Abstract:
The invention relates to a method of transmitting digital data exhibiting a rate T by means of a frequency modulator able to modulate as a function of the data, a central carrier frequency f 0  at a first frequency value f 0 +¼T and/or a second frequency value f 0 −¼T. It comprises the step consisting in modulating the carrier frequency from one of the frequency values to the other during a time interval T, via successive frequency stages.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
   The present Application is based on International Application No. PCT/FR03/00487, filed on February 14, 2003, entitled “FREQUENCY MODULATOR FOR DIGITAL TRANSMISSIONS”, which in turn corresponds to FR 02/02304 filed on Feb. 22, 2002, and priority is hereby claimed under 35 USC §119 based on these applications. Each of these applications are hereby incorporated by reference in their entirety into this application. 
   FIELD OF THE INVENTION 
   The invention relates to a method of transmitting digital data by means of a frequency modulator based on a frequency modulation of minimum phase gradient or “Minimum Shift Keying” (MSK) type. 
   The subject of the invention is also the corresponding device. 
   The invention applies to all digital data transmissions using MSK-type frequency modulation. 
   It applies in particular to the accurate determination of the position of a mobile on the basis of necessary data transmitted between a reference station and the mobile, both receiving satellite-based positioning signals. 
   For the determination of the absolute position of a mobile, use is commonly made of satellite-based position measurement means, using for example the radio signals emitted by the satellites of the GPS (Global Positioning System) or of other similar systems (GLONASS system, future GALILEO system). The accuracy obtained goes from a few meters to a few tens of meters. 
   BACKGROUND OF THE INVENTION 
   In the GPS system, the signal emitted by a satellite is coded and the time taken by the signal to reach the point to be located is used to determine the distance between this satellite and this point, preferably called the pseudo-distance so as to take account of synchronization errors between the clock of the satellite and that of the station. These synchronization errors are conventionally eliminated by calculation when the signals are received from at least four different satellites. The determination of the distance between the point to be located and several satellites makes it possible, knowing the geographical coordinates of the satellites, to calculate the coordinates of the point to be located, usually coordinates expressed as latitude, longitude and altitude in a fixed terrestrial reference frame. 
   To determine the precise position of a mobile (accuracy of from a centimeter to a meter, as the case may be), a so-called “differential GPS” procedure is used, which consists in using, at the level of the mobile, for the calculation of its position, the errors noted with regard to each pseudo-distance at the level of a so-called reference station of known position. 
   This procedure makes it possible to correct the position calculation errors due in particular to trajectory deformations and to propagation. These errors are corrected, for example, by comparing for the reference station its known position and its calculated position arising from the measurement of the propagation time between the satellite and the reference station. 
   SUMMARY OF THE INVENTION 
   Still other objects and advantages of the present invention will become readily apparent to those skilled in the art from the following detailed description, wherein the preferred embodiments of the invention are shown and described, simply by way of illustration of the best mode contemplated of carrying out the invention. As will be realized, the invention is capable of other and different embodiments, and its several details are capable of modifications in various obvious respects, all without departing from the invention. Accordingly, the drawings and description thereof are to be regarded as illustrative in nature, and not as restrictive. 
   The digital data corresponding to these errors are transmitted by the reference station to the mobile. Traditionally, these digital data are transmitted by radio using MSK-type frequency modulation, well-suited to an information bit rate that may be as much as 200 baud (bits per second). 
   For greater information bit rates, such as 400 baud, the MSK-type frequency modulation is no longer suitable since it exhibits too wide a frequency spectrum that decreases too slowly. 
   It is in fact recalled that the narrower the spectra of the reference stations and the faster they decrease, the more they can be juxtaposed on the same frequency band without them encroaching on one another and thus the more reference stations there can be. 
   Now, it is noted that curve a), representing in  FIG. 1  the frequency spectrum of an MSK modulation at 400 baud, exhibits at 1000 Hz a sidelobe situated at around −38 dB from the central lobe, whereas one wants it to be situated at around −50 dB. 
   One solution consists in preceding the MSK frequency modulation by a Gaussian low-pass filtering. One is then dealing with a Gaussian minimum phase gradient, or “GMSK” (Gaussian minimum shift keying) modulation, whose frequency spectrum is represented by curve b) of  FIG. 1 . The spectral occupancy is better adapted than in the case of “MSK” modulation, but the GMSK modulation introduces undesirable inter-symbol crosstalk. 
   It is recalled that inter-symbol crosstalk consists in the reception of the data (also termed symbols) being scrambled through the simultaneous reception of the correct data and of a tailoff of the previous data item or even of the previous but one. 
   An important aim of the invention is therefore to propose a method and a device exhibiting spectral occupancy equivalent to that exhibited by GMSK modulation, without introducing inter-symbol crosstalk. 
   Another aim of the invention is to propose a method that is easy to implement. 
   To achieve these aims, the invention proposes a method of transmitting digital data exhibiting a rate T by means of a frequency modulator able to modulate as a function of the data, a central carrier frequency f 0  at a first frequency value f 0 +¼T and/or a second frequency value f 0 −¼T, this process being characterized in that it comprises the step consisting in modulating the central carrier frequency f 0  from one of the frequency values to the other during a time interval T, via successive frequency stages. 
   Thus, instead of going directly from a first frequency value corresponding to a first value of a data item, to a second frequency value corresponding to a second value of a data item, one goes from the first frequency to the second through successive frequency stages. 
   The frequency spectrum corresponding to these staged changes of frequency exhibits a faster decrease than the spectrum of an “MSK” modulation. 
   This staged change of frequency furthermore exhibits the advantage of consuming less energy at high frequency than during instantaneous changes of frequency such as in the case of “MSK” modulation, this energy gain then being in part carried over to the central lobe of the spectrum, thus giving it a slightly wider useful band than in the case of “MSK” modulation and resulting in a gain in the signal/noise ratio with respect to “MSK”, for identical conditions. 
   According to a characteristic of the invention, the frequency stages for going from f 0 −¼T to f 0 +¼T are the same in absolute value as the frequency stages for going from f 0 +¼T to f 0 −¼T. 
   The number of frequency stages for going from one of the frequency values to the other is preferably equal to 16. 
   The method applies in particular when the digital data are transmitted between a reference station and a mobile of a satellite-based positioning system. 
   Also, the subject of the invention is not only the method of transmitting data, the gist of which has just be described, but also a device able to implement a frequency modulation at a rate T according to two predetermined frequencies. This device comprises means for shaping the said modulation as several frequency stages during a time interval T. 
   This device comprises a microprocessor able to program the frequency stages and preferably, linked to the microprocessor, a device able to shape the modulation as a function of data to be transmitted and of the programmed stages. 
   Finally, a subject of the invention is a frequency modulator, characterized in that it comprises a device able to shape a frequency modulation as described and a device for generating instantaneous frequencies. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
     Other characteristics and advantages of the invention will become apparent on reading the detailed description which follows and which is given with reference to the appended drawings in which:
         the curves represented diagrammatically in  FIG. 1  illustrate the variation of the frequency spectrum of a modulator of “MSK” type (curve a) and “GMSK” type (curve b);     FIGS. 2   a ),  2   b ) and  2   c ) diagrammatically represent, as a function of time t, respectively an example of binary data to be transmitted, and the corresponding frequency and phase modulations;     FIG. 3  diagrammatically represents as a function of time t, the frequency modulations corresponding to an input signal comprising the data −1, 1, −1 for a conventional “MSK” modulation (curve a) and for an exemplary modulation according to the invention designated “MSK16” (curve b);     FIG. 4  diagrammatically represents as a function of time t, the “MSK” modulation (curve a) and “MSK16” modulation (curve b) for an input signal comprising the data −1, 1, 1, −1, 1, 1, −1, 1, −1, 1;     FIG. 5  diagrammatically represents as a function of time, the phase variations corresponding to the said “MSK” modulation (curve a) and “MSK16” modulation (curve b) for an input signal comprising the data −1, 1, 1, −1, 1, 1, −1, 1, −1, 1;     FIG. 6  diagrammatically represents the frequency spectra of an “MSK” modulation at 400 baud (curve a) and of an “MSK16” modulation at 400 baud (curve b);     FIG. 7  diagrammatically represents an exemplary device able to implement the method according to the invention.       

   

   The frequency modulation according to the invention is based on an “MSK”-type modulation. 
   DESCRIPTION OF THE PREFERRED EMBODIMENT 
   The features of the frequency modulation of “MSK” type are briefly recalled on the basis of an example described in conjunction with  FIGS. 2   a ),  2   b ) and  2   c ). 
   This is of course a constant-amplitude modulation. 
   The binary data to be transmitted, represented in  FIG. 2   a ), each have a duration T also referred to as the data rate. As represented in  FIG. 2   b ), each data item is transmitted as a frequency, for a duration T according to the following characteristics: 
   a) +1 is represented by the first frequency f 0 +¼T, 
   b) −1 is represented by the second frequency f 0 −¼T, 
   f 0  being the central carrier frequency. 
   With this frequency modulation may be associated over the duration T, a variation of the phase according to the following formula: 
   
     
       
         
           
             
               
                 φ 
                 = 
                 
                   
                     ∫ 
                     0 
                     T 
                   
                   ⁢ 
                   
                     2 
                     ⁢ 
                     π 
                     ⁢ 
                     
                         
                     
                     ⁢ 
                     
                       f 
                       ⁡ 
                       
                         ( 
                         t 
                         ) 
                       
                     
                     ⁢ 
                     
                       ⅆ 
                       t 
                     
                   
                 
               
             
             
               
                 ( 
                 1 
                 ) 
               
             
           
         
       
     
   
   The deviation ¼T is chosen in such a way that the corresponding phase φ, represented in  FIG. 2   c ), varies linearly between −π/2 and π/2. 
   On reception, phase demodulation is often preferred to frequency demodulation. 
   The method according to the invention consists in going from one frequency to the other according to successive stages in such a way as to attain the desired frequency (f 0 ±¼T) at the end of the duration T. Thus, at the end of a time T, the corresponding phase φ attains the same value (±π/2) as in the case of “MSK” modulation; this makes it possible on reception to phase-demodulate the data received whether they have been modulated according to conventional “MSK” modulation or according to the invention. 
   In what follows, consideration is given to an example of frequency modulation with 16 frequency stages, the carrier frequency f 0  taking values between 1.6 and 3.5 MHz, in particular 1.8146 MHz, the rate T corresponding to 400 Hz and ¼T being equal to 100 Hz. The data thus modulated in this HF (high frequency) range are transmitted by means of a suitable antenna, in this instance a large antenna. 
   The number of stages may take other values such as, for example, 8 or 32. 
   Illustrated in  FIG. 3  is this example of frequency modulation for an input signal comprising the data −1, 1, −1. Curve a) corresponds to conventional “MSK” modulation and exhibits two frequency states; curve b) corresponds to the modulation according to the invention referred to as “MSK16” since the modulation is shaped as 16 frequency stages. 
   As regards the “MSK16” curve (b), the frequency f 0 +¼T normalized in the figure to +1 is attained at the 16th stage; likewise, the frequency f 0 −¼T normalized in the figure to −1 is attained at the 16th stage. In order for a receiver able to demodulate data modulated according to an “MSK” modulation to be compatible with a modulation according to the invention, “MSK16” for example, it is necessary for the phase to be equal to ±π/2 at the end of the time T. This is why, having regard to relation (1), certain frequency stages exceed (in absolute value) the frequency to be attained. 
   The “MSK16” curve (b) which, in order to go from the frequency −1 to the frequency +1 with a phase variation equal to ±π/2, exhibits 16 frequency stages of the form k i ×(¼T), i varying from 1 to 16, was obtained with the following coefficients k i : 
   
     
       
             
             
             
             
             
           
         
             
                 
                 
             
           
           
             
                 
               −0.703 
               −0.413 
               −0.12 
               +0.173 
             
             
                 
               +0.466 
               +0.76 
               +1.053 
               +1.346 
             
             
                 
               +1.64 
               +1.933 
               +2.226 
               +2.053 
             
             
                 
               +1.791 
               +1.528 
               +1.266 
               +1 
             
             
                 
                 
             
           
        
       
     
   
   Likewise, the 16 frequency stages for going from +1 to −1 were obtained with the opposite coefficients: 
   
     
       
             
             
             
             
             
           
         
             
                 
                 
             
           
           
             
                 
               +0.703 
               +0.413 
               +0.12 
               −0.173 
             
             
                 
               −0.466 
               −0.76 
               −1.053 
               −1.346 
             
             
                 
               −1.64 
               −1.933 
               −2.226 
               −2.053 
             
             
                 
               −1.791 
               −1.528 
               −1.266 
               −1 
             
             
                 
                 
             
           
        
       
     
   
   Of course, as in the case of “MSK”, the frequency remains stable when the data do not change; illustrated in  FIG. 4  are the “MSK” modulation (curve a) and “MSK16” modulation (curve b) for an input signal comprising the data −1, 1, 1, −1, 1, 1, −1, 1, −1, 1. The differences between these two curves appear only at the changes of frequency. 
   The phase variations of this input signal are illustrated in  FIG. 5 : curves a and b corresponding respectively to the “MSK” and “MSK16” modulations. The phases vary by ±π/2 over T in both cases, the phase of curve b) first lagging slightly behind that of curve a) and subsequently catching it up. 
   The frequency spectrum of an “MSK16” modulation at 400 baud exhibits, as illustrated in  FIG. 6 , curve b a faster decrease than the spectrum of an “MSK” modulation at 400 baud also, illustrated by curve a. At 1000 Hz, one clearly obtains a sidelobe situated at around −50 dB of the central lobe and the sidelobes are much less marked. 
   This staged change of frequency furthermore exhibits the advantage of consuming less energy at high frequency than during instantaneous changes of frequency, as in the case of “MSK” modulation, this energy gain then being in part carried over to the central lobe of the spectrum which is flatter in the case of “MSK16” modulation than in that of “MSK” modulation and thus gives it a slightly wider useful band and therefore a signal/noise ratio higher by around 2 dB, for identical conditions. 
   As has been seen, as far as reception is concerned, conventional phase or frequency demodulation corresponding to “MSK” modulation may be performed. 
   As represented in  FIG. 7 , the method according to the invention is implemented by a modulator comprising a device  1  for shaping the modulation as 16 stages, which is linked to a device  2  able to generate the instantaneous frequency using, for example, a “DDS” function, the acronym standing for “Direct Digital Synthesis”, this device itself being linked to a power amplifier  3 . When the carrier frequency lies in a frequency range other than the HF range, a frequency transposition circuit may possibly be added between the device  2  and the amplifier  3 . 
   The device  1  for shaping the modulation as 16 frequency stages comprises means  10  for programming the 16 stages, included for example in a microprocessor, these means  10  being linked to means  20  for shaping the modulation as a function of the data to be transmitted and of the frequency stages such as programmed. 
   These means  20  for shaping the modulation may be included in the microprocessor. 
   These means  20  for shaping the modulation preferably comprise an “FPGA”, the acronym standing for “Field Programmable Gate Array”, linked to the microprocessor. The “FPGA” comprises, on the one hand and traditionally, means  21  for temporally adapting the data to be transmitted and, on the other hand, means  22  for providing the “DDS” type device with the instructions for generating the frequencies corresponding to the data modulated according to an “MSK16” modulation. 
   Such a modulator which makes it possible to obtain a frequency spectrum exhibiting the same advantages as that obtained by a “GMSK”-type modulator, is however of simpler design insofar as it does not use any Gaussian filter. 
   Moreover, by eliminating the Gaussian filter, it eliminates the corresponding part of the analog processing (filtering) of the data, thereby simplifying overall the management and the reliability of the modulator. 
   Furthermore, it exhibits no inter-symbol crosstalk. 
   It will be readily seen by one of ordinary skill in the art that the present invention fulfills all of the objects set forth above. After reading the foregoing specification, one of ordinary skill will be able to affect various changes, substitutions of equivalents and various other aspects of the invention as broadly disclosed herein. It is therefore intended that the protection granted hereon be limited only by the definition contained in the appended claims and equivalents thereof.