CN101718873A - Homing signal space-time anti-interference digital signal processor - Google Patents

Homing signal space-time anti-interference digital signal processor Download PDF

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CN101718873A
CN101718873A CN200910218946A CN200910218946A CN101718873A CN 101718873 A CN101718873 A CN 101718873A CN 200910218946 A CN200910218946 A CN 200910218946A CN 200910218946 A CN200910218946 A CN 200910218946A CN 101718873 A CN101718873 A CN 101718873A
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曾操
王赵
廖桂生
陶海红
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Xidian University
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Abstract

The invention discloses a homing signal space-time anti-interference digital signal processor which mainly solves the problem that the properties of original homing signals cannot be better reserved during interference resistance of the prior art. A processing process of the digital signal processor comprises the following steps of: (1) receiving homing signals by a receiving antenna with a rectangular structure; (2) sampling the homing signals by a digital collecting unit and sending digital samples to a digital orthogonal interpolation module to carry out orthogonal interpolation conversion; (3) converting space domain data into space-time data and dividing the space-time data into two paths, wherein one path is sent into a self-adaptive weight number calculation module, while the other path is sent into a self-adaptive anti-interference module; (4) in the self-adaptive weight number calculation module, calculating a self-adaptive weight number according to a linearly constrained minimum variance; and (5) transmitting the weight number into the self-adaptive anti-interference module to multiply by the other space-time data to finish homing signal interference suppression. The digital signal processor has small signal distortion and high decoding rate and can be applied to anti-interference processing of received homing signals.

Description

Homing signal space-time anti-interference digital signal processor
Technical field
The present invention relates to the signal processing technology field, a kind of specifically anti-interference digital signal processor can be used for the anti-interference process to the navigation received signal.
Background technology
Satellite navigation and location system can be round-the-clock, round-the-clock provides information such as position, speed and time, generally comprises satellite constellation, Ground Control/monitoring network and user receiving equipment.Build up and the successful Application of american global positioning system GPS (GLOBAL Position System) are that the U.S. has brought huge military affairs and economic interests, have caused the common concern of countries in the world.Some countries build the satellite navigation system of oneself in succession, as (the Global Navigation Satellite System of russian system, GLONASS) system, the QZSS plan of the Galileo of European Union (GALILEO) system, Chinese triones navigation system and Japan.Satellite navigation has wide application demand in the military and civilian field, is applied to continental rise, and functions such as navigation of electronic map, Automatic Vehicle Location, the precious indication in geographical Tibetan can be provided; Be applied to aviation, can provide flight dependent surveillance, sailing direction, guiding to play the degradation function; Be applied to maritime affairs, functions such as air route guide, resource plotting can be provided; Be applied to the space guiding, can provide satellite to decide functions such as appearance orbit determination, time synchronized.
Though navigation positioning system is widely used, navigation signal very easily is interfered when arriving receiver and causes system performance to descend even inefficacy, and therefore research navigation Anti-Jamming Technique is significant.It is extremely faint that the signal of satellite navigation system arrives ground, for example the minimum signal on the L2 signal of GPS arrival ground is-166dBw, the light that one 25 watts bulb sends outside being equivalent to 1000 miles, signal is very easy to be interfered, particularly the interference of artificial dispensing.As the jammer of the tinned size of Coca-Cola of US Naval Air Arm tactical operations center development, cost performance is high; The portable jammer of GPS of Russia development, 2 watts of jamming powers, GPS thick/when intercepting and capturing sign indicating number, interference distance is above 200 kilometers.Fierce day by day along with the complexity day by day of electromagnetic environment and navigation countermeasure, the jamproof key core technology of research navigation occupy to China that following information is obtained the superiority in field and " the system navigation power " grasped in the war has crucial meaning.
It is anti-interference on implementation to navigate, and can be divided into analog-and digital-two kinds.Anti-interference being generally of navigation before the mid-90 simulated realization, as U.S.'s Roc. this company of crin utilizes the controlled receiving antenna of 4 array elements to realize that the simulation zero-setting system provides additional antijamming capability for the ground mobile platform, owing to its volume, weight and power consumption, price, zeroing weight convergence wait reason slowly, the simulation jamproof system is not used widely.Along with the continuous appearance during the large-capacity and high-performance numeral, and accurate phase control of Digital Implementation and fast throughput, make a new generation's navigation jamproof system all adopt the Digital Implementation mode without exception.Luo Lin. this company of crin and Luo Ke West Germany. LMT unites for " JDAM " air-to-ground guided missile and has researched and developed G-STAR navigation antijam receiver, has adopted six array elements zeroing digital beam formation technology.RockwellCollins company new range numeral jamproof system MIDAS has finished the exploitation of 2 yuan of devices of zeroing when empty at present, can be widely used in aircraft unmanned plane, in the navigation neceiver system of vehicle-mounted and guided weapon.More domestic colleges and universities and research institute have also carried out the research of navigation Anti-Jamming Technique and the development of jamproof system.
Along with interference mode from interfering with complexity, anti-interference signal processing technology is also anti-interference from the one-dimensional territory, and to develop into the associating of multidimensional territory anti-interference.Interference mode develops into wideband frequency modulation, broadband gaussian noise from selective interference, disturbs from batch (-type) and develops into various ways such as frequency sweep, Amplitude Modulation Continuous Wave, disturbs system also to disturb from the compacting formula and develops into the deception formula and the three-dimensional interference that distributes.The one-dimensional territory is anti-interference to be comprised: time domain is anti-interference; The amplitude territory is anti-interference; The spatial domain is anti-interference; Frequency domain is anti-interference; The spatial domain is anti-interference; Polarizing field is anti-interference.Time domain is anti-interference to be intercepted signal based on time window, disturbs effectively continuing very short pulsed; The amplitude territory is anti-interference carries out amplitude limiting processing to the individual, generally only as supplementary means; Frequency domain is anti-interference based on the time domain time-delay structure, can effectively resist selective interference, but for broadband interference, the bandwidth of their performance and interference is inversely proportional to; The spatial domain is anti-interference based on many array element structures, adopt the self-adaptation secondary lobe to disappear mutually or the power inversion techniques, distinguish when opening in interference and satellite territory, has good performance, otherwise then performance is not good, and anti-interference number is subject to array number, and the general array number of navigation neceiver is less, therefore is not suitable for resisting a large amount of interference; Polarizing field is anti-interference, utilizes level or vertical polarization diversity reception, adopts self-adaptive processing can effectively suppress the interference different with the satellite-signal polarization mode.The one-dimensional territory is anti-interference, always has such or such deficiency.Associating filtering technique in multidimensional territory receives increasing concern, as the adaptive space-time joint processor with emptyly frequently unite adaptive processor, and the associating of multidimensional territory anti-interference be the inexorable trend of Anti-Jamming Technique development.
The empty associated processors frequently of comparing the space-time joint processor realizes simple, and performance is more or less the same, and superior performance in theory, but has following deficiency in actual applications:
1) improper if the antenna formation is chosen, when suppressing interference, signal power can't obtain bigger gain;
2) if vector is chosen the improper wave form distortion that causes when constraint is empty, make that the bit error rate of despreading decoding is higher;
3) if time domain degree of freedom and postpone joint and choose time delay improperly makes anti-interference output performance not good, hardware is realized comparatively complicated.
Summary of the invention
The object of the invention is to avoid the deficiency of above-mentioned existing space-time joint processor, a kind of homing signal space-time anti-interference digital signal processor and signal processing method thereof are provided, with the reduction bit error rate and hard-wired complexity, and when disturbing inhibition, make signal obtain bigger gain.
For achieving the above object, the anti-interference signal processor of navigation of the present invention comprises:
Receiving antenna adopts rectangular configuration, is used to receive navigation signal;
Data acquisition unit is finished the digital sample to the analogue navigation signal, and the data parallel of serial is exported to the digital quadrature interpolating module;
The digital quadrature interpolating module digital navigation signal of data unit collection is carried out image frequency suppress to handle, and the navigation signal after will handling is exported to adaptive weight computing module and Adaptive Anti-jamming module simultaneously;
The adaptive weight computing module according to linear restriction minimum variance criterion, is finished the jamproof weights of required space-time joint and is calculated, and give the Adaptive Anti-jamming module with the weights that calculate;
The Adaptive Anti-jamming module, the relative position of wave filter when the weights that reception is next are added to sky multiplies each other with there being the navigation signal that disturbs, and finishes the inhibition that navigation signal is disturbed, and will disturb the navigation signal after the inhibition to export.
For achieving the above object, homing signal space-time anti-interference digital signal processor method of the present invention comprises the steps:
(1) navigation signal that receiving antenna is received is sampled and filtering, finish the inhibition of image frequency, and real navigation signal is become multiple navigation signal, the real part that wherein will answer navigation signal is as the I road, and empty step is as the Q road;
(2) setting that spatial domain degree of freedom and time domain degree of freedom be respectively 4, postpone joint time delay is 8, with the data on I road behind the quadrature interpolation and Q road through delay cell, data when being converted to sky, and data are carried out buffer memory during to this sky;
The covariance matrix of sampling adopted linear restriction minimum variance criterion when data computation was empty during (3) with buffer memory empty, and the constraint steering vector is that the Kronecker of time domain steering vector and spatial domain steering vector is long-pending, obtains the space-time adaptive weights;
(4) space-time adaptive weights and the navigation signal that contains interference are multiplied each other, finish inhibition undesired signal.
Described constraint steering vector is that the Kronecker of time domain steering vector and spatial domain steering vector is long-pending, obtains the space-time adaptive weights, carries out as follows:
Sampled data covariance matrix when (a) calculating sky
(b) constraint time domain steering vector is a s=[1 11 1] T
(c) constraint spatial domain steering vector is a t=exp{j2 π [0:1:3] T8F I/ F s8 be time delay, F IBe the centre frequency of signal, F sBe the signals sampling frequency, T represents transposition;
(d) steering vector is in the time of will forming sky (
Figure G2009102189464D0000042
Expression Kronecker is long-pending);
(e) according to the linear restriction minimum mean square error criterion, anti-interference required optimum weights when obtaining sky:
Figure G2009102189464D0000043
H represents conjugate transpose.
The present invention compared with prior art has following characteristics:
A. receiving antenna of the present invention is owing to adopting through preferred rectangular configuration, so when suppressing interference, navigation signal power can obtain bigger gain;
B. steering vector of the present invention amasss through the time domain steering vector of constraint and the Kronecker of spatial domain steering vector owing to adopting respectively, thereby has reduced signal distortion, has guaranteed that the despreading of navigation signal is deciphered;
C. the present invention has not only satisfied the interference free performance demand owing to adopt time domain degree of freedom and the delay rationally chosen to save time delay, has saved hardware resource again.
Description of drawings
Fig. 1 is a digital signal processor architecture block diagram of the present invention;
Fig. 2 is Adaptive Anti-jamming modular structure figure of the present invention;
Fig. 3 is that the present invention connects the receiving antenna structural drawing in the digital signal processor;
Fig. 4 is a digital signal processing process flow diagram of the present invention;
Fig. 5 is that the adaptive weight in the digital signal processing of the present invention produces sub-process figure;
Fig. 6 is a digital quadrature interpolation scheme synoptic diagram;
Fig. 7 is a frequency spectrum comparison diagram before and after the digital quadrature interpolation of the present invention;
Fig. 8 be the present invention when empty when anti-interference snr loss's average compare change curve with dried the making an uproar of input;
Fig. 9 be the present invention when empty when anti-interference snr loss's root-mean-square error compare change curve with dried the making an uproar of input;
Figure 10 be snr loss's performance with postpone tap number and time delay the change procedure analogous diagram;
Figure 11 is navigation signal interference suppressioning effect figure.
Embodiment
With reference to Fig. 1, digital signal processor of the present invention is made up of receiving antenna, data acquisition unit, digital quadrature interpolating module, adaptive weight computing module and Adaptive Anti-jamming module, wherein the input end of digital quadrature interpolating module links to each other with the output terminal of data acquisition unit, the output terminal a of digital quadrature interpolating module links to each other with the input end n of Adaptive Anti-jamming module by the Adaptive Anti-jamming module, and the output terminal b of digital quadrature interpolating module links to each other with the input end m of Adaptive Anti-jamming module.Wherein receiving antenna is arranged in rectangular configuration by 4 microstrip antennas, with when interference is suppressed to noise level, makes the power of signal obtain amplifying, as shown in Figure 2.Data acquisition unit is sampled to the data of navigation signal, and imports the digital quadrature interpolating module into after serial data is converted into parallel data; Digital quadrature interpolation mould suppresses the image frequency of digital signal, real signal is converted into complex signal, and complex signal is divided into two-way, and one tunnel complex signal is input to the adaptive weight computing module by a end, and another road complex signal is input to the m end of Adaptive Anti-jamming module by the b end; The adaptive weight computing module, anti-interference required weights calculate during to sky according to complex signal, and weights are input to the n end of Adaptive Anti-jamming module; The Adaptive Anti-jamming module, anti-interference weights multiply each other with there being the navigation signal that disturbs during with sky, finish the interference inhibition, and will disturb the navigation signal output after suppressing.
Described adaptive weight computing module, realize that by DSP the model of DSP is: TI6416, but be not limited thereto kind of a model.
Described Adaptive Anti-jamming module, realize that by FPGA the model of FPGA is Cyclone IIIEP3C120: but be not limited thereto kind of a model.Fig. 3 is the structural drawing of Adaptive Anti-jamming module, because front end adopts the receiving antenna of 4 array elements, so the degree of freedom that is input as in the Adaptive Anti-jamming module is 4 spatial domain data, use spatial domain 1 respectively, 2 spatial domains 3, spatial domain and spatial domain 4 expressions, in order to obtain the space-time two-dimensional data, spatial domain, every road signal must be postponed, the time domain degree of freedom that the present invention finally determines is 4, as shown in Figure 3, there are 3 delay cells on every road, produce 4 road time-domain signals, and every road time-domain signal is multiplied each other jamproof output when the array output after all signals and adaptive weight multiply each other is sky with corresponding adaptive weight.
With reference to Fig. 4, digital signal processing step of the present invention is as follows:
Step 1, the sampling of navigation signal and quadrature interpolation.
With reference to Fig. 6 digital sample quadrature interpolation scheme synoptic diagram, be divided into the two-way hilbert filter through designing in advance respectively through high-speed AD converter AD sampled digital real signal, subsequently that I road, the Q road signal extraction of output is down-sampled defeated, the image frequency of finishing signal suppresses, and real navigation signal is become multiple navigation signal exports backward.
Conversion of signals when step 2, navigation signal empty.
Setting spatial domain degree of freedom time domain degree of freedom is 4, and postponing joint time delay is 8, with the spatial domain data on I road behind the quadrature interpolation and Q road through delay cell, data when making it be converted to sky after postponing time delay, and data are carried out buffer memory during to this sky by the spatial domain data.
Step 3 according to linear restriction minimum variance criterion, is calculated the space-time adaptive weights.
Linear restriction minimum variance criterion is explained as follows:
Suppose that the wanted signal steering vector is a s, there is interference simultaneously from other direction, array t reception data constantly are
x(t)＝a ss(t)+c(t)+n(t)
In the formula, s (t) is the signal envelope vector, and c (t) is the undesired signal vector, and n (t) is a receiver internal noise vector.
Do auto adapted filtering at the linear restriction minimum mean square error criterion, can be expressed as with mathematical formulae:
min w s w s H R ^ w s s . t . w s H a s = 1
H represents conjugate transpose in the formula, w sBe the self-adaptation weight vector,
Figure G2009102189464D0000062
Be the covariance matrix of sampled data, the thought of this formula is under the condition of constraint desired orientation response, makes the output power minimum.
With reference to Fig. 5, being implemented as follows of this step:
The covariance matrix of data computation navigation signal digital sample during (3a) with good empty of buffer memory Note sampling snap is M, then
Figure G2009102189464D0000064
Can estimate to obtain by following formula
R ^ = 1 M Σ t = 1 M x ( t ) x H ( t )
(3b) spatial domain is constrained in normal direction, constraint spatial domain steering vector is a s=[1 11 1] T
(3c) with the centre frequency of time-domain constraints at signal, constraint time domain steering vector is a t=exp{j2 π [0:1:3] T8F I/ F s, wherein 8 is time delay, F IBe the centre frequency of signal, F sBe the signals sampling frequency, T represents transposition;
Steering vector when (3d) obtaining sky
Figure G2009102189464D0000066
Wherein
Figure G2009102189464D0000067
Expression Kronecker is long-pending;
(3e) use the Lagrange multiplier method, try to achieve optimum self-adaptation weight vector w Stopt:
w stopt = R ^ - 1 a st / ( a st H R ^ - 1 a st ) .
Step 4, navigation signal are disturbed and are suppressed.
Time-domain signal and corresponding weights that the delayed joint in every road postpones to produce multiply each other, and the sets of signals after all are multiplied each other merges output, finish the inhibition of navigation signal interference.
Effect of the present invention can further specify by following emulation:
What emulation of the present invention was adopted is intermediate-freuqncy signal, and its frequency is 5.42MHz, bandwidth 1.023MHz, sample frequency 40MHz; The frequency of two undesired signals is respectively 5.42MHz, 5.6MHz, and its bandwidth is respectively 300KHz, 400KHz, wave filter adopts the 16 rank hilbert filters of bandwidth 10MHz,
Emulation 1 is done the digital quadrature interpolation processing to signal, result such as Fig. 7, and wherein Fig. 7 (a) is a quadrature interpolation front signal frequency spectrum, and Fig. 7 (b) is the signal spectrum behind the quadrature interpolation, and from Fig. 7 (b) as seen, the image frequency that appears at negative semiaxis signal is suppressed.
Emulation 2 is carried out emulation to output signal-noise ratio performance after the weights optimization, simulation result such as Fig. 8 and Fig. 9, and wherein Fig. 8 is that output signal-to-noise ratio loss average is made an uproar than changing performance curve with input is dried.Fig. 9 makes an uproar than the curve that changes with input is dried for output signal-to-noise ratio loss root-mean-square error.As can be seen from Figure 8 Signal-to-Noise average size satisfies jamproof performance requirement, and snr loss's average is less than-2dB; Signal-to-Noise loss root mean square stability satisfies the interference free performance requirement as can be seen from Figure 9, and the shake of snr loss's root-mean-square error is made an uproar than changing less than 1dB with input is dried.
Emulation 3, to snr loss's performance with postpone tap number and time delay change procedure carry out emulation, simulation result as shown in figure 10, wherein Figure 10 (a) is that snr loss's average is with postponing the stereographic map that tap number and time delay change, Figure 10 (b) is that the present invention adopts snr loss's average figure when postponing joint number 4, and Figure 10 (c) is that the present invention adopts 8 o'clock snr loss's averages figure time delay.From Figure 10 (a) as can be seen, get 4 when postponing tap number, got time delay 8 o'clock, signal-to-noise performance has entered the critical zone of performance change; From Figure 10 (b) as can be seen, snr loss's performance change begins gently when the delay tap number is 4, is chosen to be 4 so postpone tap number; From Figure 10 (c) as can be seen, snr loss's performance change begins gently when be 8 time delay, so be chosen to be 8 time delay.
Emulation 4, navigation signal are disturbed and are suppressed analogous diagram, and simulation result as shown in figure 11.Wherein Figure 11 (a) is the navigation signal spectrogram that exist to disturb at navigation signal centre frequency place, Figure 11 (b) be with the present invention disturb navigation signal spectrogram after the inhibition, Figure 11 (c) be disturb suppress before and after the relevant peaks synchronization schemes.From Figure 11 (a) as can be seen, because the existence of disturbing, signal spectrum peak is unsmooth; From Figure 11 (b) as can be seen, signal spectrum peak is smoother, shows that interference suppresses; Among Figure 11 (c), the relevant peaks synchronous situation failed to match the sync correlation peak when dotted line disturbed for existing, thereby can't carry out the despreading decoding of navigation signal; Solid line is to disturb to suppress back relevant peaks synchronous situation, can match the sync correlation peak, and then finishes the despreading decoding of navigation signal.

Claims (7)

1. a homing signal space-time anti-interference digital signal processor comprises
Receiving antenna adopts rectangular configuration, is used to receive navigation signal;
Data acquisition unit is finished the digital sample to the analogue navigation signal, and the data parallel of serial is exported to the digital quadrature interpolating module;
The digital quadrature interpolating module digital navigation signal of data unit collection is carried out image frequency suppress to handle, and the navigation signal after will handling is exported to adaptive weight computing module and Adaptive Anti-jamming module simultaneously;
The adaptive weight computing module according to linear restriction minimum variance criterion, is finished the jamproof weights of required space-time joint and is calculated, and give the Adaptive Anti-jamming module with the weights that calculate;
The Adaptive Anti-jamming module, the relative position of wave filter when the weights that reception is next are added to sky multiplies each other with there being the navigation signal that disturbs, and finishes the inhibition that navigation signal is disturbed, and will disturb the navigation signal after the inhibition to export.
2. homing signal space-time anti-interference digital signal processor according to claim 1, wherein the rectangular configuration receiving antenna is to form by 4 microstrip antenna settings.
3. homing signal space-time anti-interference digital signal processor according to claim 1, wherein the adaptive weight computing module is realized by DSP.
4. homing signal space-time anti-interference digital signal processor according to claim 1, wherein the Adaptive Anti-jamming module realizes by FPGA.
5. a homing signal space-time anti-interference digital signal processor method comprises the steps:
(1) navigation signal that receiving antenna is received is sampled and filtering, finish the inhibition of image frequency, and real navigation signal is become multiple navigation signal, the real part that wherein will answer navigation signal is as the I road, and imaginary part is as the Q road;
(2) setting that spatial domain degree of freedom and time domain degree of freedom be respectively 4, postpone joint time delay is 8, with the data on I road behind the quadrature interpolation and Q road through delay cell, data when being converted to sky, and data are carried out buffer memory during to this sky;
The covariance matrix of sampled data adopted linear restriction minimum variance criterion when data computation was empty during (3) with buffer memory empty, and the constraint steering vector is that the Kronecker of time domain steering vector and spatial domain steering vector is long-pending, obtains the space-time adaptive weights;
(4) space-time adaptive weights and the navigation signal that contains interference are multiplied each other, finish inhibition undesired signal.
6. homing signal space-time anti-interference digital signal disposal route according to claim 5, wherein to be respectively 4, to postpone joint time delay be 8 for step (2) described setting spatial domain degree of freedom and time domain degree of freedom, be according to navigation signal snr loss performance when optimum degree of freedom and postpone joint time delay, and take into account minimum hardware spending and definite.
7. homing signal space-time anti-interference digital signal disposal route according to claim 5, wherein the described constraint steering vector of step (3) is that the Kronecker of time domain steering vector and spatial domain steering vector is long-pending, obtain the space-time adaptive weights, carry out as follows:
Sampled data covariance matrix when (7a) calculating sky
Figure F2009102189464C0000021
(7b) constraint time domain steering vector is a s=[1111] T
(7c) constraint spatial domain steering vector is a t=exp{j2 π [0:1:3] T8F I/ F s8 be time delay, F IBe the centre frequency of signal, F sBe the signals sampling frequency, T represents transposition;
Steering vector is in the time of (7d) will forming sky
Figure F2009102189464C0000023
Expression Kronecker is long-pending;
(7e) according to the linear restriction minimum mean square error criterion, anti-interference required optimum weights when obtaining sky: H represents conjugate transpose.
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