根据BPSK调制信号调制机理和平方倍频法原理,在FPGA平台上设计实现了BPSK调制信号载波频率估计单元。利用ModelSim仿真环境对载频估计功能进行仿真,验证了平方倍频法对BPSK信号进行载波信号估计的有效性。仿真表明基于FPGA的 BPSK信号载频估计单元,有较高的估计精度,且实现原理简单,有一定的实际应用价值。
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)
0 引言
BPSK即二进制相移键控,是直扩信号中经常使用的一种调制方式,利用载波的相位变化传递数字信息,信号的振幅、频率保持恒定。BP SK调制方式具有较高传输效率、误码率低,不易受信道特性变化影响等特点,而且调制电路简单易行,频谱密度低,处理增益高,具有良好的低截获概率可能,广泛应用于雷达、保密通信和导航定位等领域。对BPSK信号的载频估计为后续的跟踪捕获等处理提供载频参数,具有重大意义。随着信号处理技术和检测技术的飞速发展,涌现出了很多估计载波频率的方法,如平方倍频法、小波相关法等。
1 平方倍频法频率估计原理
BPSK调制信号用初始相位0和π分别表示二进制“1”和“0”,BPSK信号的时域数学表达式可以表示为:
Sbpsk(t)=A·D(t)cos(2πft+φ) (1)
式中,A代表振幅,D(t)代表二进制信息,将D(t)与载波相乘,因D(t)只有两种值,即“+1”和“-1”,分别代表“0”和“1”,使得BPSK调制信号只有两种相位,则BPSK调制信号的生成。
根据BPSK的调制原理,利用二进制信息对载波信号进行相位调制,使载波信号相位突变,即BPSK信号同时含有载波信息和二进制信息。因此对BPSK调制信号的载频估计应该首先将二进制信息造成的相位突变消除,只留下载波或与载波有关的成分,再进行载频估计。因为BPSK调制信号的二进制信息是±1构成的序列,可以用平方处理消除二进制信息的影响,提取其中仅与载波有关的成分进行载波频率估计。
2 基于FPGA的载频估计单元设计
载波频率估计单元首先实现对BPSK调制信号进行平方处理,然后将平方后的信号进行快速傅里叶变换(FFT),对频域进行二倍频的频域采样点输出,最后通过FFT变换的频率分辨率与输出采样点的比例关系完成载频的估计。
对载频估计模块的设计主要分为四部分:乘法器、FFT单元、平方求和单元、判决单元。
根据平方倍频法原理,对输入信号首先要进行平方处理。本单元使用XilinX公司提供的Multiplier IP核,版本为4.0。Multiplier IP核的两个输入信号为8位的有符号定点数,输出信号是16位的有符号定点数。将平方后的信号进行傅里叶变换之前,需要对信号进行预处理。载频估计单元的关键模块是傅里叶变换模块。使用的傅里叶模块是由Xilinx公司提供的Fast Fourier Transform IP核,版本号为7.1。该IP核要求输入数据为复数形式,因为通过乘法器计算后的数据是实数,因此对数据的预处理是加上一个为0的虚部,同时为了减少傅里叶变换的计算量,减少计算时间,这里将输入数据进行截短,只留数据的前8位,然后传送给Fast Fourier transform IP核进行计算。
Fast Fourier Transform IP核的功能是对输入的复数信号进行快速傅里叶运算,运算点数为1024点,输出的计算结果也为复数,xk_re为输出信号的实部,xk_im为输出信号的虚部,对计算结果进行求模需要用到两个乘法器Multiplier IP核和一个加法器Adder Subtracter IP核,即将xk_re和xk_im分别自乘后相加,得到的结果输入判决模块。通过Fast Fourier Transform IP核进行频域变换后的结果会有直流分量存在,并且存在于输出频谱的零点处,判决模块在进行谱峰搜索时须跳过直流分量。因为计算的点数为1024点,而且输出的频域是对称的,因此每次搜索只需搜索到512点即可。当搜索到谱峰值时输出谱峰对应的采样点位置即二倍频采样点,即可输出最后的估计结果。
3 仿真
在ModelSim6.5b环境下,分别对不同码速和不同载波频率条件下载频估计单元进行仿真测试
当BPSK调制信号的信息速率为4000kHz时,在不同的载波频率条件下,载频估计仿真单元的仿真结果误差低,精度很高。可以看出,随着载波频率的逐渐增高,误差也逐渐增高,这是因为随着载波频率的增加,载波的周期变小,每个周期内的采样点数也在变小,因此误差也随之增加,但仿真结果表明载频估计单元依然能够有效地对BPSK调制信号进行有效的载波估计。
4 结论
本文根据BPSK信号的调制机理和平方倍频法原理,在FPGA平台上完成了BPSK载波信号的生成模块和载波频率估计单元的设计和实现;在 ModelSim6.5b环境中,在不同的参数下对载波频率估计单元进行仿真测试,仿真结果表明用平方倍频法对BPSK调制信号进行载频估计具有精度高、误差低的特点,同时在FPGA平台上利用Xilinx公司提供的IP核进行设计具有实现容易的特点,因此本载波频率估计单元具有很高的实际应用意义。