CN116224406B - Low-cost multi-antenna GNSS/INS ultra-tight combined multistage anti-interference system - Google Patents
Low-cost multi-antenna GNSS/INS ultra-tight combined multistage anti-interference system Download PDFInfo
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
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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
- G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a low-cost multi-antenna GNSS/INS ultra-tight combined multi-stage anti-interference system, which integrates three different-level module technologies of an antenna array, an inertial device and a GNSS receiver terminal, and greatly improves the anti-interference capability of a positioning navigation terminal. In the scheme of the system, four low-cost GNSS antennas, an MEMS-level IMU device and an FPGA-based GNSS receiver terminal are mainly included, and the maximization of the anti-interference capability is realized in a cascading mode. The four antenna arrays form a square array, a GNSS baseband assisted self-adaptive guide vector calculation unit is realized at the front end, the physical space layout precision of the antenna arrays is greatly reduced, and long-term real-time antenna weight parameter optimization is supported. On the other hand, after the signals are processed by the front end of the array, the GNSS baseband processing assisted by the INS reduces the bandwidth of a GNSS tracking loop, and further improves the suppression capability of interference signals, thereby realizing the two-stage anti-interference effect and improving the anti-interference capability of a positioning terminal.
Description
Technical Field
The invention belongs to the technical field of multisource integrated navigation terminals, and particularly relates to a low-cost multi-antenna GNSS/INS ultra-tight integrated multistage anti-interference system.
Background
With the high-speed development of the fields of unmanned operation, smart cities and the like, the global satellite navigation system (Global Navigation SATELLITE SYSTEM, GNSS) is widely applied to civil and military, the characteristic of easy interference is increasingly exposed, and the anti-interference capability of a receiver is more and more required. The traditional navigation positioning system based on GNSS and enhancement system can not cope with some environments such as strong interference, high dynamic and multipath well, and has poor performance and even can not work normally. And the existing multi-element navigation systems on the market all need high-cost enhancement systems or assistance, which is completely unfavorable for popularizing and applying the multi-element navigation terminal system with high anti-interference capability in the future.
For very challenging radio environments and suppressed interference, common anti-interference algorithms (notch filter, etc.) are difficult to face multiple kinds of interference including narrow band, wide band and matching spectrum, and only relatively limited and fixed anti-interference can be performed for one or a few kinds of interference, so that in the industry, a method of performing weighted combination of multiple array signals by using an antenna array can effectively resist almost all interference types. However, in the process of implementing the anti-interference of the antenna array, a phased array antenna is inevitably required to be used, and the general phased array antenna has large size, complex implementation and high price and is not suitable for general civil scenes.
In the face of some high-dynamic and complex navigation environments, a multi-source positioning navigation system gradually becomes a preferred solution, fusion of different sensor system levels also gradually tends to be mature, a traditional fusion technology is mainly based on a loose combination mode of the system levels, the mode depends on the performance of each independent system, the performance of each system cannot be well improved through the fusion mode, and the combination mode still cannot meet requirements under a challenging environment.
The invention is based on the application background of intelligent traffic, unmanned, etc., solves the problems of high cost, difficult application, large size and inflexibility of an antenna array, and simultaneously utilizes the ultra-tight combination of the multi-antenna GNSS/INS to improve the anti-interference performance of the system, and provides the ultra-tight combination anti-interference system of the multi-antenna GNSS/INS with low cost to complete the combination of the multi-antenna and INS so as to form the multi-source positioning navigation system with low cost, high robustness, reliability and stability.
Disclosure of Invention
In order to solve the problems, the invention discloses a multi-antenna GNSS/INS ultra-tight combined multi-stage anti-interference system with low cost, which greatly improves the anti-interference performance of a positioning system by an array GNSS+INS ultra-tight combination mode, greatly reduces the deployment cost and provides a reliable and accurate positioning, attitude determination, time service and dynamic information basis for challenging environments such as unmanned urban in the future.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
A multi-antenna GNSS/INS ultra-compact multi-stage anti-interference system with low cost adopts a multi-antenna parallel baseband signal processing mode in GNSS baseband processing. Firstly, receiving GNSS signals through an antenna array formed by four GNSS antennas, and after each GNSS antenna signal is subjected to signal preprocessing and sampling, realizing real-time estimation of carrier wave phase differences of four paths of signals through four parallel baseband processing channels;
Meanwhile, the four array antennas are completely synchronously processed by using bit data of the original signals of the incoming satellites while the four channels share the crystal oscillator mode, so that clock synchronization consistency and data of the AD module are ensured to be completely synchronous, and asynchronous errors are eliminated. In parallel GNSS baseband signal Processing, the real-time estimated phase difference is sent to a front-end Space-time adaptive filtering (STAP) module for real-time adjustment of antenna data weights;
Meanwhile, in a GNSS baseband processing channel participating in positioning, speed fixing and time service, an INS (inertial navigation system) assisted tracking loop is adopted, NCO frequency control is realized by sensing dynamic Doppler frequency through the INS, and further, interference signal suppression is realized by reducing bandwidth.
Further, the STAP module filters GNSS signals of the four antenna arrays in a space domain and a time domain to resist interference. For a space-time filtering unit, the spatial component of the STAP is determined by the array shape and the satellite signal, and the time domain component of the STAP is generated to generate M delayed response outputs for each antenna signal by using a delay unit (delay block). In the specific mathematical description process, weighted coherent accumulation is carried out, and the mathematical description is obtained by the following four antenna synthesis formulas:
Wherein s m [ k-L ] represents the signal of the mth array signal after L times of delay, w ml represents the corresponding weight, and L is the total delay number or the number of fast shots (Taps).
In the weight matrix generation process, a minimum variance undistorted response (Minimum Variance Distortionless Response, MVDR) algorithm is adopted, so that the signal in the expected direction is guaranteed to realize all-pass, and the signals or noise interference from other directions are prevented to the greatest extent. Simultaneously, along with the change of external conditions such as environment, the weight of each antenna array element is flexibly adjusted in real time, so that the self-adaptive filtering is realized. The weight matrix can be expressed mathematically as:
where R is the covariance matrix of the signal and a (θ) is the steering vector in the desired direction. Based on the spatial and time domain information, in the signal covariance matrix calculation, it is described as:
wherein, The observation sample vector s a [ N-k ] representing the (k+1) th snapshot of the a-th array element is inner-product with the N s observation sample vector s b [ N-l ] of the (l+1) th snapshot of the b-th array element. Thereby ensuring an adaptive update of the information for the space-time domain. The weight is continuously updated through the covariance matrix of the expected direction and the signal, and the weight matrix is continuously statistically calculated and updated, so that the antenna array can realize the self-adaptive filtering of a certain/certain satellite direction.
The beneficial effects of the invention are as follows:
(1) In the multi-antenna GNSS/INS combined system, the GNSS multi-antenna and INS are utilized to assist in realizing the two-stage anti-interference effect, and the anti-interference capability of the positioning terminal is improved.
(2) The GNSS baseband adopts a multi-antenna parallel baseband signal processing mode, adopts carrier phase difference real-time estimation generated by four parallel baseband processing channels as a space component of the STAP front end, thereby solving the problems that the antenna space size is difficult to determine, and the antenna center point measurement error and the installation error are difficult to determine in a low-cost multi-antenna array system, greatly reducing the physical space layout precision of an antenna array, and supporting long-term real-time antenna weight parameter optimization.
(3) In the four-channel shared crystal oscillator mode, the bit data of the original signal of the incoming satellite is utilized to completely synchronize the four array antennas, thereby ensuring the clock synchronization consistency and the data of the AD module to completely synchronize, eliminating the asynchronous error,
(4) Under the STAP module framework, GNSS signals of the four antenna arrays are filtered and anti-interference in a space domain and a time domain. Meanwhile, time domain and space domain information is utilized, and the array alignment direction is adjusted by adjusting the array weight matrix, so that interference and noise in other directions are well suppressed, the processable signal quality is improved, and the reliability and stability of the system are ensured.
(5) And a GNSS baseband processing channel participating in positioning, speed fixing and time service adopts an INS (inertial navigation system) assisted tracking loop, and further realizes the suppression of interference signals by reducing the bandwidth.
(6) The invention uses small-sized and low-cost components, greatly reduces the size and cost of the system under the conditions of ensuring high signal quality and high positioning accuracy, and is beneficial to the future large-scale popularization and application.
(7) In the invention, the multi-antenna GNSS/INS ultra-tight combined anti-interference system with low cost combines the GNSS signals and the INS information of the multi-antenna, can effectively resist various compression type interference, greatly improves the positioning effect and stability, and ensures that the signal carrier-to-noise ratio (carrier to noise radio, CNo) improving effect meets the expectations.
Drawings
FIG. 1 is a block diagram of a system according to the present invention.
FIG. 2 is a front-end STAP module flow diagram based on MVDR.
Detailed Description
The present invention is further illustrated in the following drawings and detailed description, which are to be understood as being merely illustrative of the invention and not limiting the scope of the invention.
The core idea of the invention is to provide a low-cost multi-antenna GNSS/INS ultra-tight combined anti-interference system based on a traditional GNSS antenna array model and traditional GNSS+INS combined navigation, and the system programming is carried out according to a theoretical architecture from a bottom layer to an upper layer thought from simple to complex, and the specific implementation method is as follows:
1. Firstly, the traditional GNSS baseband signal processing principle is familiar, and the traditional GNSS baseband signal processing principle comprises a signal correlation module, a code phase detector module, a carrier phase detector module, PVT calculation and the like; familiarity with Inertial Navigation Systems (INS), mainly including IMU sensor noise models, including zero offset, zero offset drift, white noise, etc., and understanding dead reckoning processes (DR), including attitude update, velocity update, and position update; a multi-antenna array model is familiar and understood, consisting essentially of antenna beam patterns, beam forming algorithms, and the like.
2. In a multi-antenna parallel GNSS receiver system, firstly, the synchronization of AD clocks is ensured by four channels sharing a crystal oscillator mode. For each GNSS antenna signal, a signal preprocessing module, a correlator module, a filter and an NCO module are independently established, GNSS carrier phase estimation of each channel is realized, carrier phase mathematical statistics is carried out, and statistical information is transmitted into the STAP module as airspace information. In the front-end STAP module, an STAP filter equation based on an MVDR algorithm is formed by using the four-channel space domain observation information and the set time domain information, so that interference signals are suppressed.
3. In the front-end STAP module, a corresponding covariance matrix is formed for time-space information, the direction estimation of a target direction satellite is realized through the incoming space information, then a corresponding weight matrix is estimated by using an MVDR algorithm, and finally, a corresponding GNSS baseband signal is generated by using an updated weight matrix, so that a reliable anti-interference effect is realized. In the patent, in the process of solving the weight matrix, the multi-antenna baseband original signals, auxiliary information provided by the INS system and four-channel GNSS observation information are integrated, and the continuous service capability of the positioning navigation system is ensured under a pressed interference scene.
4. In a positioning, fixed speed and time service GNSS baseband channel, on the basis of a traditional loop, the short-term high-precision position and speed are obtained through INS dead reckoning, and the corresponding dynamic Doppler frequency shift estimation is obtained through an LOS link, so that the high dynamic carrier frequency control of NCO is realized, the pressure of a local loop on dynamic Doppler frequency shift is greatly reduced, the loop bandwidth is reduced, and the noise suppression function is realized.
The principle of the invention is as follows: the multi-antenna GNSS/INS ultra-tight combined anti-interference system with low cost well utilizes the multi-antenna and INS information sources, firstly processes four-way antennas respectively to extract space characteristics, then carries out multi-channel GNSS array combination, and finally combines an INS auxiliary mode, thereby being suitable for positioning navigation in a challenging environment. In the scheme of the system, four low-cost GNSS antennas, an MEMS-level IMU device and an FPGA-based GNSS receiver terminal are mainly included, and data fusion is performed in an ultra-tight combination mode. The method mainly comprises a multi-antenna array, a four-channel GNSS receiver airspace information auxiliary unit, a GNSS baseband auxiliary STAP self-adaptive guide vector calculation unit based on MVDR, an INS auxiliary anti-interference unit and the like, and adopts a cascading mode to realize the maximization of anti-interference capability, greatly reduce the physical space layout precision of the antenna array and support the optimization of long-term real-time antenna weight parameters. The realization cost is greatly reduced, the deep fusion among the systems is realized, the problem of accurate positioning and navigation under the challenging environment is solved, and the suppression capability to the interference signals is further improved.
It should be noted that the foregoing merely illustrates the technical idea of the present invention and is not intended to limit the scope of the present invention, and that a person skilled in the art may make several improvements and modifications without departing from the principles of the present invention, which fall within the scope of the claims of the present invention.
Claims (3)
1. The multi-antenna GNSS/INS ultra-tight combined multistage anti-interference system is characterized in that GNSS signals are received through four GNSS antenna arrays, real-time estimation of carrier wave phase differences of four paths of signals is realized through four parallel baseband processing channels, and the real-time estimated phase differences are sent to a front-end self-adaptive STAP module to serve as airspace components of the STAP front end and used for adjusting antenna data weights in real time; meanwhile, in a GNSS baseband processing channel participating in positioning, speed fixing and time service, an INS assisted tracking loop is adopted, and interference signal suppression is further realized by reducing bandwidth;
the STAP module is used for filtering and anti-jamming GNSS signals of the four antenna arrays in a space domain and a time domain; for a space-time filtering unit, the space-domain component of the STAP is determined by the array shape and satellite signals, and the time-domain component of the STAP is generated to generate M delay response outputs for each antenna signal by adopting a delay unit; in the STAP front-end module, a processed signal The expression is as follows:
Wherein w H is a weight matrix, and contains weight information required by all signals; s [ k ] is signal matrix, which contains space time signal information of all array elements; in the specific mathematical description process, weighted coherent accumulation is carried out, and the mathematical description is obtained by the following four antenna synthesis formulas:
Wherein s m [ k-L ] represents a signal of the mth array signal subjected to L times of delay, w ml represents a corresponding weight, and L is the total delay number or the snapshot number;
The MVDR algorithm is adopted in the generation weight matrix for generating the four-antenna synthesized signals, so that the signals in the expected direction are all communicated, and the signals or noise interference from other directions are suppressed to the greatest extent; simultaneously, along with the change of external conditions such as environment and the like, the weight of each antenna array element is flexibly adjusted in real time, so that self-adaptive filtering is realized; in the front-end adaptive STAP module, the weight matrix is expressed mathematically as:
Wherein R is covariance matrix of the signal, and a (theta) is a guide vector in a desired direction; the weight is continuously updated through the covariance matrix of the expected direction and the signal, and the weight matrix is continuously updated, so that the antenna array can adaptively filter a certain/certain satellite directions;
Based on the spatial and time domain information, in the signal covariance matrix calculation, it is described as:
wherein, The observation sample vector s a [ t-k ] representing the (k+1) th snapshot of the a-th array element is inner-accumulated with the N s observation sample vector s b [ t-l ] of the (l+1) th snapshot of the b-th array element; all the information is packaged, so that the self-adaptive updating of the information aiming at the space-time domain is ensured.
2. The low-cost multi-antenna GNSS/INS ultra-compact multi-stage anti-interference system according to claim 1, wherein the scheme adopts four GNSS antenna arrays to receive GNSS signals, and realizes real-time estimation of carrier phase differences of four paths of signals through four parallel baseband processing channels; the multi-antenna simulation data are synchronously processed through the GNSS signal preprocessing module, and a four-channel shared crystal oscillator mode is adopted to ensure the clock synchronization consistency of the AD module.
3. The working principle of the low-cost multi-antenna GNSS/INS ultra-compact multi-stage anti-interference system according to claim 1 is characterized in that: the multi-antenna GNSS/INS ultra-tight combined anti-interference system with low cost utilizes multi-antenna and INS information sources, respectively processes and extracts space characteristics by four-channel antennas, combines multi-channel GNSS arrays, and finally challenges positioning navigation in the environment by combining an INS auxiliary mode.
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