CN103777214B - Non-stationary suppression jamming signal inhibition method in satellite navigation system - Google Patents
Non-stationary suppression jamming signal inhibition method in satellite navigation system Download PDFInfo
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- CN103777214B CN103777214B CN201410028798.0A CN201410028798A CN103777214B CN 103777214 B CN103777214 B CN 103777214B CN 201410028798 A CN201410028798 A CN 201410028798A CN 103777214 B CN103777214 B CN 103777214B
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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
Abstract
Non-stationary suppression jamming signal inhibition method in a kind of satellite navigation system.It comprises when suppression jamming signal and satellite-signal and noise signal coexist, and utilizes M unit even linear array to form pending array signal; To space, discrete sampling is carried out to whole undesired signal, obtains array signal sparse representation model; By sparse representation model data with the steering vector of likely angle do relevant treatment, find correlative maximal value position in steering vector matrix; Least Square Method is utilized to go out sparse vector corresponding to correlative maximal value; From sparse representation model data, deduct sparse vector obtain surplus; Judge whether interference component suppresses completely, if discontented sufficient iteration; Finally using surplus vector first element as data after current snap AF panel, carry out acquiring satellite tracking and location.This method is without the need to knowing the number of interference in advance, insensitive to DOA sampling interval mismatch, and can process the interference that DOA interval is less than resolution.
Description
Technical field
The invention belongs to satellite navigation undesired signal suppression technology field, particularly relate to non-stationary suppression jamming signal inhibition method in a kind of satellite navigation system.
Background technology
Can accurately provide the information such as target location and time based on satellite navigation, nowadays in the various fields of civil and military, satellite navigation all has critical role, as GPS navigation and Beidou navigation.But because the Navsat distance earth is approximately tens thousand of kilometer, therefore the satellite-signal that the satellite receiver of Near Ground receives will be very faint, generally than the thermonoise also low 20dB of receiver, the problem that satellite-signal is easily interfered will be brought like this, if do not carry out the suppression of undesired signal, satellite navigation hydraulic performance decline will be caused, homing capability is lost time serious, therefore the undesired signal of research satellite navigation suppresses to have great importance, and can become the core of various satellite navigation system development.
Typical satellite navigation signals anti-disturbance method depends on array antenna and Array Signal Processing theory.The main thought of these anti-interference methods is, utilize and receive direction of arrival (DOA) estimation that data carry out undesired signal, as long as be aware of the DOA of undesired signal, the method for subspace projection is adopted to fall into the effect reaching undesired signal and suppress in interference place formation zero afterwards.Along with the raising required receiver antijamming capability, some more complicated methods are also suggested, by utilize undesired signal and satellite-signal come to the information such as satellite signal characteristics, its antijamming capability is improved.
The anti-interference method based on ARRAY PROCESSING of current comparative maturity is all this statistic of covariance matrix utilizing receiving satellite signal data, therefore necessary accurately estimate covariance matrix during process, so just need within certain sampling time, the number of undesired signal and the DOA of undesired signal remain unchanged within a certain period of time, but when if undesired signal is non-stationary suppression jamming signal, owing to becoming when its covariance matrix is, result causes accurately to estimate covariance matrix, therefore all anti-interference methods based on covariance matrix process just all can lose efficacy.
Summary of the invention
In order to solve the problem, the object of the present invention is to provide a kind of in conjunction with non-stationary suppression jamming signal inhibition method in the satellite navigation system of undesired signal spatial spectrum sparse characteristic.
In order to achieve the above object, in satellite navigation system provided by the invention, non-stationary suppression jamming signal inhibition method comprises the following step carried out in order:
1) when suppression jamming signal and satellite-signal and noise signal coexist, M unit even linear array is utilized to form pending array signal;
2) to space, discrete sampling is carried out to whole undesired signal, obtain the sparse representation model of the array signal that step 1) is formed;
3) by the data of the sparse representation model of the array signal of above-mentioned acquisition with the steering vector of likely angle carry out relevant treatment, find the position of correlative maximal value in steering vector matrix;
4) Least Square Method is utilized to go out sparse vector corresponding to above-mentioned correlative maximal value;
5) from the data of the sparse representation model of the array signal built, deduct above-mentioned estimate sparse vector and obtain surplus;
6) judge whether interference component suppresses completely, stop the condition of iteration to repeat step 3)-5 if do not met), until meet the condition stopping iteration;
7) finally using first of surplus vector element as the data after current snap AF panel, and carry out acquiring satellite tracking and location.
Described step 2) in obtain array signal the method for sparse representation model be: first possible for all undesired signals is carried out discrete sampling to space, obtain discrete angular collection Ψ=-90 ° ,-89.9 ° ,-89.8 ° ..., 89.9 °; Then, when discrete angular concentrates corresponding DOA to there is interference, make signal value equal undesired signal value, otherwise be all 0; Then the steering vector matrix A that structure discrete angular collection Ψ is corresponding=[a (-90 °), a (-89.9 °), a (-89.8 °) ..., a (89.9 °)]; Finally set up the sparse representation model of array signal.
The concrete grammar carrying out relevant treatment in described step 3) is: the steering vector matrix A that the data of the sparse representation model of array signal are corresponding with discrete angular collection Ψ does relevant treatment.
Judge in described step 6) that the method whether interference suppresses completely is: the correlative maximal value in step 3) and noise level being compared, when being less than noise level, illustrating that interference component suppresses completely, otherwise continue iteration until satisfy condition; Or the surplus gross energy obtained in step 5) and noise energy being compared, when being less than noise energy, illustrating that interference component suppresses completely, otherwise continue iteration until satisfy condition.
In satellite navigation system provided by the invention, non-stationary suppression jamming signal inhibition method is in conjunction with the sparse characteristic of undesired signal spatial spectrum, adopt the theory of compressed sensing, carry out AF panel respectively for each snap, doing so avoids the estimation of covariance matrix.Greedy method in this method and compressed sensing field is similar, but different from existing greedy method, and this method does not need the number knowing interference in advance, insensitive to DOA sampling interval mismatch, and can process the interference that DOA interval is less than resolution.
This method compared with prior art has the following advantages:
1) this method adopts single snap data processing signal, avoids the estimation of covariance matrix, can effectively suppress non-stationary undesired signal, makes the disturbance restraining method based on array process more perfect;
2) this method suppress not need during undesired signal accurately to estimate interference come to, be different from conventional disturbance restraining method, even if two interference come to time very near, also can avoid the defect that conventional method resolution is low, the object suppressing interference can be reached thus well;
3) this method is different from existing greedy method, without the need to knowing the number of interference in advance;
4) it is insensitive to DOA sampling interval mismatch when this method suppresses to disturb;
5) this method can be used for suppressing DOA interval to be less than the interference of resolution.
Accompanying drawing explanation
The interference variations situation schematic diagram adopted when Fig. 1 is emulation experiment of the present invention;
Fig. 2 is that emulation experiment 1 catches results contrast schematic diagram;
Fig. 3 is that emulation experiment 2 catches results contrast schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, non-stationary suppression jamming signal inhibition method in satellite navigation system provided by the invention is described in detail.
The present embodiment adopts gps system, but the method provided is equally applicable to other satellite navigation systems, such as Beidou satellite navigation system.
In satellite navigation system provided by the invention, non-stationary suppression jamming signal inhibition method comprises the following step carried out in order:
1) when suppression jamming signal and satellite-signal and noise signal coexist, M unit even linear array is utilized to form pending array signal:
Consider M unit evenly uniform line-array, wherein array element interval equals the half of incoming signal wavelength, and when suppression jamming signal and satellite-signal and noise signal coexist, the n-th fast beat of data of antenna array receiver signal can be expressed as:
Wherein, s
ln () represents l gps satellite signal, j
qt () represents q suppression jamming signal,
represent the signal guide vector corresponding to Space Angle θ, e (n) represents the white complex gaussian noise vector in Received signal strength.
2) to space, discrete sampling is carried out to whole undesired signal, obtains the sparse representation model of the array signal that step 1) is formed:
Suppose that the number of suppression jamming signal is limited, and be less than array number, such undesired signal spatial spectrum meets sparse characteristic.First possible for all undesired signals is carried out discrete sampling to space, use in the present embodiment 0.1 ° of interval and 0.3 ° of whole possible space of spaced discrete [-90 °, 90 °), fundamental purpose is that checking this method is insensitive to DOA sampling interval mismatch.Analyze with 0.1 ° of spaced discrete below, 0.3 ° of spaced discrete is similar.
Ψ=-90 ° ,-89.9 ° ,-89.8 ° ..., 89.9 ° (2) wherein, Ψ is discrete angular collection.
Then make:
Formula (3) means, when only having corresponding DOA to there is interference, its signal value just equals undesired signal value, otherwise equals 0.
Then the steering vector matrix that discrete angular collection Ψ is corresponding is built:
A=[a(-90°),a(-89.9°),a(-89.8°),...,a(89.9°)](4)
A comprise the steering vector that likely angle is corresponding, this new steering vector matrix is called super complete dictionary in compressive sensing theory, and the sparse representation model meeting the array signal of compressed sensing so just can be expressed as:
Wherein,
in only have minority element to be not equal to zero, it is a sparse vector,
because the power of satellite-signal is well below noise power, therefore
middle principal ingredient is noise vector.
3) by the data of the sparse representation model of the array signal of above-mentioned acquisition with the steering vector of likely angle carry out relevant treatment, find the position of correlative maximal value in steering vector matrix:
First initialization: surplus r
0=x (n), iterations h=1, collection Γ
0for empty set.
Column vector relevant treatment successively in the steering vector matrix A corresponding with discrete angular collection Ψ by the data x (n) of the sparse representation model of array signal, finds the position λ of correlative maximal value in steering vector matrix
h, namely
4) Least Square Method is utilized to go out sparse vector corresponding to above-mentioned correlative maximal value:
Renewal collection is:
Γ
h=Γ
h-1u{ λ
h(7) go out sparse vector corresponding to above-mentioned correlative maximal value by Least Square Method,
5) from the data of the sparse representation model of the array signal built, deduct the sparse vector estimated and obtain surplus:
Upgrade surplus:
6) judge whether interference component suppresses completely, stop the condition of iteration to repeat step 3)-5 if do not met), until meet the condition stopping iteration:
Judge whether to stop iteration to be innovation of the present invention herein, the invention provides two kinds and judge iteration stopping method, for convenience by these two kinds of methods called after methods one and method two respectively:
Method one: the surplus gross energy in step 5) and noise gross energy are compared, if surplus gross energy is less than noise gross energy, illustrates the composition not having undesired signal in surplus completely, iteration stopping; If surplus gross energy is greater than noise gross energy, the composition also having undesired signal is described, needs repetition step 3)-5 in surplus) carry out iteration, until meet iteration stopping condition.
Method two: the correlative maximal value in step 3) and noise level are compared, if be less than noise level, illustrates that the composition of undesired signal suppresses completely, iteration stopping; If be greater than noise level, illustrate that the composition of undesired signal in addition exists, need repetition step 3)-5) carry out iteration, until meet iteration stopping condition.
7) finally using first of surplus vector element as the data after current snap AF panel, and carry out acquiring satellite tracking and location:
When after satisfied stopping iterated conditional, using first element of final surplus vector as the data after current snap AF panel, utilizing these data to carry out acquisition and tracking and the location of satellite, the feasibility of verification method can be carried out by catching the factor.
In satellite navigation system provided by the invention, the effect of non-stationary suppression jamming signal inhibition method can be further illustrated by following simulation result.
Simulated conditions: experiment employing 10 array element even linear array, i.e. M=10.Array element is spaced apart the half of incoming signal wavelength.The high-fidelity gps signal that all experiments adopt GPS high data fidelity simulation software to produce.Eight gps satellite signals PRN1, PRN2, PRN3, PRN6, PRN14, PRN20, PRN22, PRN25 are adopted during emulation, to being respectively 65 °, 50 °, 32 °, 15 ° ,-5 ° ,-25 ° ,-32 ° ,-50 °, and establish the ratio of gps satellite signal power and interfering signal power and white noise power, namely signal to noise ratio (snr) and dry making an uproar are respectively SNR=-20dB and INR=20dB than (INR).
In order to comprise all possible interference mode as far as possible, as shown in Figure 1, non-stationary suppression jamming signal comprises high dynamic disturbance signal and pulsed undesired signal to the interference variations situation that emulation adopts.Between the adjacent snap of high dynamic disturbance signal, interference comes to change 0.1 °, and the attitudes vibration of receiver or high-speed motion can cause undesired signal to be come to acute variation.Disturbed one overlaps at zone line with interference 2, and namely DOA interval is less than DOA resolution, in addition disturbs 3, disturbs 4, disturbs 5, disturbs 6 to be pulse interference signals, only occur at part snap.Fig. 1 clearly embodies the non-stationary of undesired signal, repeats to adopt the interference variations situation shown in Fig. 1 in emulation experiment every 600 snaps.
In order to verify that this method suppresses the performance of non-stationary undesired signal, the result of catching of itself and minimum power method compared, in emulation experiment, minimum power method adopts 100 snap process.
In order to verify that this method is insensitive to DOA sampling interval mismatch, emulation experiment use respectively 0.1 °, the 0.3 ° whole possible space of spaced discrete [-90 °, 90 °).
Emulation experiment 1:
Use 0.1 ° of whole possible space of spaced discrete [-90 °, 90 °), Fig. 2 is that this method and minimum power method catch results contrast, Fig. 2 (a), 2 (b) compare correlation peaks respectively and catch the factor, wherein catch the ratio that the factor refers to correlation peaks and minor peaks.From Fig. 2, we can find out that eight satellites can all capture by this method, and correlation peaks and catch the factor and be all better than minimum power method.
Emulation experiment 2:
Use 0.3 ° of whole possible space of spaced discrete [-90 °, 90 °), Fig. 3 is that this method and minimum power method catch results contrast, with emulation experiment 1, Fig. 3 (a), 3 (b) compare correlation peaks respectively and catch the factor, wherein catch the ratio that the factor refers to correlation peaks and minor peaks.From Fig. 3, we can find out equally and use this method eight satellites all can be captured, and correlation peaks and catch the factor and be all better than minimum power method.
By emulation experiment 1,2, we can find out, for non-stationary undesired signal, traditional minimum power method causes performance to reduce owing to accurately cannot estimate covariance matrix, this method can effectively suppress stationarity undesired signal, do not need the number knowing undesired signal in advance, insensitive to DOA sampling interval mismatch, and the undesired signal that DOA interval is less than resolution can be processed.
Claims (4)
1. a non-stationary suppression jamming signal inhibition method in satellite navigation system, is characterized in that: it comprises the following step carried out in order:
1) when suppression jamming signal and satellite-signal and noise signal coexist, M unit even linear array is utilized to form pending array signal;
2) to space, discrete sampling is carried out to whole undesired signal, obtains step 1) sparse representation model of array signal that formed;
3) by the data of the sparse representation model of the array signal of above-mentioned acquisition with the steering vector of likely angle carry out relevant treatment, find the position of correlative maximal value in steering vector matrix;
4) Least Square Method is utilized to go out sparse vector corresponding to above-mentioned correlative maximal value;
5) from the data of the sparse representation model of the array signal built, deduct above-mentioned estimate sparse vector and obtain surplus;
6) judge whether interference component suppresses completely, stop the condition of iteration to repeat step 3 if do not met)-5), until meet the condition stopping iteration;
7) finally using first of surplus vector element as the data after current snap AF panel, and carry out acquiring satellite tracking and location.
2. non-stationary suppression jamming signal inhibition method in satellite navigation system according to claim 1, it is characterized in that: described step 2) in obtain array signal the method for sparse representation model be: first possible for all undesired signals is carried out discrete sampling to space, obtain discrete angular collection Ψ={-90 °,-89.9 °,-89.8 °, ..., 89.9 ° }; Then, when discrete angular concentrates corresponding DOA to there is interference, make signal value equal undesired signal value, otherwise be all 0; Then the steering vector matrix A that structure discrete angular collection Ψ is corresponding=[a (-90 °), a (-89.9 °), a (-89.8 °) ..., a (89.9 °)]; Finally set up the sparse representation model of array signal.
3. non-stationary suppression jamming signal inhibition method in satellite navigation system according to claim 1, is characterized in that: described step 3) in carry out relevant treatment concrete grammar be: the steering vector matrix A that the data of the sparse representation model of array signal are corresponding with discrete angular collection Ψ does relevant treatment.
4. non-stationary suppression jamming signal inhibition method in satellite navigation system according to claim 1, it is characterized in that: described step 6) in judge that the method that whether suppresses completely of interference is: by step 3) in correlative maximal value and noise level compare, when being less than noise level, illustrate that interference component suppresses completely, otherwise continue iteration until satisfy condition; Or by step 5) in the surplus gross energy that obtains and noise energy compare, when being less than noise energy, illustrate that interference component suppresses completely, otherwise continue iteration until satisfy condition.
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| CN104345321A (en) * | 2014-11-03 | 2015-02-11 | 西安烽火电子科技有限责任公司 | Space-time adaptive anti-interference method for satellite navigation receiver |
| CN107103727B (en) * | 2017-06-12 | 2020-10-02 | 广东小天才科技有限公司 | Bluetooth alarm method and device |
| CN108037481B (en) * | 2017-12-01 | 2022-02-08 | 天津大学 | Robustness gradable sparse array frequency and DOA estimation method and device |
| CN108205127B (en) * | 2017-12-25 | 2021-11-09 | 电子科技大学 | Underwater acoustic signal processing method based on sparse representation |
| CN110320537A (en) * | 2019-07-24 | 2019-10-11 | 哈尔滨工程大学 | A kind of satellite navigation receiver blind adaptive beamforming method |
| CN111551902B (en) * | 2020-06-02 | 2022-11-01 | 电子科技大学 | Method for recovering acquired signals when FMCW radar antenna is defective based on compressed sensing technology |
| CN112946695B (en) * | 2021-03-01 | 2023-10-13 | 北京交通大学 | Satellite positioning suppression interference identification method based on singular value decomposition |
| CN113359157B (en) * | 2021-06-02 | 2023-04-28 | 西安交通大学 | Method, system, medium and equipment for suppressing continuous wave interference in Roland signal |
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| CN101900819A (en) * | 2010-07-15 | 2010-12-01 | 哈尔滨工业大学 | Blind adaptive space-time array anti-interference method for navigation receiver |
| CN102393525A (en) * | 2011-10-28 | 2012-03-28 | 西安电子科技大学 | Navigation interference suppression and signal amplification method for subspace projection |
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