CN101477189B - Multiple kinds of interference suppression method of universal satellite navigation system - Google Patents

Multiple kinds of interference suppression method of universal satellite navigation system Download PDF

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CN101477189B
CN101477189B CN2009100677745A CN200910067774A CN101477189B CN 101477189 B CN101477189 B CN 101477189B CN 2009100677745 A CN2009100677745 A CN 2009100677745A CN 200910067774 A CN200910067774 A CN 200910067774A CN 101477189 B CN101477189 B CN 101477189B
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interference
satellite navigation
satellite
navigation system
signal
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CN101477189A (en
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卢丹
吴仁彪
李婵
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Civil Aviation University of China
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Civil Aviation University of China
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Abstract

The invention discloses a method for inhibiting various interferences of a universal satellite navigation system. The method is realized by utilizing an self-adaptive array antenna to inhibit interference; the method comprises the following steps: converting an analog radio-frequency signal received by an array antenna into a digital intermediate frequency signal; projecting the converted digital intermediate frequency data on an interference orthocomplementation space; carrying out low side lobe routine wave beam on the projected data to form inhibit multipath; calculating an array weighting vector; and after the wave beam is formed, converting a satellite navigation signal into the analog radio-frequency signal, and sending the analog radio- frequency signal to a receiver. Interference inhibition through utilization of the self-adaptive array antenna is realized by embedding a secondary interference processor between array antenna and the receiver of the satellite navigation system and does not change an inner structure of the receiver of the satellite navigation system. The method does not need to change the inner structure of a common navigation receiver, has good compatibility with the prior receiver, can ensure the normal operation of the satellite navigation receiver under the condition of coexistence of common deceptive type interference, pressing type interference and satellite multipath interference.

Description

General satellite navigation system multiple kinds of interference suppression method
Technical field
The present invention relates to a kind of satellite navigation system disturbance restraining method.Particularly relate to a kind of existing receiver of satellite navigation system structure that do not change, can suppress the general satellite navigation system multiple kinds of interference suppression method of all kinds of interference.
Background technology
Satellite navigation system is with the satellite-based radio navigation system of artificial satellite as guidance station, the energy round-the-clock, round-the-clock, for the whole world provides high accuracy three-dimensional Position, Velocity and Time information Anywhere, thereby the navigator fix general layout and the level of numerous industries have fundamentally been changed, provide convenience and safety for countless sea, land and sky, a day military-civil family, become the important foundation facility of information systems, be directly connected to the guardian technique support system of national economy.At present, the system that has built up comprises the GPS of USA system, the BD-1 of Muscovite GLONASS system and China (No. one, the Big Dipper) region satellite navigation system; The system that is implementing development ﹠ construction comprises Galileo (Galileo) system that China and European Union will develop jointly, the satellite navigation and location system of India, the QZSS (accurate zenith satellite system) of Japan, and the BD-2 of China (No. two, the Big Dipper) satellite navigation system etc.
Yet because the liftoff ball of satellite of satellite navigation system is far, satellite-signal very faint (more than the low nearly 20dB of noise), thus no matter be GPS, GLONASS, Galileo still is a BD-2 system etc., all exists a common shortcoming---the influence that is subject to disturb.The most effective disturbance restraining method is to adopt the adaptive array technology at present, in satellite navigation system is anti-interference, adaptive array technology commonly used generally is divided into two classes, the one, power inversion method, the one, utilize the blind adaptive wave beam formation method of navigation satellite signal characteristic (as constant modulus property, cyclostationarity).
In all kinds of interference of satellite navigation system, the common briquettability that has is disturbed, and the deception formula is disturbed, and the satellite-signal multipath disturbs.When this three classes interference coexists, because the interference of deception formula is the same with the navigation satellite signal characteristic, therefore utilize the blind adaptive wave beam formation method inefficacy of navigation satellite signal characteristic, when the interference of satellite-signal multipath existed, power inversion method also lost efficacy.Therefore, need a kind of general satellite navigation system multiple kinds of interference suppression method of research.
Summary of the invention
Technical matters to be solved by this invention is, a kind of existing receiver of satellite navigation system structure that do not change is provided, and can suppress the general satellite navigation system multiple kinds of interference suppression method of all kinds of interference.
The technical solution adopted in the present invention is: a kind of general satellite navigation system multiple kinds of interference suppression method is to utilize adaptive array antenna to suppress to disturb to realize, includes following steps:
(1) with array antenna received to analog radio-frequency signal be converted to digital medium-frequency signal;
(2) the digital intermediate frequency data after will changing are to disturbing orthogonal complement space projection;
Digital intermediate frequency data after described will the conversion are to disturbing orthogonal complement space projection, be to try to achieve and disturb the subspace by estimating earlier to disturb the subspace to ask the array covariance matrix is done characteristic value decomposition, and then utilize orthogonal complement space computing formula to try to achieve, the estimation of described interference subspace is calculated in two kinds of situation, when disturbing in the deception formula and satellite-signal part correlation or fully uncorrelated generally speaking this, disturb the estimation of subspace to obtain by the array covariance matrix being done characteristic value decomposition; When under interference of deception formula and the relevant this limiting case of satellite-signal, disturb the estimation of subspace to obtain by Search Space Smoothing.
(3) data after the projection are carried out low side lobe routine wave beam and form the inhibition multipath;
(4) computing array weight vectors;
(5) satellite navigation signals after wave beam is formed is converted to analog radio-frequency signal and sends into receiver.
The described adaptive array antenna that utilizes suppresses to disturb, and realizes by embed a secondary interference processor between array antenna and receiver of satellite navigation system, does not change the inner structure of receiver of satellite navigation system.
Step (3) is described carries out low side lobe routine wave beam formation inhibition multipath to the data after the projection, is the minor level by Chebyshev static weighting reduction array pattern, reaches the purpose of decay satellite multipath signal.
General satellite navigation system multiple kinds of interference suppression method of the present invention, analyzed the characteristic of interference of deception formula and satellite multipath signal, consider that at first the deception formula is disturbed and the correlativity of satellite-signal, adopt and disturb orthogonal complement space shadow casting technique to suppress interference of deception formula and briquettability interference, next utilizes low side lobe routine wave beam formation technology to alleviate multipath signal.Inner structure and existing receiver that the present invention need not to change common navigation neceiver have good compatibility, can disturb in common deception formula, briquettability is disturbed and the satellite multipath disturbs under the situation of coexistence, guarantees the satellite navigation receiver operate as normal.
Description of drawings
Fig. 1 is the process flow diagram of general satellite navigation system multiple kinds of interference suppression method of the present invention;
Fig. 2 is that general multiclass is disturbed the inhibition theory diagram;
Fig. 3 is the array antenna directional diagram that the present invention obtains;
Fig. 4 is before disturb suppressing and adopts the comparison of catching the result after the present invention disturbs inhibition;
Fig. 5 is the partial enlarged drawing of comparative result shown in Figure 4;
Fig. 6 is that the multiclass under the limiting case is disturbed the inhibition theory diagram;
Fig. 7 is the array pattern that the present invention obtains under the limiting case;
Fig. 8 a is the result that catches that the Capon method obtains under the limiting case;
Fig. 8 b is the result that catches that the present invention obtains under the limiting case.
Embodiment
Below in conjunction with embodiment and accompanying drawing general satellite navigation system multiple kinds of interference suppression method of the present invention is made a detailed description.
General satellite navigation system multiple kinds of interference suppression method of the present invention, be to utilize adaptive array antenna to suppress to disturb to realize, promptly a secondary interference processor realizes by embedding between array antenna and common receiver of satellite navigation system, do not change the inner structure of receiver of satellite navigation system.As shown in Figure 1, because in existing satellite navigation system, superiority and the monopoly position of gps system aspect coverage and precision is research object with the gps system in the present embodiment, provides a kind of general disturbance restraining method, includes following steps:
The first step: with array antenna received to analog radio-frequency signal be converted to digital medium-frequency signal;
Disturb when the interference of deception formula, briquettability, multipath disturbs when existing simultaneously, and the signal model that aerial array receives is
x ( t ) = Σ l = 1 L ( a l s l ( t ) + Σ p = 1 P a lp s lp ( t - τ lp ) + Σ k = 1 K a lk s lk ( t - τ lk ) ) + Σ q = 1 Q b q j q ( t ) + n ( t ) - - - ( 1 )
S wherein l(t) l gps satellite signal of expression; s Lp(t-τ Lp) expression l gps satellite signal p multipath signal, τ LpRepresent its time-delay with respect to the GPS direct signal; s Lk(t-τ Lk) k deception formula interference of l gps satellite signal of expression, τ LkRepresent its time-delay, j with respect to the GPS direct signal q(t) q undesired signal of expression; a l, a Lp, a Lk, b qBe corresponding array manifold; N (t) expression average is zero, and variance is σ n 2The additive white Gaussian noise vector.
Generally speaking, because the deception formula is disturbed s Lk(t-τ Lk) can only the simulating GPS signal the C/A coded signal, can not simulate real propagation delay, so s Lk(t-τ Lk) and s l(t) part correlation or uncorrelated fully, s Lk(t-τ Lk) can regard common undesired signal as.
Second step:, calculate and disturb the orthogonal complement space according to the repeatedly piece beat of data that array received arrives.At first, the digital intermediate frequency data after the conversion to disturbing orthogonal complement space projection, are tried to achieve and disturbed the subspace by estimating to disturb the subspace to ask earlier the array covariance matrix is done characteristic value decomposition, and then utilize orthogonal complement space computing formula to try to achieve.The estimation of described interference subspace is calculated in two kinds of situation, when disturbing in the deception formula and satellite-signal part correlation or fully uncorrelated generally speaking this, disturbs the estimation of subspace to obtain by the array covariance matrix being done characteristic value decomposition; When under interference of deception formula and the relevant this limiting case of satellite-signal, disturb the estimation of subspace to obtain by Search Space Smoothing.
Because the power of gps signal is usually than the low 20～30dB of noise level, and the power that disturbs is usually all very strong, generally will be higher than the power of noise, so the covariance matrix of received signal mainly is by disturbing and the covariance matrix of noise determines.Promptly
R xx≈R j+R v (2)
R wherein XxExpression array covariance matrix, R vThe expression noise covariance matrix, R jThe expression interference covariance matrix, when all kinds of interference coexisted, because the deception formula is disturbed and satellite-signal is not exclusively relevant, the satellite multipath signal was very weak, so R jBe the covariance matrix that the deception formula is disturbed and the briquettability interference is formed.
To R XxCarry out characteristic value decomposition, can obtain
R xx = Σ m = 1 M λ m e m e m H ≈ Σ m = 1 K + P λ m e m e m H + σ v 2 Σ m = K + P + 1 M e m e m H - - - ( 3 )
λ wherein 1, L, λ K+PFor K+P big eigenwert, corresponding to K+P undesired signal, remaining M-K-P eigenvalue K+P+1, L, λ MEquate, be σ v 2So corresponding to the individual proper vector e of eigenwert greatly of K+P 1, L, e K+POpen into disturbing the subspace, be designated as U J=span{e 1, L, e K+P.Then its orthogonal complement space is
U J ⊥ = I - U J ( U J H U J ) - 1 U J H - - - ( 4 )
With of the orthogonal complement space projection of array received signal to interference.Described projection matrix is
P J ⊥ = U J ⊥ ( U J ⊥ ) H - - - ( 5 )
Data after the projection are
y ( n ) = P J ⊥ x ( n ) = P J ⊥ s ( n ) + P J ⊥ v ( n ) - - - ( 6 )
The 3rd step: will carry out low side lobe routine wave beam from the data after second projection that obtain of step and form and suppress multipath.At gps system, can obtain the attitude information of receiver according to the inertial navigation unit, calculate the direction of satellite-signal, promptly can calculate the array manifold a of formula (1) satellite-signal l, described low side lobe routine wave beam formation method is the minor level by Chebyshev static weighting reduction array pattern, realizes reaching the purpose of decay satellite multipath signal.In the present embodiment, carry out Chebyshev and add temporary, peak sidelobe is taken as-30dB.
The 4th step: computing array weight vectors, being calculated as of described weight vectors
w = P J ⊥ a l - - - ( 7 )
Fig. 3 has provided resulting array pattern in the present embodiment, and wherein, a is a gps signal; B is that the deception formula is disturbed; C is that briquettability is disturbed.In the present embodiment, sampling rate is 5MHz, a gps satellite signal incides on the array from 5 ° of directions, and its multipath signal incides on the array from-20 ° of directions, and a compacting interference and a deception formula are disturbed respectively and incided on the array from 30 ° with-45 ° of directions.Can see the influence that the present invention can well suppress all kinds of interference and alleviate the signal multipath by 3 figure.According to the weight vectors that calculates, Fig. 2 is that general multiclass is disturbed the inhibition theory diagram, and wherein, 3 for disturbing orthogonal complement space projective transformation; 4 are low side lobe routine wave beam formation device.The data that adaptive disturbance suppresses to export the unit among Fig. 2 are
z(n)＝w Hx(n) (8)
The 5th goes on foot: the satellite navigation signals after wave beam is formed is converted to analog radio-frequency signal and sends into common receiver.With the 4th the step in array data through digital-to-analog conversion, deliver to common GPS receiver after the up-conversion and catch processing, Fig. 4 has provided without the comparison of disturbing after inhibition and employing the present invention disturb inhibition of catching the result, Fig. 5 is the partial enlarged drawing of Fig. 4, and the s among Fig. 5 is the gps satellite travel-time.In the present embodiment, the propagation delay of gps satellite signal (deducting the integral multiple in C/A sign indicating number cycle) is 0.3ms, equal 1500 chip samples points, deception formula interferencing propagation time delay (deducting the integral multiple in C/A sign indicating number cycle) is 0.32ms, equals 1600 chip samples points.(this section with the 4th the step in that section saying identical?) by Fig. 4 and partial enlarged drawing shown in Figure 5 as seen, after the present invention disturbs inhibition, can correctly catch gps satellite, and interference not suppressed, then error capture is disturbed to the deception formula.
Foregoing invention thinks that deception formula in the formula (1) is in disturbing s Lk(t-τ Lk) and satellite-signal s l(t) part correlation or uncorrelated fully.Yet when the propagation delay of the remainder that is divided by of propagation delay that disturbs when the deception formula and C/A sign indicating number cycle and satellite-signal equated with the remainder that the C/A sign indicating number cycle is divided by, the two was relevant fully.At this moment, can think the deception formula disturb in the C/A sign indicating number of C/A sign indicating number and satellite-signal synchronous, the probability that this thing happens is 1/1023, obviously is small probability event, so foregoing invention is effective under most situations.
When the deception formula is disturbed and during the relevant this small probability event generation of satellite-signal, we still can realize with the theory diagram of Fig. 2.Different is, because the deception formula is disturbed and gps satellite signal is relevant, therefore can not adopt step (2) to calculate and disturb the subspace, should utilize Search Space Smoothing to estimate that the deception formula is disturbed and briquettability is disturbed the subspace, its theory diagram such as Fig. 6, among the figure: 3 for disturbing orthogonal complement space projective transformation; 4 are low side lobe routine wave beam formation device; 5 are Search Space Smoothing estimation interference subspace.
Fig. 7 has provided when the deception formula is disturbed and satellite-signal is concerned with, the array pattern that the present invention obtains, and wherein, a is a gps signal; B is that the deception formula is disturbed; C is that briquettability is disturbed.In the present embodiment, except that the deception formula disturb and gps satellite signal relevant, the same experiment condition generally speaking of other experiment conditions is identical.As can be seen from Figure 7, adopt the present invention to form zero falling in interference of deception formula and compacting formula interference radiating way respectively, on the multipath interference radiating way, form Low Sidelobe, on the satellite-signal direction, form main lobe.
Fig. 8 has provided when the deception formula is disturbed and satellite-signal is concerned with, the comparison of catching the result of adopting Capon beam-forming technology and the present invention to obtain respectively.From Fig. 8 a as can be seen, adopt the Capon beam-forming technology to cause signal cancellation, can not capture satellite-signal, from Fig. 8 b as can be seen, adopt the present invention then can capture satellite-signal.

Claims (3)

1. a general satellite navigation system multiple kinds of interference suppression method is characterized in that, is to utilize adaptive array antenna to suppress to disturb to realize, includes following steps:
(1) with array antenna received to analog radio-frequency signal be converted to digital medium-frequency signal;
(2) the digital intermediate frequency data after will changing are to disturbing orthogonal complement space projection,
Digital intermediate frequency data after described will the conversion are to disturbing orthogonal complement space projection, be to try to achieve and disturb the subspace by estimating earlier to disturb the subspace to ask the array covariance matrix is done characteristic value decomposition, and then utilize orthogonal complement space computing formula to try to achieve, the estimation of described interference subspace is calculated in two kinds of situation, when disturbing in the deception formula and satellite-signal part correlation or fully uncorrelated generally speaking this, disturb the estimation of subspace to obtain by the array covariance matrix being done characteristic value decomposition; When under interference of deception formula and the relevant this limiting case of satellite-signal, disturb the estimation of subspace to obtain by Search Space Smoothing;
(3) data after the projection are carried out low side lobe routine wave beam and form the inhibition multipath;
(4) computing array weight vectors;
(5) satellite navigation signals after wave beam is formed is converted to analog radio-frequency signal and sends into receiver.
2. general satellite navigation system multiple kinds of interference suppression method according to claim 1, it is characterized in that, the described adaptive array antenna that utilizes suppresses to disturb, realize by between array antenna and receiver of satellite navigation system, embedding a secondary interference processor, do not change the inner structure of receiver of satellite navigation system.
3. general satellite navigation system multiple kinds of interference suppression method according to claim 1, it is characterized in that, step (3) is described carries out low side lobe routine wave beam formation inhibition multipath to the data after the projection, be minor level, reach the purpose of decay satellite multipath signal by Chebyshev static weighting reduction array pattern.
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CN101776764B (en) * 2010-01-29 2013-03-20 中国民航大学 Global position system (GPS) interference suppression method based on multichannel one-way delay mutual correlation processing
CN101900819B (en) * 2010-07-15 2012-08-29 哈尔滨工业大学 Blind adaptive space-time array anti-interference method for navigation receiver
CN102721971A (en) * 2011-12-31 2012-10-10 武汉苍穹数码仪器有限公司 Method for improving anti-interference performance of GNSS receiver
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CN104330808B (en) * 2014-11-01 2017-01-25 中国民航大学 Multiclass satellite navigation interference suppression method based on solution expanding technology
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