CN104536013A - Weight calculation method for nulling antenna of satellite navigation receiver - Google Patents
Weight calculation method for nulling antenna of satellite navigation receiver Download PDFInfo
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- CN104536013A CN104536013A CN201410842603.6A CN201410842603A CN104536013A CN 104536013 A CN104536013 A CN 104536013A CN 201410842603 A CN201410842603 A CN 201410842603A CN 104536013 A CN104536013 A CN 104536013A
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- array element
- nulling antenna
- received signal
- signal strength
- weight
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Classifications
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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
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
A weight calculation method for a nulling antenna of a satellite navigation receiver comprises the steps that first, analog-digital conversion is conducted on N+1 array element receiving signals to obtain a reference signal d(k) and N dimension column vector input signals x(k); second, on the premise of knowing the interference number J, the array element receiving signals from the first array element receiving signal to the Jth array element receiving signal are used as weight calculation input signal vectors z(k); third, the weight vectors w are calculated according to an LMS self-adaptive filtering algorithm until weight-value convergence happens; fourth, the output of the nulling antenna meets the formula that e(k)=wHz(k)-d(k). The weight calculation method has the advantages that the array element number for weighting of the nulling antenna is selected, interference suppression is achieved, and meanwhile the frequency selective fading of useful satellite navigation signals is reduced. The weight calculation method can be applied to the field of the nulling antenna of the satellite navigation receiver.
Description
Technical field
The present invention relates to the Nulling antenna field of satellite navigation receiver, be specifically related to the weight calculation method of satellite navigation receiver Nulling antenna.
Technical background
Satellite-signal received by satellite navigation receiver is very faint, and signal intensity is usually also little than noise, so very easily disturbed.Nulling antenna based on array antenna, adjusts each array element Received signal strength weights by adaptive algorithm, makes array aerial direction figure form zero in undesired signal direction and falls into, thus suppress interference.The existing Nulling antenna general structure of tradition (have ignored analog-to-digital conversion module in figure) as shown in Figure 1, array is made up of N+1 array element, 0th array element Received signal strength is reference signal d (k), and other array element Received signal strength are as array input signal x (k)=[x
1(k) ... x
n(k)]
t, k=1,2 ... represent signal time sequence number, symbol []
trepresent and get transposition.Undertaken complex weighted by x (k) to received signal, array exports as e (k)=w
hx (k)-d (k), wherein weight vector is w=[w
1... w
n]
t, symbol []
hrepresent and get conjugate transpose.Existing Nulling antenna utilizes d (k) and x (k), carries out weight vector w calculating by adaptive filter algorithm, have employed all array element and receive data in calculating.Theoretical according to Nulling antenna, N+1 array element can resist N number of undesired signal at most, so when disturbing number J known, Nulling antenna only needs J+1 array element just can realize anti-interference function.On the other hand, because Nulling antenna only suppresses undesired signal, the weight vector w of generation, for satellite-signal, is one group of separate stray parameter.Like this, the satellite-signal of each array element passage, being all equivalent to is a multipath component of the satellite-signal that receiver receives, and namely N+1 array element produces N+1 bar multipath.Obviously, the array number that Nulling antenna weighting adopts is more, and the equivalent multipath of satellite-signal is also more.According to the channel correlation theory of radio communication, multipath number is more, and selectivity of channel frequency decline is more serious.Therefore, for satellite-signal, the array number that weighting adopts is more few better.
Summary of the invention
Technical matters to be solved by this invention is: in satellite navigation receiver Nulling antenna, adopts all array element Received signal strength to carry out weight vector calculating, can produce frequency selective fading to useful satellite-signal.
The technical scheme solved the problem is a kind of weight calculation method of satellite navigation receiver Nulling antenna, and concrete steps are:
The first step: satellite navigation receiver Nulling antenna is the even linear array be made up of N+1 array element, array element distance is the half wavelength of carrier wave, and N is a natural number; Received signal strength is after analog to digital conversion, and the 0th array element Received signal strength is d (k), and as the reference signal of weight computing, the 1st is expressed as N to N number of array element Received signal strength and ties up column vector x (k)=[x
1(k) ... x
n(k)]
t, wherein x
ik () represents i-th array element Received signal strength, i=1 ..., N, natural number k are Received signal strength time sequence number, i.e. k=1,2 ..., symbol []
trepresent and ask transposition;
Second step: the high reject signal number that known Nulling antenna receives is J, this number satisfies condition J≤N, now, only selects the 1st array element to J array element Received signal strength z (k)=[x
1(k) ... x
j(k)]
tcarry out weight vector calculating, z (k) is J dimension column vector;
3rd step: Nulling antenna weight vector w=[w
1... w
j]
tfor J ties up column vector, wherein w
irepresent the weighted value that i-th array element is corresponding, i=1 ..., J, weight vector calculates and adopts lowest mean square (Least Mean Square, LMS) adaptive filter algorithm, and concrete steps are:
(1) get k=1, initial weight w (k)=[1 .., 1] is set
t, definition step size mu is a constant being greater than 0, and for guaranteeing that LMS adaptive filter algorithm is restrained, step size mu will satisfy condition
λ
maxfor the eigenvalue of maximum of Received signal strength covariance matrix;
(2) e (k)=w is calculated
h(k) z (k)-d (k), symbol []
hrepresent the conjugate transpose getting vector;
(3) weight vector w (k+1)=w (k)+μ e is upgraded
*(k) z (k), symbol []
*represent and ask conjugation;
(4) judge whether w (k+1) restrains, if not convergence, then get k=k+1, re-execute (2) step; If restrained, then weighting vector w=w (k+1), calculates and terminates;
4th step: the Nulling antenna output signal after anti-interference is e (k)=w
hz (k)-d (k).
The invention has the beneficial effects as follows: under interference number J known case, by reducing the element number of array for calculating weight vector, the frequency selective fading that Nulling antenna causes useful satellite-signal can be reduced.
Accompanying drawing explanation
Fig. 1 tradition Nulling antenna general structure schematic diagram
Fig. 2 Nulling antenna general structure of the present invention schematic diagram
The element position schematic diagram of Fig. 3 Nulling antenna array
The weight calculation method process flow diagram of Fig. 4 Nulling antenna
Fig. 5 weight vector LMS adaptive algorithm process flow diagram
Embodiment
Conventional satellite navigation neceiver Nulling antenna general structure as shown in Figure 1.Be different from traditional Nulling antenna, Nulling antenna general structure of the present invention as shown in Figure 2.The two structural key distinction is different with the array element quantity of weighting for calculating weights.In fig. 2, array received signal z (k) by complex weighted, obtain anti-interference after output signal e (k).And Nulling antenna weight w is calculated by LMS adaptive filter algorithm.As shown in Figure 3, array is made up of N+1 array element the element position of Nulling antenna array, and the 0th array element is positioned at true origin, and Received signal strength is d (k) after analog to digital conversion, and the 1st is respectively x to N array element Received signal strength
1(k) ..., x
nk (), its vector form is x (k)=[x
1(k) ... x
n(k)]
t, array element distance l is navigation signal carrier wave half wavelength.In the present invention, weight computing only use only the 1st array element to J array element Received signal strength z (k)=[x
1(k) ... x
j(k)]
twith reference signal d (k).Obviously, in each array element Received signal strength, all include useful satellite-signal, J undesired signal and noise signal.In Nulling antenna, require that satellite-signal is quite weak, even also little than noise, and jamming power signal is far longer than noise.The present invention is under undesired signal number known case, and adopt LMS adaptive filter algorithm to calculate weights, method step as shown in Figure 4.Concrete steps are:
The first step: satellite navigation Nulling antenna is the even linear array be made up of N+1 array element, array element distance is the half wavelength of carrier wave, and N is a natural number.Received signal strength is after analog to digital conversion, and the 0th array element Received signal strength is d (k), and as the reference signal of weight computing, the 1st is expressed as N to N number of array element Received signal strength and ties up column vector x (k)=[x
1(k) ... x
n(k)]
t, wherein x
ik () represents i-th array element Received signal strength, i=1 ..., N, natural number k are Received signal strength time sequence number, i.e. k=1,2 ..., symbol []
trepresent and ask transposition.
Second step: the high reject signal number that known Nulling antenna receives is J, this number satisfies condition J≤N, now, only selects the 1st array element to J array element Received signal strength z (k)=[x
1(k) ... x
j(k)]
tcarry out weight vector calculating, z (k) is J dimension column vector.The determination of interference number, can adopt the Estimation of Spatial Spectrum method in Array Signal Processing theory.
3rd step: Nulling antenna weight vector w=[w
1... w
j]
tfor J ties up column vector, wherein w
irepresent the weighted value that i-th array element is corresponding, i=1 ..., J, weight vector calculates and adopts LMS adaptive filter algorithm, and concrete steps are:
(1) get k=1, initial weight w (k)=[1 .., 1] is set
t, definition step size mu is a constant being greater than 0, and for guaranteeing that LMS adaptive filter algorithm is restrained, step size mu will satisfy condition
λ
maxfor the eigenvalue of maximum of Received signal strength covariance matrix;
(2) e (k)=w is calculated
h(k) z (k)-d (k), symbol []
hrepresent the conjugate transpose getting vector;
(3) weight vector w (k+1)=w (k)+μ e is upgraded
*(k) z (k), symbol []
*represent and ask conjugation;
(4) judge whether w (k+1) restrains, if not convergence, then get k=k+1, re-execute (2) step; If restrained, then weighting vector w=w (k+1), calculates and terminates;
4th step: the Nulling antenna output signal after anti-interference is e (k)=w
hz (k)-d (k).
The present invention, under known disturbances number is the prerequisite of J, selects J in array to tie up column vector z (k) as input signal, calculates weights by LMS adaptive filter algorithm.Owing to realizing on anti-interference basis, decreasing the element number of array that weighting adopts, namely decreasing useful satellite-signal equivalence multipath number, so the frequency selective fading that Nulling antenna produces useful satellite-signal can be reduced.The present invention can be applied in the weight computing of satellite navigation receiver Nulling antenna.
Claims (1)
1. a weight calculation method for satellite navigation receiver Nulling antenna, concrete steps are:
The first step: satellite navigation receiver Nulling antenna is the even linear array be made up of N+1 array element, array element distance is the half wavelength of carrier wave, and N is a natural number; Received signal strength is after analog to digital conversion, and the 0th array element Received signal strength is d (k), and as the reference signal of weight computing, the 1st is expressed as N to N number of array element Received signal strength and ties up column vector x (k)=[x
1(k) ... x
n(k)]
t, wherein x
ik () represents i-th array element Received signal strength, i=1 ..., N, natural number k are Received signal strength time sequence number, i.e. k=1,2 ..., symbol []
trepresent and ask transposition;
Second step: the high reject signal number that known Nulling antenna receives is J, this number satisfies condition J≤N, now, only selects the 1st array element to J array element Received signal strength z (k)=[x
1(k) ... x
j(k)]
tcarry out weight vector calculating, z (k) is J dimension column vector;
3rd step: Nulling antenna weight vector w=[w
1... w
j]
tfor J ties up column vector, wherein w
irepresent the weighted value that i-th array element is corresponding, i=1 ..., J, weight vector calculates and adopts lowest mean square (Least Mean Square, LMS) adaptive filter algorithm, and concrete steps are:
(1) get k=1, initial weight w (k)=[1 .., 1] is set
t, definition step size mu is a constant being greater than 0, and for guaranteeing that LMS adaptive filter algorithm is restrained, step size mu will satisfy condition
λ
maxfor the eigenvalue of maximum of Received signal strength covariance matrix;
(2) e (k)=w is calculated
h(k) z (k)-d (k), symbol []
hrepresent the conjugate transpose getting vector;
(3) weight vector w (k+1)=w (k)+μ e is upgraded
*(k) z (k), symbol []
*represent and ask conjugation;
(4) judge whether w (k+1) restrains, if not convergence, then get k=k+1, re-execute (2) step; If restrained, then weighting vector w=w (k+1), calculates and terminates;
4th step: the Nulling antenna output signal after anti-interference is e (k)=w
hz (k)-d (k).
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104993861A (en) * | 2015-05-21 | 2015-10-21 | 中国电子科技集团公司第十研究所 | Array element selectivity nulling antenna beam sysnthesis method |
| CN106443725A (en) * | 2016-08-24 | 2017-02-22 | 重庆大学 | Antenna signal obtaining method and device |
| CN107515409A (en) * | 2017-07-25 | 2017-12-26 | 重庆大学 | The Nulling antenna beam synthesizing method of anti-impulse disturbances |
| CN109975840A (en) * | 2019-04-10 | 2019-07-05 | 重庆大学 | A kind of Nulling antenna satellite navigation receiver positioning correction method |
| CN113075698A (en) * | 2021-03-24 | 2021-07-06 | 重庆大学 | Deception jamming suppression method in satellite navigation receiver |
| CN114978257A (en) * | 2022-05-24 | 2022-08-30 | 中国人民解放军国防科技大学 | Adaptive beamforming satellite MIMO efficient system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104993861A (en) * | 2015-05-21 | 2015-10-21 | 中国电子科技集团公司第十研究所 | Array element selectivity nulling antenna beam sysnthesis method |
| CN106443725A (en) * | 2016-08-24 | 2017-02-22 | 重庆大学 | Antenna signal obtaining method and device |
| CN107515409A (en) * | 2017-07-25 | 2017-12-26 | 重庆大学 | The Nulling antenna beam synthesizing method of anti-impulse disturbances |
| CN107515409B (en) * | 2017-07-25 | 2020-10-02 | 重庆大学 | Anti-pulse interference null-setting antenna beam synthesis method |
| CN109975840A (en) * | 2019-04-10 | 2019-07-05 | 重庆大学 | A kind of Nulling antenna satellite navigation receiver positioning correction method |
| CN109975840B (en) * | 2019-04-10 | 2023-01-13 | 重庆大学 | Positioning correction method for zero-setting antenna satellite navigation receiver |
| CN113075698A (en) * | 2021-03-24 | 2021-07-06 | 重庆大学 | Deception jamming suppression method in satellite navigation receiver |
| CN113075698B (en) * | 2021-03-24 | 2023-07-07 | 重庆大学 | Deception jamming suppression method in satellite navigation receiver |
| CN114978257A (en) * | 2022-05-24 | 2022-08-30 | 中国人民解放军国防科技大学 | Adaptive beamforming satellite MIMO efficient system |
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Application publication date: 20150422 |