CN109283555A - It defends and leads Wave beam forming ways for inference prohibition - Google Patents
It defends and leads Wave beam forming ways for inference prohibition Download PDFInfo
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- CN109283555A CN109283555A CN201811142261.1A CN201811142261A CN109283555A CN 109283555 A CN109283555 A CN 109283555A CN 201811142261 A CN201811142261 A CN 201811142261A CN 109283555 A CN109283555 A CN 109283555A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Radar, Positioning & Navigation (AREA)
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- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
One kind disclosed by the invention, which is defended, leads Wave beam forming ways for inference prohibition, it is desirable to provide one kind can accurately control antenna array beam shaped signal phase Beamforming Method.The technical scheme is that: calibration phase, radio-frequency front-end will be sent to digital receiver after M array element signals and calibration weight vector Beam synthesis；Digital receiver handles to obtain the carrier phase data of present satellites by capture and tracking, and sends it to array signal processing module；Array signal processing module is normalized according to carrier phase data configuration complex variable I/Q data；Array signal processing module calculates satellite incident orientation angle and pitch angle according to the information that inertial navigation provides, and carries out fitting of a polynomial in conjunction with normalization data, constructs array prevalence vector look-up table LUT；Wave beam forming stage, array signal processing module carry out interpolation in LUT and obtain the steering vector of present satellites, reuse MVDR beamforming algorithm and obtain the signal of phase stabilization.
Description
Technical field
The present invention relates to navigation satellite signal process field, it is applied to using array received and processing navigation satellite signal
System in, inhibit interference, promote signal-to-noise ratio and the centrical Beamforming Method of stable phase.
Background technique
It is the system based on radio distance-measuring that global navigation satellite, which positions (referred to as defend and lead) system, it can provide whole day
It waits, the navigation and positioning service of round-the-clock.Antenna is the key component for realizing radio signal reception, by receiver to difference
The satellite-signal of direction incidence measures, and obtains the distance at different satellites arrival receiving antennas, to realize that geometry intersects
Positioning.Traditional lead antenna of individually defending provides hemispheric covering, to receive the satellite-signal that may be from all directions, tool
There is stable phase center, meets the foundation of geometry crossing location.However, the transmission power of satellite-signal is limited, usual SNR
Between -20dB~-30dB, it is lost through long-distance path attenuation and atmosphere, reaches the signal power ten of earth surface
Point faint, satellite navigation system is highly prone to interfere.In order to guarantee that receiver can work normally, by digital beam forming technology
Applied to satellite navigation receiver, can according to the different spaces feature of signal, interference and multipath, be adjusted flexibly array weight with
" null " of the main beam for being directed toward satellite and alignment interference, multipath is formed, to reach enhancing signal, inhibit interference and multipath
Purpose, guarantee availability of the satellite navigation system under interference environment.
The Project Realization of satellite navigation receiver digital beam forming technology is involved in the problems, such as many aspects, wherein interference and
Multipath is two hang-ups that satellite navigation receiver faces.It is actually receiving in environment, the signal from satellite is in communication process
In be often subject to antenna nearby in environment the effect of reverberation (building, ground and water surface etc.) and generate multipath signal.It is this kind of
Multipath signal belongs to delay multipath in short-term more, and power is generally relatively strong.The multipath as caused by Adjacent Buildings or trees is seldom, usual feelings
All be under condition by receiving antenna near the multipath that is formed of ground return.Multipath can make the synthesis (through plus multipath) of receiver
Correlation function between signal and locally generated reference signal generates distortion, while can also cause to receive signal synthesis phase
Distortion, introduces error on pseudorange and carrier-phase measurement, thus the error for causing Position, Velocity and Time to resolve.Number
Beam-forming technology has apparent advantage in terms of solving interference and multipath.Digital beam forming technology, which is that one kind is novel, to be defended
Star navigation system enhancements inhibit null by the way that satellite direction is formed high-gain wave beam and formed to interference and multipath, can
The quality of reception and positioning accuracy of satellite-signal are effectively improved, is provided with for continuity, integrity and the availability of navigation system
It tries hard to keep barrier.
Array weight standard is the core of digital beam forming technology, it is the theoretical foundation of determining array weight, and
Determine the accessible optimum performance of antenna array receiver.Prior information error is to influence antenna array beam position and anti-interference
An important factor for anti-multipath performance.A variety of array weight Optimality Criterias are required to the auxiliary of receiver prior information, such as wave beam control
Criterion processed, maximum Signal to Interference plus Noise Ratio criterion, minimum variance DCMV criterion, minimum variance is undistorted MVDR criterion etc..
The common undistorted MVDR criterion of minimum variance is by making desired signal is undistorted to pass through in field of satellite navigation
(unit gain), and interference and the noise power in array output are minimum, which attempts to overcome delay additive process resolution
The low disadvantage of power forms a wave beam in desired observed direction using some freedom, while using remaining freedom degree dry
It disturbs sense and forms null, require no knowledge about the prior information of any satellite-signal and receiver, can adaptively interfere
Null is formed with multipath direction, and is realized simple.Minimum variance distortionless response MVDR algorithm carries out accurate target bearing and estimates
Meter is established on the basis of array elements can work normally, and in practical application, device aging, by factors such as extraneous physical damages
It all may cause element failure, the width that element failure can destroy uniform straight line array is mutually distributed, and causes beam side lobe grade to increase, main lobe
The problems such as beam-broadening, influences the validity and reliability of MVDR algorithm orientation estimation.Since the weight vector of MVDR algorithm is expressed
Contain desired signal steering vector in formula, and desired signal steering vector generally passes through satellite position, receiver location and day
Linear array Attitude Calculation obtains, when receiver is cold-started under disturbed condition, since receiver location can not be obtained before AF panel,
The algorithm can not work normally.On the other hand, the amplitude phase unbalance between bay may cause steering vector evaluated error, from
And the array performance of algorithm is caused to decline.The key of the algorithm is the acquisition of steering vector, once there are strong jamming in environment, that
The output signal of single array channel will be unable to be captured and trace into, thus also be unable to get steering vector.With array element width
Phase inconsistency increases, and the carrier-to-noise ratio loss of MVDR algorithm is bigger, this is because array element amplitude phase unbalance causes steering vector
Error, the beam position for causing MVDR algorithm to be formed deviate from true satellite direction.Based on the high-precision of carrier phase measurement
Spend relative positioning in, multiple antennas it is each will lead to defend to lead to difference deviation is generated in range measurement, MVDR algorithm violates geometry
The premise of crossing location.In brief, do not have stable phase center after ARRAY PROCESSING so that with high-precision phase
To the landing of location requirement/can not benefit in warship/air refuelling guidance.Therefore, it is led to reduce array signal processing to defending
The destruction of ranging information in signal, needs the array antenna such as to calibrate.
Summary of the invention
The purpose of the present invention is the interference environment faced for satellite navigation receiver, multi-path environment, complexity electromagnetism ring
To sensibility and the shortcomings of the prior art place of multipath signal, providing one kind can accurately be controlled for border and receiver
Antenna array beam shaped signal phase realizes that stable the defending based on carrier phase of displaced phase center leads two step wave beam shapes
At method.
Above-mentioned purpose of the invention can be reached by the following measures.One kind, which is defended, leads Wave beam forming ways for inference prohibition,
It is characterized in that comprising the following steps: calibration phase, M array element array antenna radiofrequency signal is down-converted to intermediate frequency by radio-frequency front-end to be believed
Number, and the digital signal and calibration beam weight vector units matrix I that sampling is obtainedM×MIt is sent to after Beam synthesis and defends conducts digital and connect
Receipts machine defends conducts digital receiver and sets each channel to capture the tracking mode of current i-th satellites in view；Conducts digital is defended to connect
Receipts machine handles to obtain the carrier phase data of satellite i by capture and tracking, and sends it to array signal processing module；
Array signal processing module constructs complex variable IQ calibration data according to the amplitude and phase of carrier phase data, and IQ calibration data is pressed
Calibration data is normalized as reference array element in the array element for being 1 according to numberAccording to used
Property navigation system provide array antenna attitude angle, the position of satellite i and the position of reference array element, calculate present satellites i exist
Incident orientation angle θ under antenna coordinate systemiWith pitch angle φi；It repeats the above process, array signal processing module is according to collecting
The more satellites in view arrived are in azimuth angle theta in different time periodsi, pitch angle φi, and normalization calibration dataIt carries out multinomial
Formula fitting, constructs the array prevalence vector look-up table LUT under pure airspace environment；Wave beam forming stage, array signal processing module
The information provided according to inertial navigation system calculates incident orientation angle of the current visible satellite under antenna coordinate systemAnd pitch angleRecycle incident orientation angleAnd pitch angleLinear interpolation is carried out in array prevalence vector look-up table LUT obtains guiding arrow
Measure acal, while utilizing steering vector acalCompletion minimum variance distortionless response Beam synthesis obtains anti-interference and accurate relatively fixed
The phase stabilization signal that capability coexists, and given defend conducts digital receiver processing output obtain ephemeris, almanac, pseudorange and
Carrier information.
The present invention compared with prior art, has the following beneficial effects:
1. the present invention establishes the array prevalence vector look-up table LUT under pure airspace environment, actual beam shape using in calibration phase
When at the stage, linear interpolation is carried out in array prevalence vector look-up table LUT and obtains steering vector, it is accurate to measure aerial array pair
The different response measurement values of different directions incoming signal, using the maximum Signal to Interference plus Noise Ratio of MVDR beamforming algorithm acquisition and accurately
Ground controls the phase of signal after beam forming, realizes the phase stabilization signal that anti-interference and Precise Relative Positioning ability coexists, energy
It is enough accurately to control antenna array beam shaped signal phase, realize the stabilization of antenna array beam displaced phase center, thus
It solves beam position and deviates true satellite direction, array element amplitude phase unbalance causes steering vector error, MVDR Wave beam forming
The problem of array performance decline of algorithm.
2. the present invention collects satellites in view incident orientation angle and pitch angle and IQ calibration data using in calibration phase,
Establish array prevalence vector look-up table；And pass through linear interpolation in real time in the Wave beam forming stage and obtain steering vector, it completes minimum
Variance is undistorted response Wave beam forming, this two steps Wave beam forming ways for inference prohibition, the statistical property of undesired signal, and
Array signal processing is reduced to the destruction for leading ranging information in signal is defended, needs to calibrate array antenna and device
Aging may cause element failure by factors such as extraneous physical damages, and the width for destroying uniform straight line array is mutually distributed, and is caused by wave beam
The problems such as valve grade increases, main lobe beam-broadening.
Present invention is particularly suitable for application in need the opposite application of precision of carrier phase measurement, very strong anti-interference ability and
Navigation satellite signal antenna array receiver processing system on altitude maneuver carrier platform.
Detailed description of the invention
The present invention is further illustrated with implementation with reference to the accompanying drawing, but does not therefore limit the present invention to the example
Among range.
Fig. 1, which is that the present invention is a kind of, defends the schematic illustration for leading Wave beam forming ways for inference prohibition.
Specific embodiment
Refering to fig. 1.According to the present invention, calibration phase need certain time collect some satellites in view incident orientations angle and
Pitch angle and IQ calibration data establish array prevalence vector look-up table.Therefore in calibration phase, radio-frequency front-end is by M array element battle array
Array antenna radiofrequency signal down-converts to intermediate-freuqncy signal, and the digital signal and calibration wave beam weight vector I that sampling is obtainedM×MIt is (i.e. single
Bit matrix) it is sent to after Beam synthesis and defends conducts digital receiver, and each channel of conducts digital receiver will be defended to be set as capture current
The tracking mode of i-th satellites in view；Conducts digital receiver is defended to handle to obtain the carrier phase number of satellite i by capture and tracking
According to, and send it to array signal processing module；Array signal processing module is according to the amplitude and phase of carrier phase data
Complex variable IQ calibration data is constructed, IQ calibration data is normalized according to reference array element (being typically chosen the array element that number is 1)Array signal processing module provides array antenna according to inertial navigation system (abbreviation inertial navigation)
Attitude angle, the position of present satellites i and the position of reference array element calculate incident orientation angle of the present satellites i under antenna coordinate system
θiWith pitch angle φi；It repeats the above process, the more satellites in view that array signal processing module collection obtains are in different time sections
Azimuth angle thetai, pitch angle φiWith normalization calibration dataIt recycles these data to carry out fitting of a polynomial, makes array
Popular vector look-up table LUT.
Calibration phase,
Array signal processing module is according to more satellites in view in azimuth angle theta in different time periodsi, pitch angle φiAnd normalization
Calibration dataThe n-order polynomial of j-th of array element is calculated using least square method's
Fitting coefficient αkj, in which: ajFor array prevalence vector, n representative polynomial order, k is constant.
Array signal processing module utilizes n-order polynomial fitting formulaFitting coefficient αkjIt is calculated, obtains the array of j-th of array element
Popular vector look-up table LUT.
Wave beam forming stage, the information that array signal processing module is provided according to inertial navigation system calculate current visible and defend
Incident orientation angle of the star under antenna coordinate systemAnd pitch angleRecycle incident orientation angleAnd pitch angleIn array prevalence
Linear interpolation is carried out in vector look-up table LUT obtains steering vectorCalculation formula is such as
Under:
Wherein, αj(j=2,3 ..., M), tmp1 and tmp2 are to solve for steering vector acalIn j-th of array prevalence vector αj's
Temporary variable.
Array signal processing module utilizes steering vector acalCalculate minimum variance distortionless response MVDR Wave beam forming most
Excellent weightWherein H indicates conjugate transposition, and R is the second-order statistic covariance matrix of array signal
Inverse matrix.
Array signal processing module carries out Wave beam forming using best initial weights w, passes through Beam synthesis calculation formula y=wTx
The value for calculating Beam synthesis signal y, obtains the phase stabilization signal that anti-interference and accurate relative positioning ability coexists, wherein T table
Show that transposition, x indicate array signal.
Array signal processing module gives Beam synthesis signal y and defends conducts digital receiver, defends the processing output of conducts digital receiver
Obtain ephemeris, almanac, pseudorange and carrier information.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive
's.Those skilled in the art understand that it can be carried out in the spirit and scope defined by the claims in the present invention it is many change,
It modifies, is even equivalent, but falling in protection scope of the present invention.
Claims (7)
1. one kind, which is defended, leads Wave beam forming ways for inference prohibition, characterized by comprising the steps of: calibration phase, radio-frequency front-end will
M array element array antenna radiofrequency signal down-converts to intermediate-freuqncy signal, and the digital signal and calibration wave beam weight vector that sampling is obtained
Unit matrix IM×MIt is sent to after Beam synthesis and defends conducts digital receiver, defended conducts digital receiver and be set as capturing by each channel and work as
The tracking mode of preceding i-th satellites in view；Conducts digital receiver is defended to handle to obtain the carrier wave phase of satellite i by capture and tracking
Position data, and send it to array signal processing module；Array signal processing module according to the amplitudes of carrier phase data and
Phase formation complex variable IQ calibration data, IQ calibration data are normalized according to the array element that number is 1 as reference array element
To normalization calibration dataAccording to the appearance for the array antenna that inertial navigation system provides
State angle, the position of satellite i and reference array element position, calculate incident orientation angle θ of the present satellites i under antenna coordinate systemiWith
Pitch angle φi；It repeats the above process, the more satellites in view that array signal processing module is obtained according to collection are in different time sections
Azimuth angle thetai, pitch angle φi, and normalization calibration dataFitting of a polynomial is carried out, the battle array under pure airspace environment is constructed
Arrange popular vector look-up table LUT；Wave beam forming stage, the information meter that array signal processing module is provided according to inertial navigation system
Calculate incident orientation angle of the current visible satellite under antenna coordinate systemAnd pitch angleRecycle incident orientation angleAnd pitching
AngleLinear interpolation is carried out in array prevalence vector look-up table LUT obtains steering vector acal, while utilizing steering vector acal
It completes minimum variance distortionless response Beam synthesis and obtains the phase stabilization signal that anti-interference and Precise Relative Positioning ability coexists,
And given defend conducts digital receiver processing output obtain ephemeris, almanac, pseudorange and carrier information.
2. defending lead Wave beam forming ways for inference prohibition as described in claim 1, it is characterised in that: calibration phase, array signal
Processing module is according to more satellites in view in azimuth angle theta in different time periodsi, pitch angle φiWith normalization calibration dataBenefit
The n-order polynomial of j-th of array element is calculated with least square methodFitting coefficient αkj,
In: ajFor array prevalence vector, the order of n representative polynomial, k is constant.
3. defending lead Wave beam forming ways for inference prohibition as described in claim 1, it is characterised in that: array signal processing module benefit
With n-order polynomial fitting formulaFitting coefficient αkjIt is calculated,
Obtain the array prevalence vector look-up table LUT of j-th of array element.
4. defending lead Wave beam forming ways for inference prohibition as described in claim 1, it is characterised in that: Wave beam forming stage, array
The information that signal processing module is provided according to inertial navigation system calculates incidence side of the current visible satellite under antenna coordinate system
Parallactic angleAnd pitch angleRecycle incident orientation angleAnd pitch angleIt is carried out in array prevalence vector look-up table LUT linear
Interpolation obtains steering vectorCalculation formula is as follows:
Wherein, αj(j=2,3 ..., M), tmp1 and tmp2 are to solve for steering vector acalIn j-th of array prevalence vector αjFace
Variations per hour.
5. defending lead Wave beam forming ways for inference prohibition as described in claim 1, it is characterised in that: array signal processing module benefit
With steering vector acalCalculate the best initial weights of minimum variance distortionless response MVDR Wave beam forming
Wherein H indicates conjugate transposition, and R is the inverse matrix of the second-order statistic covariance matrix of array signal.
6. defending lead Wave beam forming ways for inference prohibition as claimed in claim 5, it is characterised in that: array signal processing module benefit
Wave beam forming is carried out with best initial weights w, passes through Beam synthesis calculation formula y=wTX calculates the value of Beam synthesis signal y, obtains
The phase stabilization signal that anti-interference and accurate relative positioning ability coexists, wherein T indicates that transposition, x indicate array signal.
7. defending lead Wave beam forming ways for inference prohibition as described in claim 1, it is characterised in that: array signal processing module handle
Beam synthesis signal y, which gives, defends conducts digital receiver, defends the processing output of conducts digital receiver and obtains ephemeris, almanac, pseudorange and load
Wave information.
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Cited By (6)
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| CN111030748A (en) * | 2019-12-24 | 2020-04-17 | 中国电子科技集团公司第五十四研究所 | Digital beam forming terminal device for satellite communication |
| CN111044047A (en) * | 2019-12-18 | 2020-04-21 | 北京电子工程总体研究所 | Direction angle track prediction method based on fractional approximation |
| CN111538042A (en) * | 2020-05-07 | 2020-08-14 | 中国人民解放军海军航空大学 | Array anti-satellite navigation signal multipath method based on matrix reconstruction algorithm |
| CN113253305A (en) * | 2021-04-30 | 2021-08-13 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Method for obtaining satellite incident signal guide vector by array antenna |
| CN113447964A (en) * | 2021-06-15 | 2021-09-28 | 深圳市远东华强导航定位有限公司 | RNSS (radio network subsystem) assistance-based RSMC (remote subscriber identity Module) receiving method |
| CN115015973A (en) * | 2022-08-09 | 2022-09-06 | 龙旗电子(惠州)有限公司 | GPS interference detection method, device, equipment and storage medium |
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