Prozessorkernen sowie die hierarchische Speicherstruktur der Grafikkarten einsetzen kann. Die Qualität der generierten digitalen Signale und der Datendurchsatz der Algorithmen wurden analysiert. Die Leistungstests bewiesen eine Echtzeitleistung des Simulators für eine breitbandige Generierung, 2 0 Zusammenfassung die alle derzeitigen GNSS-Frequenzbänder einschließt. Hierzu wurden GPS L1 C/A, Galileo E1 OS, E5a und E5b mit jeweils bis zu zwölf Signalkanälen simuliert. Die digital-zu-anlog Konvertierung wurde für einzelne Signalbänder verifiziert. Die notwendigen Anforderungen an einen passenden breitbandigen DAC-Wandler sowie an einen passenden Hoch- Konverter wurden analysiert und die Verfügbarkeit von entsprechenden Produkten auf dem Weltmarkt nachgewiesen. Zur tatsächlichen Einbindung solcher Komponenten in die Architektur wären noch bedarfsgerechte Anpassungen notwendig. 3 0 Abstract Abstract Testing and verification with real and simulated GNSS signals is an essential part of all stages of the lifecycle of a GNSS receiver as well as of the lifecycle of a GNSS-based navigation system. The true GNSS signals can be obtained outdoors in a field test. Disadvantages of the field testing are the lack of repeatability, the logistics costs and the hardship to obtain true signal parameters. For receiver verification, also scenarios that are difficult or expensive to obtain in a field test (scintillation, flight scenario, signal in space, etc.) and scenarios that are impossible to encounter (satellite failure, future signals, selective availability, etc.) must be tested. These drawbacks can be solved by a GNSS signal simulator that synthetizes the GNSS signals according to user specification of system, signal and receiver environment features. The simulator is an indispensable tool in the whole receiver development and production lifecycle. The costs of these devices influence the total costs of the navigation solution development. High performance multi-GNSS multi-frequency signal simulators that are able to generate signal for scenarios with hundreds of signal channels and multiple frequency bands are required for testing of modern multi-frequency receivers. These devices are costly. This is partly caused by the costs of multiple high-performance digital signal generation engines (FPGAs or DSPs). Another factor is the costs of the hardware for synchronized mixing and up-conversion of the separate signal frequency bands. In this thesis, an alternative low-cost GNSS signal simulator architecture is proposed. The digital GNSS signal is generated on a pair of graphics processing units (GPU) as a single broadband signal that includes GNSS signal services spreading from L1 to L5 band. This signal is then converted to analog using a single broadband DAC and up-converted to L-band by a broadband upconverter. The simulation definition part describing all signal channels in terms of frequency, phase and amplitude of each epoch can be built up in a conventional way. A specific issue of the high-performance GNSS signal simulation is the generation of multipath. For a realistic representation of a multipath scenario, numerous additional signal channels of the multipath reflections need to be generated. In this work, satellite-to-indoor channel characterization with a sequence of models is proposed. An algorithm for fast multipath signal generation was designed and implemented. A comparison of simulated multipath with a field test scenario is given. A prototype of the digital GNSS signal generation module of the simulator was implemented on a test system with low-cost components. Consumer-level GPUs were combined with a mass-market PC system, both designed for the needs of gaming industry. The signal synthesis algorithms and GNSS signal generation concepts were designed for parallel execution on hundreds of processor cores of the GPUs and for utilization of the specific GPU memory hierarchy. Issues of digital signal precision and algorithm throughput with respect to GPU architecture and native instructions were analyzed. The benchmark tests showed that real-time performance of the broadband digital signal generation was reached for simultaneous generation the four implemented GNSS services: GPS L1 C/A, Galileo E1 OS, Galileo E5a and E5b. The digital-to-analog conversion was implemented in narrowband. Requirements on broadband digital-to-analog converter and upconverter to L-band were analyzed and availability of tailored solution was verified for a possible future deployment. 4 0 Contents Contents Zusammenfassung ................................................................................................................................... 2 Abstract ................................................................................................................................................... 4 Contents ................................................................................................................................................... 5 List of Acronyms ..................................................................................................................................... 9 List of Figures ....................................................................................................................................... 11 List of Tables ......................................................................................................................................... 15 1 Introduction ..................................................................................................................................
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