CN102879790A - Anti-interference system and method based on digital beam forming and space-time zeroing cascade - Google Patents
Anti-interference system and method based on digital beam forming and space-time zeroing cascade Download PDFInfo
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Abstract
The invention provides an anti-interference system and an anti-interference method based on digital beam forming and space-time zeroing cascade. The method is to cascade the digital beam forming and space-time zeroing, thus, the interference resistance of the whole system can be improved. The anti-interference system comprises an antenna array, a radio frequency module and an anti-interference processing module which are connected in sequence, wherein the anti-interference processing module comprises a digital beam forming module and a space-time zeroing processing module; the digital beam forming module is used for weighting and synthesizing various antenna array element signals into a reference beam signal pointed to a satellite, and synchronously obtaining an orthogonal vector signal orthogonal to a steering vector; output of the digital beam forming module is cascaded to the space-time zeroing processing module; and the space-time zeroing processing module is used for carrying out self-adaptive zeroing interference resistance processing to an interference signal in the reference beam signal, removing the interference signal in the reference beam signal, and outputting an effective satellite signal.
Description
Technical field
The present invention relates to the Satellite Navigation Technique field, particularly a kind of satellite navigation jamproof system and method that forms zeroing cascade when empty based on digital beam.
Background technology
At present, GPS (Global Position System) (GNSS, Global Navigation Satellite System) mainly comprises the GPS of the U.S., Muscovite GLONASS, the dipper system of China, and the GALILEO system in Europe.The easy disturbed problem of the signal of GPS (Global Position System) (GNSS) ubiquity when receiving.Take the GPS of the U.S. as example, if jamming power surpasses gps signal received power 24dB, the C/A code receiver of commercial GPS can't keep the tracking to signal.Test shows, power is that the jammer of 1W can make 85 kilometers can't work with interior C/A code receiver.
Many borders are very high to the anti-interference requirement of GNSS receiver.The difference net base station of GNSS, receiver should require interference free performance; During the GNSS of communication network base station and mobile telephone network base station base should by interference free performance preferably receiver provide; Marine's activity can't guarantee that oneself does not work in unfriendly even hostile environments in the world.Near the aviation airport, aircraft closely advances herein mutually, and the management on airport and scheduling require the GNSS signal that more high precision and interference-free the threat are arranged.Desing Of Urban Network, geodetic surveying, precise engineering survey, earth movement monitoring and resource exploration etc., and the special applications that is related to security department all needs the GNSS receiver to have certain antijamming capability.
Disturb for navigation signal, dividing from technical system has pressing type interference, deception formula to disturb and the three-dimensional interference that distributes.It is that undesired signal by transmitter is launched certain level is lived the signal compacting of GNSS receiver front end that pressing type disturbs, and makes receiver not receive satellite-signal; It is exactly to have identical parameters but the different glitch of information code by the transmitter emission from the GNSS signal that the deception formula is disturbed, and makes receiver receive location of mistake information; Distributed three-dimensional the interference refers to carry out the omnibearing stereo interference on ground and aerial applications multi-section multiple types jammer.Concrete jamming signal type is varied, such as broadband gaussian noise, continuous wave, swept continuous wave, pulsed continuous wave, Amplitude Modulation Continuous Wave, arrowband/wideband frequency modulation signal etc.
The development of the Anti-Jamming Technique of GNSS receiver mainly comprises following three kinds of technology: 1, time domain, frequency domain filtering technology: this technology realizes at digital intermediate frequency.It is used for DFT (discrete Fourier transform (DFT)) technology the processing of digital medium-frequency signal.Be treated to example with simple frequency domain amplitude, if in the signal without Radio frequency interference (RFI), thermal noise power spectrum is quite uniform in frequency domain; If there is the arrowband to disturb in the signal, it will have unusual spectral line at frequency domain, and this unusual spectral line is filtered by self-adaptation before DFT inverts.Mitre company has developed a kind of GPS arrowband and has disturbed frequency domain to remove chip.2, airspace filter technology: adaptive array zeroing technology is applied to the GNSS receiver.Adaptive antenna array comprises a plurality of bays, each array element links to each other with Microwave Net, and Microwave Net links to each other with a processor, processor is processed rear feedback regulation Microwave Net to the signal that comes from Microwave Net, gain and the phase generate of controlling each array element change, in antenna radiation pattern, produce the zero point facing to interference radiating way, disturb thereby offset.Zero falls into number is determined by the antenna number, general M the controlled M-1 of array element zero trapping spot.Ideally, adaptive antenna can make the interference free performance of GNSS receiver improve 40～50dB.3, space-time adaptive (STAP) technology: the airspace filter technology is compared with simple time domain, frequency domain technique, with the obvious advantage, and realize fairly simple, calculated amount is little, but there are 2 weak points: if 1. the array element number is M, the zero sunken number that this gust can produce at most is M-1, and this also is the interference number that this gust can be eliminated at most.This saying is not got rid of one zero and is fallen into the possibility that can eliminate two interference, because the aperture of battle array and carrier wavelength are although the angle intervals of the reality of two interference sources is larger, smaller with beam angle a magnitude.And in actual applications, consider the constraints such as expense, size, power, element number of array can be restricted, thereby reduces the Anti-jamming effectiveness of adaptive array.If 2. interference source from the angle intervals of certain GNSS satellite very close to, fall into to make the signal attenuation of this GNSS satellite get and can't use for the spatial domain zero of this interference.Although in fact interference is larger from the angle intervals of satellite, compare still smaller with the beam angle of battle array.And in order to eliminate the impact of different error sources, need the as much as possible signal of a GNSS satellite.For this deficiency, space-time adaptive (STAP) technology has been proposed on the basis of airspace filter technology, increasing time domain at airspace filter postpones, utilize spatial domain array and time domain to postpone to have made up a space-time two-dimensional filter, isolated from each array element passage, time-delays at different levels have consisted of FIR filtering, can remove in time domain and disturb; From identical time delay node, different array element has consisted of the auto adapted filtering in spatial domain, can differentiate the space interference source, forms spatial domain zero and falls into the interference of inhibition spatial domain; Can think that STAP has been generalized to empty time domain to airspace filter, or time-domain filtering has been generalized to space-time two-dimensional filtering to have the ability of disturbing in frequently two dimensional surface rejecting of sky.It has increased the degree of freedom of battle array widely under the prerequisite that does not increase array element, the raising of matter is arranged for the antijamming capability of arrowband interference.But it is large that its shortcoming is operand, realizes difficulty.
It also is the new technology of current development that digital beam during navigation signal is processed forms (DBF) technology, its basic thought is the directivity function product theorem that utilizes antenna array, by the directivity function of weighting on bay with the control antenna battle array, will be owing to the sensor poor compensation of phase of echo that the different propagation differences that cause cause in the locus is fallen, realization reaches control antenna battle array directional diagram and dynamically produces the high-gain narrow beam in the useful signal direction with superimposed.Form a plurality of wave beams, then can adopt the Beam-former of the manipulation vector of a plurality of sensing different directions.
Summary of the invention
The present invention proposes a kind of satellite navigation jamproof system and method that forms zeroing cascade when empty based on digital beam, digital beam is formed when empty zeroing process and carry out cascade, has improved the interference free performance of whole system.
The present invention can also form simultaneously a plurality of independently wave beams and carry out anti-interference process, the duty of this multi-beam, continuous conversion by weights realizes the flexible scanning of wave beam and quick prompt change of waveform, combining adaptive interference nulling simultaneously, each wave beam all can do with a plurality of interference come to.
Technical scheme of the present invention is:
A kind of jamproof system that forms zeroing cascade when empty based on digital beam, comprise the antenna array, radio-frequency module and the anti-interference process module that connect successively, it is characterized in that, described anti-interference process module comprises zeroing processing module when digital beam forms module and sky; Described digital beam forms module and is used for pointing to the steering vector that control information obtains according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; Described digital beam forms described zeroing processing module when empty of the output cascade of module, described when empty the zeroing processing module be used for receiving digital beam form module output the reference wave beam signal and with the orthogonal vector signal of steering vector quadrature, undesired signal in the reference wave beam signal is carried out the adaptive nulling anti-interference process, eliminate the undesired signal in the reference wave beam signal, export useful satellite-signal.
Described digital beam forms module and comprises steering vector computing module and orthogonal vector computing module, described steering vector computing module is according to inertial navigation system output and ephemeris predict, the Calculation of Satellite positional information, calculate simultaneously the angle of pitch and the position angle of visual field Satellite, obtain pointing to the N dimension steering vector of this satellite, so that the SINR of specified satellite maximization in the visual field; Described orthogonal vector computing module is tieed up input signal with N and is extracted one dimension as the reference beam signal, simultaneously N is tieed up input signal and multiply by the N-1 orthogonal dimension matrix acquisition N-1 dimension of N dimension steering vector and the orthogonal vector signal of steering vector quadrature.
The zeroing processing module comprises the anti-interference weights computing module of adaptive nulling during described sky, and the anti-interference weights computing module of described adaptive nulling calculates adaptive nulling weights by random gradient LMS adaptive algorithm with the N-1 orthogonal dimension vector signal of input under least-mean-square-error criterion.
A kind ofly comprise a plurality of associating jamproof systems that independently form zeroing cascade when empty based on digital beam, comprise the antenna array, radio-frequency module and the anti-interference process module that connect successively, it is characterized in that, described jamproof system comprises a plurality of independently anti-interference process subsystems, and each anti-interference process subsystem comprises respectively the processing module that returns to zero when the radio-frequency module, the digital beam that connect successively form module and sky; Described digital beam forms module and is used for pointing to the steering vector that control information provides according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; Described digital beam forms described zeroing processing module when empty of the output cascade of module, described when empty the zeroing processing module be used for receiving digital beam form module output the reference wave beam signal and with the orthogonal vector signal of steering vector quadrature, undesired signal in the reference wave beam signal is carried out the adaptive nulling anti-interference process, eliminate the undesired signal in the reference wave beam signal, export useful satellite-signal.
A kind of anti-interference method that forms zeroing cascade when empty based on digital beam, it is characterized in that, the anti-interference two parts technology that returns to zero when forming digital beam with sky combines, pass through digital beam forming technology, point to the steering vector that control information obtains according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; The zeroing Anti-Jamming Technique is carried out the adaptive nulling anti-interference process to the undesired signal in the reference wave beam signal of prediction during again by sky, eliminates the undesired signal in the reference wave beam signal, exports useful satellite-signal.
The described steering vector that obtains according to the sensing control information of satellite, refer to: according to inertial navigation system output and ephemeris predict, the Calculation of Satellite positional information, calculate simultaneously the angle of pitch and the position angle of visual field Satellite, obtain pointing to the steering vector of this satellite, so that the SINR of specified satellite maximization in the visual field; Described steering vector is obtained by following methods:
Suppose that element position is write as vector form and is
The signal pointing vector is
If the mould of signal pointing vector is 1, then the spherical coordinates of signal pointing vector is
Wherein,
Be the angle of signal pointing vector and z axle forward, θ is that the x axle rotates counterclockwise the angle that the arriving signal pointing vector turns in the xoy plane projection from z axle forward, and then the rectangular coordinate of signal pointing vector is expressed as:
The wave path-difference that signal arrives between each array element and the initial point is expressed as
It is the dot product of array element vector and signal phasor; The expression formula that obtains thus steering vector is:
The described reference wave beam signal that points to satellite that each bay signal weighting is synthesized refers to: according to the steering vector that points to this satellite, N is tieed up input signal extract one dimension as the reference beam signal, described one dimension reference wave beam signal is obtained by following methods:
If the N that system receives dimension array signal is:
X(θ)＝(x
0，x
1，…，x
N-1)
Maximum composite signal after digital beam forms is:
d＝X(θ)A
H(θ)
Wherein A (θ) is steering vector, A
H(θ) represent the conjugate transpose of steering vector A (θ); Then d is described one dimension reference wave beam signal, comprises whole signals of certain satellite among the d;
That obtain simultaneously and the orthogonal vector signal steering vector quadrature are remaining N-1 dimensional signal:
Y=X (θ) P
⊥(A
H(θ))=X (θ) (I-A
H(θ) A (θ)/(A (θ) A
HAny N-1 dimension (θ))) namely represents described N-1 orthogonal dimension vector signal; Wherein, P
⊥Represent rectangular projection, I represents unit matrix; Do not comprise any navigation signal among the Y.
The zeroing anti-interference process comprises that the anti-interference weights of adaptive nulling calculate during described sky, the anti-interference weights of described adaptive nulling calculate and refer to, N-1 orthogonal dimension vector signal is sent into sef-adapting filter process, described sef-adapting filter comprises two parts: 1. filtering: calculate linear filter output to the response of input signal; Then, produce evaluated error by comparing Output rusults territory Expected Response.2. adaptive process: according to estimating automatically to adjust filter parameter; These two processes are feedback loop of work group together; In the described filtering, Expected Response d (n) participates in processing with input vector x (n), a given input, and wave filter produces an output
Estimation as Expected Response d (n); Definition evaluated error e (n) is the poor of Expected Response and practical filter output, evaluated error e (n) and input vector x (n) are added to the adaptive control part, feedback loop around weight vector is closed loop, according to the random gradient LMS adaptive algorithm of Widrow and Hoff proposition, closed loop algorithm is as follows:
μ is step factor in the following formula, and w (n) is real-time weights, d
*Represent conjugate operation.
Described steering vector comprises the correction of antenna phase and magnitude and compensation, for the array signal X (θ) that receives=(x
0, x
1..., x
N-1), compensation is expressed as after revising:
X
correct(θ)＝(x
0，x
1/M
1(θ，φ)，…，x
N-1/M
N-1(θ，φ))
Following formula has carried out unified expression with the correction of phase and magnitude with compensation; M wherein
iEach bay that (θ, φ) expression measures and amplitude and the phase differential between the reference array element.
Described antenna array comprises nonuniform array or non-linear array, and described nonuniform array or non-linear array are owing to the phase differential that wave path-difference causes is: if for the unit vector of space incoming wave working direction be
Be the line direction of carrier and satellite, wave path-difference is that this vector and each array element are to the displacement vector r of reference array element
iInner product, then the compensating parameter of each array element is
The I road:
The Q road:
Wherein λ is wavelength.
Technique effect of the present invention:
The present invention is directed to many borders very high to the interference free performance requirement of GNSS (Global Navigation Satellite System) receiver, designed the jamproof system of zeroing cascade when forming with sky based on digital beam, comprise antenna array, radio-frequency module, three major parts of anti-interference process module, the antenna that can replace traditional GNSS receiver is connected with the baseband portion of navigation neceiver with radio frequency part, also can only replace antenna part and directly be connected with general GNSS navigation neceiver.Zeroing was processed and is carried out cascade when this system formed digital beam with sky, anti-interference the combining of zeroing when forming digital beam with sky, because the array gain that digital beam forms approximates array element number, the antijamming capability that N array element can improve is about N doubly, has therefore improved the interference free performance of whole system; And the present invention has also designed and has comprised a plurality of associating jamproof systems that independently form zeroing cascade when empty based on digital beam; comprise a plurality of anti-interference subsystems that independently form zeroing cascade when empty based on digital beam; can form simultaneously a plurality of independently wave beams and carry out anti-interference process; each subsystem can independently point to control and adaptive anti-jamming processing for certain satellite; and energy co-ordination; the duty of this multi-beam; continuous conversion by weights realizes the flexible scanning of wave beam and quick prompt change of waveform; while combining adaptive interference nulling; can do with a plurality of interference come to; protective capability to satellite-signal under complexity interference scene is stronger; the ability of pointing to satellite is stronger; possess stronger robustness, and width of cloth phase inconsistency between the receiving cable is had calibration capability.
Description of drawings
Fig. 1 is jamproof system embodiment one-piece construction schematic diagram of the present invention.
Fig. 2 is the jamproof system embodiment one-piece construction schematic diagram that possesses the up-conversion general-purpose interface of the present invention.
Fig. 3 is the cascade connection schematic diagram that the digital beam of jamproof system of the present invention forms module zeroing processing module when empty.
Fig. 4 is a plurality of associating jamproof system schematic diagram that independently form zeroing cascade when empty based on digital beam of the present invention.
Fig. 5 is the antenna gain directional diagram of a reality.
Fig. 6 is that the nonuniform array wave path-difference is calculated schematic diagram.
STAP filter construction schematic diagram when Fig. 7 is empty.
Fig. 8 is adaptive nulling LMS algorithm schematic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is described in further detail.
As shown in Figure 1, be jamproof system example structure schematic diagram of the present invention, comprise antenna array 3 (annotate: the number of array element 31 is variable, is the quaternary battle array in the schematic diagram), hyperchannel down coversion radio- frequency module 4,5 three major parts of anti-interference process module; The output of jamproof system is connected with GNSS satellite navigation receiver baseband portion 6.Amplification and the frequency inverted work of hyperchannel down coversion radio-frequency module 4 charge completion signals are converted to the Low Medium Frequency of digital signal processing with the GNSS carrier frequency signaling of input, simultaneously signal are amplified to the level that is fit to sampling; The digital medium-frequency signal of output enters anti-interference process module 5 and carries out anti-interference process, and the output signal after will processing through anti-interference process module 5 is again carried out resolving of Base-Band Processing and navigator fix.Another general connected mode as shown in Figure 2, radio frequency part 4 is except comprising hyperchannel down coversion radio-frequency module 41, also increase on the way frequency conversion radio-frequency module 42, be responsible for the intermediate-freuqncy signal of handling well is converted to carrier frequency again, guaranteed the versatility with GNSS receiver interface.Therefore the jamproof system of the present invention's design antenna that can replace traditional GNSS receiver is connected with the baseband portion of navigation neceiver with radio frequency part, also can only replace antenna part and directly be connected with general GNSS navigation neceiver.
The zeroing processing module was carried out cascade when anti-interference process module 5 of the present invention formed module with sky with digital beam, the cascade connection schematic diagram of zeroing processing module when as shown in Figure 3, digital beam forms module with sky in the anti-interference process module 5 of jamproof system of the present invention.The anti-interference process module comprises zeroing processing module when digital beam forms module and sky; Digital beam forms module and is used for pointing to the steering vector that control information obtains according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; Digital beam forms described zeroing processing module when empty of the output cascade of module, when empty the zeroing processing module be used for receiving digital beam form module output the reference wave beam signal and with the orthogonal vector signal of steering vector quadrature, undesired signal in the reference wave beam signal is carried out the adaptive nulling anti-interference process, eliminate the undesired signal in the reference wave beam signal, export useful satellite-signal.Digital beam forms module and comprises steering vector computing module and orthogonal vector computing module, the steering vector computing module is according to inertial navigation system output and ephemeris predict, the Calculation of Satellite positional information, calculate simultaneously the angle of pitch and the position angle of visual field Satellite, obtain pointing to the N dimension steering vector of this satellite, so that the SINR of specified satellite maximization in the visual field; The orthogonal vector computing module is tieed up input signal with N and is extracted one dimension as the reference beam signal, simultaneously N is tieed up input signal and multiply by the N-1 orthogonal dimension matrix acquisition N-1 dimension of N dimension steering vector and the orthogonal vector signal of steering vector quadrature.The zeroing processing module comprises the anti-interference weights computing module of adaptive nulling when empty, and the anti-interference weights computing module of adaptive nulling calculates adaptive nulling weights by random gradient LMS adaptive algorithm with the N-1 orthogonal dimension vector signal of input under least-mean-square-error criterion.
As shown in Figure 4, a kind ofly comprise a plurality of associating jamproof systems that independently form zeroing cascade when empty based on digital beam, comprise the antenna array, radio-frequency module and the anti-interference process module that connect successively, described jamproof system comprises a plurality of independently anti-interference process subsystems, and each anti-interference process subsystem comprises respectively the processing module that returns to zero when the radio-frequency module, the digital beam that connect successively form module and sky; Each subsystem can independently point to control and adaptive anti-jamming processing for certain satellite, and the energy co-ordination, and the assurance system is to effective covering of satellite-signal.As shown in Figure 4, be a plurality of independently anti-interference subsystem cascade connection schematic diagram of jamproof system of the present invention.Each anti-interference process subsystem comprises respectively the hyperchannel down coversion radio-frequency module DDC that connects successively, digital beam forms module DBF-1, zeroing processing module STAP-1 when empty, hyperchannel down coversion radio-frequency module DDC, digital beam forms module DBF-2, zeroing processing module STAP-2 when empty, ..., hyperchannel down coversion radio-frequency module DDC, digital beam forms module DBF-N, zeroing processing module STAP-N when empty, the intermediate-freuqncy signal IF_1 of parallel output after the anti-interference process, IF_2, ..., IF_N gives rear end baseband processing module and navigation calculation module.Digital beam forms module and is used for pointing to the steering vector that control information provides according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; Digital beam forms described zeroing processing module when empty of the output cascade of module, when empty the zeroing processing module be used for receiving digital beam form module output the reference wave beam signal and with the orthogonal vector signal of steering vector quadrature, undesired signal in the reference wave beam signal is carried out the adaptive nulling anti-interference process, eliminate the undesired signal in the reference wave beam signal, export useful satellite-signal.
A kind of anti-interference method based on digital beam zeroing cascade when empty, it is characterized in that, the anti-interference two parts technology that returns to zero when forming digital beam with sky combines, pass through digital beam forming technology, point to the steering vector that control information obtains according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; The zeroing Anti-Jamming Technique is carried out further anti-interference process to the undesired signal in the reference wave beam signal of prediction during again by sky, eliminates the undesired signal in the reference wave beam signal, exports useful satellite-signal.
Digital beam forms on the reference signal that difference with traditional adaptive nulling is it and has adopted phased-array technique, utilize the steering vector (namely array manifold) of satellite to make reference signal beam position satellite, because the actual physics such as array scale restriction, there is secondary lobe in reference wave beam in addition in non-satellite direction, undesired signal may enter from secondary lobe, therefore both had with satellite-signal in the reference signal and also have undesired signal, the traditional adaptive nulling of the output cascade that form at wave beam this moment is anti-interference can further to promote interference free performance.As shown in Figure 3, the steering vector output one dimension reference signal that N dimension input signal provides according to the sensing control information, the N-1 orthogonal dimension matrix of N dimension input signal and steering vector can obtain the projection of N-1 orthogonal dimension simultaneously, because the orthogonality of itself and steering vector, do not comprise satellite-signal in this N-1 dimension output signal, but include undesired signal, therefore can carry out by the adaptive nulling algorithm processing that offsets of undesired signal in the reference wave beam, the output after the interference cancellation is the satellite-signal in the beam position.
The described N dimension steering vector that is obtained by the sensing control information, refer to: generally according to inertial navigation system (INS) output and ephemeris predict, the Calculation of Satellite positional information, calculate simultaneously the angle of pitch and the position angle of visual field Satellite, accordingly, just can obtain pointing to the steering vector of this satellite, wave beam forms module according to this steering vector so that the SINR of specified satellite maximization in the visual field.
Digital beam forms need to be at the synthetic optimum signal of certain direction, and this N n dimensional vector n is exactly steering vector.In Array Signal Processing, generally represent array manifold with the N n dimensional vector n
Jamproof task find exactly with
The N right-safeguarding value vector W of quadrature, the sensing control module in the combined navigation handler is utilized ephemeris and Time Calculation co-ordinates of satellite, and it is scaled steering vector exports to wave beam and form module and preset zero point jamproof weights and calculate.
Suppose that element position is write as vector form and is
The signal pointing vector is
The mould of signal pointing vector is 1, and then its spherical coordinates is
Be the angle of signal pointing vector and z axle forward, θ is that the x axle rotates counterclockwise the angle that the arriving signal pointing vector turns in the xoy plane projection from z axle forward.The rectangular coordinate of signal pointing vector can be expressed as:
The wave path-difference that signal arrives between each array element and the initial point can be expressed as
It is the dot product of array element vector and signal phasor; The expression formula that obtains thus steering vector is:
According to inertial navigation system (INS) output and ephemeris predict, the Calculation of Satellite positional information, calculate simultaneously the angle of pitch and the position angle of visual field Satellite, with the angle of pitch and position angle substitution following formula, just can obtain pointing to the steering vector of this satellite, so that the SINR of specified satellite maximization in the visual field.
According to the expression formula of above-mentioned steering vector, if analyze as an example of one dimensional linear array example, can obtain steering vector and be:
The N dimension array signal that system receives is:
X(θ)＝(x
0，x
1，…，x
N-1)
Maximum composite signal after digital beam forms is:
d＝X(θ)A
H(θ)
A wherein
H(θ) represent the conjugate transpose of steering vector A (θ).D is described one dimension reference signal, forms principle according to wave beam, comprises whole signals of certain satellite among the d.
Residue N-1 dimensional signal is: Y=X (θ) P
⊥(A
H(θ))=X (θ) (I-A
H(θ) A (θ)/(A (θ) A
HAny N-1 dimension (θ))), wherein P
⊥Be rectangular projection, I represents unit matrix, and Y namely represents described N-1 orthogonal dimension vector signal, owing to being rectangular projection, do not comprise any navigation signal among the Y, any composition that can be predicted by Y among the d all is to disturb, by eliminate the interference in just can d of part that Y predicts out in d.
The zeroing anti-interference process comprises that the anti-interference weights of adaptive nulling calculate during described sky, and the anti-interference weights of adaptive nulling calculate, and generally adopt space-time adaptive two-dimensional process STAP technology.Space-time adaptive (STAP) technology utilizes spatial domain array and time domain to postpone to have made up a space-time two-dimensional filter.Isolated from each array element passage, time-delays at different levels have consisted of FIR filtering, can remove in time domain and disturb; From identical time delay node, different array element has consisted of the auto adapted filtering in spatial domain, can differentiate the space interference source, forms spatial domain zero and falls into the interference of inhibition spatial domain.Can think that STAP has been generalized to empty time domain to airspace filter, or time-domain filtering has been generalized to space-time two-dimensional filtering to have the ability of disturbing in frequently two dimensional surface rejecting of sky.
If array number is M, the time delay unit number is N.The time delay of each time delay unit is Ts.Weight w is MN * 1 right-safeguarding vector, and the two dimensional filter structure of composition as shown in Figure 7.
For this constrained optimization problem, under minimum mean square error criterion, calculate estimation of value representation of this weight vector gained by LMS (Least-Mean-Square) algorithm, when iterations is tending towards infinite, separate near Wei Na for the expectation value of this estimation of wide-sense stationary process.The space zeroing technology that draws based on this principle adopts the weighted value of adaptive algorithm correction antenna, so that the gain of each array element and phase generate change, thereby in the directional diagram of antenna array, produce facing to disturb source side to zero point, can effectively impel the strong jamming level to drop to low noise level, thereby reach jamproof purpose.
The LMS algorithm is a member in the stochastic gradient algorithm family.This algorithm uses the determinacy gradient in random input S filter recursive calculation.A distinguishing feature of LMS algorithm is its simplicity.In addition, it does not need to calculate relevant related function, does not need matrix inversion operation yet, is easy to realize.
In general, LMS comprises two basic processes:
■ filtering: at first, calculate linear filter output to the response of input signal; Then, produce evaluated error by comparing Output rusults territory Expected Response.
■ adaptive process: according to estimating automatically to adjust filter parameter.
Described when empty the zeroing anti-interference process exactly N-1 orthogonal dimension vector signal is sent into sef-adapting filter and is carried out the anti-interference weights of adaptive nulling and calculate, described sef-adapting filter comprises two parts: 1. filtering: calculate linear filter output to the response of input signal; Then, produce evaluated error by comparing Output rusults territory Expected Response.2. adaptive process: according to estimating automatically to adjust filter parameter; These two processes are feedback loop of work group together, as shown in Figure 8.
In filtering, Expected Response d (n) participates in processing with input vector y (n).In this case, a given input, wave filter produces an output
Estimation as Expected Response d (n).Therefore, can be defined as the poor of Expected Response and practical filter output to evaluated error e (n).Evaluated error e (n) and input vector y (n) are added to the adaptive control part, and therefore the feedback loop around weight vector is closed loop.According to the random gradient LMS adaptive algorithm of Widrow and Hoff proposition, closed loop algorithm is as follows:
μ is step factor in the following formula, and w (n) is real-time weights, d
*Represent conjugate operation.
For the DBF system, the demarcation of day wire spoke phase is the gordian technique of implementing with compensation.Because actual radio frequency and antenna are not desirable, radio frequency may be introduced stationary phase and move, and bay has different gains and phase place in different directions, and the antenna gain directional diagram of a reality may be as shown in Figure 5.The system master part need to also need to provide the undesirable penalty coefficient that brings of passage and radio frequency except needs provide directional information, and it is acted on the compensation correction of described N dimension steering vector.
In order to proofread and correct exactly the inconsistent impact of antenna, must carry out amplitude-phase to antenna and measure, measure gain, the phase differential M of each bay and reference array element
i(θ, φ).Concrete measuring method can adopt the darkroom method, also can utilize specially designed receiver algorithm to finish at open area.For the array signal X (θ) that receives=(x
0, x
1..., x
N-1), compensation is expressed as after revising:
X
correct(θ)＝(x
0，x
1/M
1(θ，φ)，…，x
N-1/M
N-1(θ，φ))
Following formula has carried out unified expression with the correction of phase and magnitude with compensation.
Because the restriction of the condition such as carrier, array can not be linear array, even may not be even battle array, therefore about the phase calculation of array manifold multiple proportions relation not necessarily just, need to obtain because the phase differential that wave path-difference causes.
As shown in Figure 6, the unit vector for space its working direction of incoming wave is
(being the line direction of carrier and satellite), then wave path-difference is that this vector and each array element are to the displacement vector r of reference array element
iInner product, the compensating parameter of each array element is
The I road:
The Q road:
Wherein λ is wavelength.
Should be pointed out that the above embodiment can make the invention of those skilled in the art's comprehend, but do not limit the present invention in any way creation.Therefore, although this instructions and embodiment have been described in detail to the invention,, it will be appreciated by those skilled in the art that still and can make amendment or be equal to replacement the invention; And all do not break away from technical scheme and the improvement thereof of the spirit and scope of the invention, and it all is encompassed in the middle of the protection domain of the invention patent.
Claims (10)
1. jamproof system that forms zeroing cascade when empty based on digital beam, comprise the antenna array, radio-frequency module and the anti-interference process module that connect successively, it is characterized in that, described anti-interference process module comprises zeroing processing module when digital beam forms module and sky; Described digital beam forms module and is used for pointing to the steering vector that control information provides according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; Described digital beam forms described zeroing processing module when empty of the output cascade of module, described when empty the zeroing processing module be used for receiving digital beam form module output the reference wave beam signal and with the orthogonal vector signal of steering vector quadrature, undesired signal in the reference wave beam signal is carried out the adaptive nulling anti-interference process, eliminate the undesired signal in the reference wave beam signal, export useful satellite-signal.
2. the jamproof system that forms zeroing cascade when empty based on digital beam according to claim 1, it is characterized in that, described digital beam forms module and comprises steering vector computing module and orthogonal vector computing module, described steering vector computing module is according to inertial navigation system output and ephemeris predict, the Calculation of Satellite positional information, calculate simultaneously the angle of pitch and the position angle of visual field Satellite, obtain pointing to the steering vector of this satellite, so that the SINR of specified satellite maximization in the visual field; Described orthogonal vector computing module is tieed up input signal with N and is extracted one dimension as the reference beam signal, simultaneously N is tieed up input signal and multiply by the N-1 orthogonal dimension matrix acquisition N-1 dimension of N dimension steering vector and the orthogonal vector signal of steering vector quadrature.
3. the jamproof system that forms zeroing cascade when empty based on digital beam according to claim 2, it is characterized in that, the zeroing processing module comprises the anti-interference weights computing module of adaptive nulling during described sky, and the anti-interference weights computing module of described adaptive nulling calculates adaptive nulling weights by random gradient LMS adaptive algorithm with the N-1 orthogonal dimension vector signal of input under least-mean-square-error criterion.
4. one kind comprises a plurality of associating jamproof systems that independently form zeroing cascade when empty based on digital beam, comprise the antenna array, radio-frequency module and the anti-interference process module that connect successively, it is characterized in that, described jamproof system comprises a plurality of independently anti-interference process subsystems, and each anti-interference process subsystem comprises respectively the processing module that returns to zero when the radio-frequency module, the digital beam that connect successively form module and sky; Described digital beam forms module and is used for pointing to the steering vector that control information provides according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; Described digital beam forms described zeroing processing module when empty of the output cascade of module, described when empty the zeroing processing module be used for receiving digital beam form module output the reference wave beam signal and with the orthogonal vector signal of steering vector quadrature, undesired signal in the reference wave beam signal is carried out the adaptive nulling anti-interference process, eliminate the undesired signal in the reference wave beam signal, export useful satellite-signal.
5. anti-interference method that forms zeroing cascade when empty based on digital beam, it is characterized in that, the anti-interference two parts technology that returns to zero when forming digital beam with sky combines, pass through digital beam forming technology, point to the steering vector that control information provides according to satellite, each bay signal weighting is synthesized the reference wave beam signal that points to satellite, make the reference wave beam signal form maximum gain in satellite direction, obtain simultaneously the orthogonal vector signal with the steering vector quadrature, the undesired signal in the prediction reference beam signal; The zeroing Anti-Jamming Technique is carried out the adaptive nulling anti-interference process to the undesired signal in the reference wave beam signal of prediction during again by sky, eliminates the undesired signal in the reference wave beam signal, exports useful satellite-signal.
6. the anti-interference method that forms zeroing cascade when empty based on digital beam according to claim 5, it is characterized in that, the described steering vector that provides according to the sensing control information of satellite, refer to: according to inertial navigation system output and ephemeris predict, the Calculation of Satellite positional information, calculate simultaneously the angle of pitch and the position angle of visual field Satellite, obtain pointing to the steering vector of this satellite, so that the SINR of specified satellite maximization in the visual field; Described steering vector is obtained by following methods:
Suppose that element position is write as vector form and is
The signal pointing vector is
If the mould of signal pointing vector is 1, then the spherical coordinates of signal pointing vector is
Wherein,
Be the angle of signal pointing vector and z axle forward, θ is that the x axle rotates counterclockwise the angle that the arriving signal pointing vector turns in the xoy plane projection from z axle forward, and then the rectangular coordinate of signal pointing vector is expressed as:
The wave path-difference that signal arrives between each array element and the initial point is expressed as
It is the dot product of array element vector and signal phasor; The expression formula that obtains thus steering vector is:
7. the anti-interference method that forms zeroing cascade when empty based on digital beam according to claim 6, it is characterized in that, the described reference wave beam signal sensing satellite that makes refers to: according to the steering vector that points to this satellite, N is tieed up input signal extract one dimension as the reference wave beam signal, described one dimension reference wave beam signal is obtained by following methods:
If the N that system receives dimension array signal is:
X(θ)＝(x
0，x
1，…，x
N-1)
Maximum composite signal after digital beam forms is:
d＝X(θ)A
H(θ)
Wherein A (θ) is steering vector, A
H(θ) represent the conjugate transpose of steering vector A (θ); Then d is described one dimension reference wave beam signal, comprises whole signals of certain satellite among the d;
That obtain simultaneously and the orthogonal vector signal steering vector quadrature are remaining N-1 dimensional signal:
Y=X (θ) P
⊥(A
H(θ))=X (θ) (I-A
H(θ) A (θ)/(A (θ) A
HAny N-1 dimension (θ))) namely represents described N-1 orthogonal dimension vector signal; Wherein, P ⊥ represents rectangular projection, and I represents unit matrix; Do not comprise any navigation signal among the Y.
8. the anti-interference method that forms zeroing cascade when empty based on digital beam according to claim 7, it is characterized in that, the zeroing anti-interference process comprises that the anti-interference weights of adaptive nulling calculate during described sky, the anti-interference weights of described adaptive nulling calculate and refer to, N-1 orthogonal dimension vector signal is sent into sef-adapting filter process, described sef-adapting filter comprises two parts: 1. filtering: calculate linear filter output to the response of input signal; Then, produce evaluated error by comparing Output rusults territory Expected Response.2. adaptive process: according to estimating automatically to adjust filter parameter; These two processes are feedback loop of work group together; In the described filtering, Expected Response d (n) participates in processing with input vector x (n), a given input, and wave filter produces an output
Estimation as Expected Response d (n); Definition evaluated error e (n) is the poor of Expected Response and practical filter output, evaluated error e (n) and input vector x (n) are added to the adaptive control part, feedback loop around weight vector is closed loop, according to the random gradient LMS adaptive algorithm of Widrow and Hoff proposition, closed loop algorithm is as follows:
μ is step factor in the following formula, and w (n) is real-time weights, d
*Represent conjugate operation.
9. according to claim 1 to one of the 8 described anti-interference methods that form zeroing cascade when empty based on digital beam, it is characterized in that, described steering vector comprises the correction of antenna phase and magnitude and compensation, for the array signal X (θ) that receives=(x
0, x
1..., x
N-1), compensation is expressed as after revising:
X
correct(θ)＝(x
0，x
1/M
1(θ，φ)，…，x
N-1/M
N-1(θ，φ))
Following formula has carried out unified expression with the correction of phase and magnitude with compensation; M wherein
iEach bay that (θ, φ) expression measures and amplitude and the phase differential between the reference array element.
10. according to claim 1 to one of the 8 described anti-interference methods that form zeroing cascade when empty based on digital beam, it is characterized in that, described antenna array comprises nonuniform array or non-linear array, and described nonuniform array or non-linear array are owing to the phase differential that wave path-difference causes is: if for the unit vector of space incoming wave working direction be
Be the line direction of carrier and satellite, then wave path-difference is that this vector and each array element are to the displacement vector r of reference array element
iInner product, then the compensating parameter of each array element is
The I road:
The Q road:
Wherein λ is wavelength.
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