CN102121991B - Interference suppression method and device based on BeiDou-I satellite signal reception - Google Patents

Interference suppression method and device based on BeiDou-I satellite signal reception Download PDF

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CN102121991B
CN102121991B CN2010100301301A CN201010030130A CN102121991B CN 102121991 B CN102121991 B CN 102121991B CN 2010100301301 A CN2010100301301 A CN 2010100301301A CN 201010030130 A CN201010030130 A CN 201010030130A CN 102121991 B CN102121991 B CN 102121991B
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贾小波
吴淑琴
张筱南
陈煜聪
孙进卿
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Ningbo meow Technology Co., Ltd
ZHENGZHOU VCOM SCIENCE AND TECHNOLOGY Co.,Ltd.
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Abstract

The invention relates to an interference suppression method based on BeiDou-I satellite signal reception. The method comprises the following steps of: (1) receiving N*(1-theta) BeiDou digital intermediate-frequency data and buffering the front N*theta sampling point data; (2) selecting window functions with the window length of N, combining the received N*(1-theta) BeiDou digital intermediate-frequency data and the received front N*theta sampling point data into N data to be analyzed in time sequence and sequentially multiplying the N data to be analyzed by N window function quotients; (3) carrying out FFT (Fast Fourier Transform) on the N data subjected to windowing treatment and storing the real part data and the imaginary part data of the N frequency points subjected to FFT; (4) calculating the module values of the frequency points subjected to the FFT; (5) calculating a threshold value according to the average value of the module values and the module values the current batch of data under a non-interference environment; (6) calculating attenuation quotients corresponding to interference frequency points; (7) attenuating according to the interference frequency point positions and the attenuation quotients which are acquired through calculation; and (8) carrying out IFFT (Inverse Fast Fourier Transform) on a frequency domain signal subjected to interference suppression.

Description

Disturbance restraining method and device based on Big Dipper generation satellite signal receiving
Technical field
The present invention relates to the disturbance restraining method of signal, specifically relate to the disturbance restraining method of Big Dipper generation satellite-signal.
Background technology
Big Dipper generation satellite navigation system belongs to radiodetermination-satellite service (RDSS), and its satellite air to ground signal is operated in S frequency range (2483.5MHz～2500MHz), adopt direct sequence spread spectrum (DS-SS) technology.And 2.4G ISM is the licensed band of exempting from of global general-use, and there are the various wireless communication standards such as Wi-Fi, bluetooth and ZigBee in this frequency range, and the relevant interference source is numerous and diverse, catching, following the tracks of to exist and have a strong impact on for Big Dipper signal.Therefore, need to disturb the signal that receives and suppress to process, usually adopt the adaptive antenna technology, the outer filtering technique of radio frequency band, Narrow Band Interference Suppression Technique, code ancillary technique etc.
Wherein Narrow Band Interference Suppression Technique can be divided into again time domain treatment technology and domain of variation treatment technology.
Time-Domain Technique mainly is the predictive filtering algorithm, utilizes the difference prediction of broadband signal and arrowband interference correlation to estimate that the arrowband disturbs.There is the iteration convergence problem in this technology, and suitable inhibition becomes dry slowly and disturbs, and the interference in the Big Dipper signal receiving circumstance mostly is dynamic disturbance.
The transform domain technology is to utilize mathematic(al) manipulation, converts the signal into other territories, utilizes signal and disturbs the difference in this territory to realize disturbing inhibition.Wherein the frequency domain technique realization flow is simple, and the interference type that is fit to is extensive, and on the other hand, there is the spectral leakage problem in this technology, though and corresponding windowing process can reduce leakage, but need to consider the problems such as reconstruction condition and calculated amount are large.
Present common narrow-band interference rejection method is based on the application of moving communicating field more and designs, such as NodeB equipment.The software and hardware technology that this type of communication system is relevant is ripe, has special-purpose processor can realize complicated algorithm, namely can guarantee the performance of interference suppression algorithm by using high-end processor, and relative complexity and operand for algorithm are not responsive especially.
The static application equipment of Big Dipper generation satellite, volume, power consumption to the signal receiving part parallel circuit, and the real-time that signal is processed has strict demand, and the at present development of Big Dipper special chip still is in the starting stage, and its function, performance also can't satisfy engineering and use needs.Most Big Dipper products is still selected general low side processor chips.Therefore the disturbance restraining method and the device that need a kind of suitable Big Dipper of design to use make it under the prerequisite of assurance function, performance, as much as possible optimization process flow and simplified operation complexity, and computation reduction satisfies the engineering application demand.
Summary of the invention
The present invention is directed to the unidirectional static application of Big Dipper generation satellite, provide a kind of Big Dipper generation signal that improves simply and effectively receptivity, guarantee application security and reliability to receive disturbance restraining method, and the Big Dipper generation signal receiving device that adopts this disturbance restraining method is provided.
For achieving the above object, the present invention is by the following technical solutions:
Among the present invention, a kind of disturbance restraining method based on Big Dipper generation satellite signal receiving may further comprise the steps:
1. receive the individual Big Dipper digital intermediate frequency data of N (1-θ), N θ sampling number certificate before the while buffer memory, wherein, N is FFT, IFFT transform length, θ is overlapping ratio;
2. select window length to be the window function of N; The individual Big Dipper digital intermediate frequency data of N (1-θ) that receive and front N θ sampling number according to being N data to be analyzed according to the time order and function sequential combination, are multiplied each other N data to be analyzed and N window function coefficient successively;
3. the data of the N after the windowing process are carried out the FFT conversion, and real part data and the imaginary data of the frequency of the N after the FFT conversion are stored;
4. calculate the mould value of each frequency after the FFT conversion;
5. according to the magnitude calculation threshold value of the mould value average under the noiseless environment and this batch data, thereby can obtain disturbing the frequency position;
6. calculate and disturb attenuation coefficient corresponding to frequency;
7. according to the interference frequency position and the attenuation coefficient that calculate gained its real part and imaginary part are decayed;
8. to disturbing the frequency-region signal after suppressing to do the IFFT conversion, be converted to time-domain signal.
Step 1. in, overlapping ratio θ is 25%～50%, transform length N gets 2 integer power, and the span of N is 256～1204.
Step 2. in, window function is Blackman window.
Step 4. in, the mould value r of each frequency is r = a 2 + b 2 ≈ max ( | a | , | b | ) + 1 4 min ( | a | , | b | ) , Wherein a is the real part data of frequency, and b is the imaginary data of frequency.
Step 5. in, threshold T iFor T i = T min + ϵ 1 N F Σ m = 1 N F r m , T wherein MinThe amplitude average of N frequency when being noiseless, N FFor amplitude in N the frequency less than thresholding T last time I-1The frequency number, r mFor less than threshold T I-1The amplitude of frequency m, ε is the thresholding controlling elements.
Step 6. in, attenuation coefficient a IkFor
Figure G2010100301301D00033
R wherein IkThe mould value of frequency k when being the i time spectrum analysis, T iBe threshold value.
Among the present invention, a kind of Big Dipper generation satellite signal receiving apparatus that adopts above-mentioned disturbance restraining method, it comprises:
Radio frequency unit, it receives Big Dipper satellite signal, obtains Big Dipper analog if signal through filtering, low noise amplification and down coversion;
The ADC unit, it is connected with radio frequency unit, and described ADC unit is converted into Big Dipper digital medium-frequency signal with Big Dipper analog if signal;
Disturb and suppress the unit, it is connected with the ADC unit, adopts such as the disturbance restraining method in the claim 1 interference of spread spectrum arrowband and single-frequency interference are suppressed;
The passage receiving element, its with disturb to suppress the unit and be connected, process in real time the Big Dipper digital medium-frequency signal that suppresses through disturbing, realize signal trace, catch, demodulation, frame synchronization and demodulation process, export satellite information corresponding to each passage;
The satellite information processing unit, it is connected with the passage receiving element, and it receives satellite information and carries out timing/positioning calculation, and the status information of time frequency signal/locating information and device is provided;
Clock unit, it all suppresses the unit with radio frequency unit, ADC unit, interference, the passage receiving element is connected with the satellite information processing unit.
In radio frequency unit, adopt the secondary down coversion to obtain Big Dipper analog if signal.
Above-mentioned ADC unit bit wide is 10bit～14bit.
Above-mentioned ADC adopts and owes sample mode, and its sampling clock frequency is greater than 2 times of Big Dipper signal bandwidth; And the carrier frequency of the intermediate-freuqncy signal of ADC unit input is at least 3 times of yard clock.
Adopt the present invention of technique scheme, take full advantage of Big Dipper intermediate-freuqncy signal power stability feature, get noiseless spectral line and carry out the threshold adaptive adjustment.When jamming bandwidth or jamming power increased suddenly, traditional thresholding computing method easily cause disturbed erroneous judgement.This thresholding method to set up can adapt to the interfere with dynamic changing environment, prevents that effectively erroneous judgement from occuring, and can fully suppress to disturb and does not reduce signal to noise ratio (S/N ratio).
Attenuation module among the present invention is taken into account signal integrity and algorithm terseness, utilizes 6 attenuation coefficients to realize disturbing and suppresses.Can obtain fast the respective attenuation coefficient by interference strength relatively, and the attenuation coefficient value is 2 negative integer time power, can finishes decay after the displacement.
Generally speaking, the present invention, simple in structure, integrated level is high, and real-time is good, complexity is low, resource consumption is few, is convenient to realize and optimize.Simulation result shows, this interference rejection unit can the establishment frequency and the energy dynamics a plurality of arrowbands spread spectrum and the single-tone that change disturb, strengthened the antijamming capability of Beidou receiver.
Description of drawings
Fig. 1 is the structured flowchart of Big Dipper signal receiving device among the present invention;
Fig. 2 disturbs the structured flowchart that suppresses the unit among Fig. 1;
Fig. 3 is the process flow diagram of disturbance restraining method among the present invention;
Signal spectrum figure when Fig. 4 is noiseless;
Fig. 5 disturbs rear signal spectrum figure for adding the arrowband spread spectrum;
Fig. 6 is the signal spectrum figure behind the employing disturbance restraining method of the present invention.
Embodiment
The DSSS band spectrum modulation itself has certain antijamming capability, usually affects its power of narrow-band interference signal of Big Dipper receiving trap work apparently higher than Big Dipper signal.Owing to adopting automatic gain control, Big Dipper intermediate frequency power stability is analyzed the intermediate-freuqncy signal frequency spectrum and can obviously be identified undesired signal and useful signal.Can adopt the state no interference signal spectral magnitude as disturbing basis for estimation, such as frequency spectrum intermediate value, average etc. in the practical operation.Based on the stable feature of Big Dipper generation signal power, the invention provides a kind of succinct efficiently adaptive threshold computing method, carry out thresholding in conjunction with the thresholding average of noiseless time-frequency spectrum average and enforcement renewal and dynamically adjust.Specifically:
Such as Fig. 2, shown in Figure 3, among the present invention, the disturbance restraining method based on Big Dipper generation satellite signal receiving may further comprise the steps:
1. in the sampled data memory module, disturb and suppress the individual Big Dipper digital intermediate frequency data of N (1-θ) that the unit receives the output of ADC unit in real time, N θ sampling number certificate before the while buffer memory, wherein, N is FFT, IFFT transform length, and the choosing of N need consider that frequency resolution, FFT calculate fast and the factor such as hardware resource, usually N gets 2 integer power, N=256 for example, 512,1024 etc.θ is overlapping ratio, and θ is higher, and signal integrity is better, but simultaneously calculated amount also sharply rises, and when getting θ=50%, overall performance is optimum.In addition, overlapping ratio θ can also get 12.5%, 25%, 30%, 40%, 45%, 50% etc.
2. the analytic signal frequency spectrum needs the rear signal of sampling is carried out the brachymemma processing, and brachymemma unavoidably brings the spectral leakage effect, easily causes and disturbs erroneous judgement.For preventing spectral leakage, before time-frequency conversion, carry out windowing process.When windowing process, select at first that window is long be the window function of N, and in window function coefficient storage module, deposit the window function coefficient, need to prove, window is long consistent with the FFT points N, and in a single day window function type and window are long chooses namely no longer change.Then, to the individual Big Dipper digital intermediate frequency data of N (1-θ) that receive and front N θ sampling number according to according to the time order and function sequential combination being N data to be analyzed, N data to be analyzed and N window function coefficient are multiplied each other successively, the data overlap unit that adds like this can improve and disturbs the afterwards quality of signal of inhibition, thereby has guaranteed Signal integrity after the time-frequency inverse transformation.
Windowing process among the present invention is mainly used in suppressing the spectral leakage that the FFT conversion causes, increases the principal subsidiary lobe ratio.Therefore, the selection of window function need consider the factor compromise selection of secondary lobe leakage and data distortion two aspects.Because the frequency identification precision of Blackman window is low, and the amplitude recognition precision is high, thus among the present invention to adopt Blackman window as preferred forms, can also adopt in addition Hanning window, hamming window, triumphant match window, quarter window etc.
3. the data of the N after the windowing process are carried out the FFT conversion, in the process of FFT conversion, for improving arithmetic speed, can adopt butterfly computation to realize quick computing.Then real part data and the imaginary data of the frequency of the N after the FFT conversion are stored, suppress module for disturbing.Above-mentioned FFT conversion, butterfly computation are technology well known to those of ordinary skill in the art.
4. calculate the mould value of each frequency after the FFT conversion.The calculating of this mould value r can be adopted formula r = a 2 + b 2 . But in order to reduce resource consumption and computation complexity, can adopt following approximate treatment among the present invention: r = a 2 + b 2 ≈ max ( | a | , | b | ) + 1 4 min ( | a | , | b | ) , Wherein, a is the real part data of frequency, and b is the imaginary data of frequency.The mould value of this approximate calculation method has average 0.6% error, equates that at real part, imaginary part absolute value time error is maximum, only is 88.4% of actual value.But consider in the actual environment more than the common 20dB of jamming-to-signal ratio, therefore, adopt approximate treatment can not judge and not impact disturbing.
Need to prove, this step can with storage FFT conversion after real part data and the imaginary data of N frequency carry out simultaneously.
5. according to the magnitude calculation threshold value of the mould value average under the noiseless environment and this batch data, as the thresholding of this Interference Detection, with mould value and the thresholding comparison of each frequency, thereby can obtain disturbing the frequency position.The present invention adopts a kind of adaptive threshold establishing method, T i = T min + ϵ 1 N F Σ m = 1 N F r m
Wherein, T MinN point amplitude average when being noiseless, N FFor amplitude in N the frequency less than thresholding T last time I-1The frequency number, r mCertain is less than T iThe amplitude of frequency m, ε is the thresholding controlling elements, needs finely tune according to noise amplitudes, generally gets about 0.01.
6. the attenuation coefficient computing module for detection of the frequency that is subject to the arrowband disturbing effect and interference strength, calculates and disturbs attenuation coefficient corresponding to frequency.For computation reduction, and be convenient to the computing that the inhibition module is disturbed in the rear end, the present invention has adopted a kind of attenuation coefficient method of based on data displacement thought, is the clamped method of a kind of approximate interference, and formula is as follows:
Figure G2010100301301D00072
Wherein, a IkAttenuation coefficient, r IkThe mould value of frequency k during the i time spectrum analysis, T iIt is threshold value.
Disturb and suppress to weaken undesired signal to the impact of useful signal, common disturbance restraining method has the return-to-zero method of interference and attenuation coefficient method.Disturb return-to-zero method directly will disturb place band signal amplitude zero setting, also slackened the useful signal energy simultaneously although zero-setting operation can thoroughly be eliminated to disturb, affect the intermediate frequency signal to noise ratio (S/N ratio).The attenuation coefficient method reduces interfering energy by noise amplitudes being multiply by interference coefficient, for example noise amplitudes is dropped to threshold level, and perhaps the amplitude with non-interference frequency replaces.Take into account interference suppressioning effect and counting yield, the invention provides the clamped method of a kind of approximate interference.According to the disturbed condition in the actual test environment, Big Dipper generation signal jamming-to-signal ratio is usually less than 60dB.This device disturbs by 6 energy levels judges and decay the corresponding differential declines coefficient of different energy levels.As disturb shown in the clamped method formula, attenuation coefficient is got 2 negative integer time power, and the minimal attenuation coefficient gets 1/1024.
The attenuation coefficient computing module is exported whole N frequency attenuation coefficients, and for noiseless frequency, this value is 1.
7. in disturb suppressing module, according to the result of calculation of attenuation coefficient computing module, real part and the imaginary part of N frequency in the frequency domain data memory module decayed, obtain disturbing the frequency-region signal after the inhibition, realize disturbing inhibition.
Undesired signal is through after suppressing, and its power is minimum to be 1/4th of current thresholding, and maximum is got current threshold value, namely is beneficial to the signal to noise ratio (S/N ratio) after hardware has realized guaranteeing again the interference inhibition.Fig. 5, Fig. 6 are respectively to disturb and suppress the front and back signal spectrum, and spread spectrum jamming bandwidth and Big Dipper signal bandwidth ratio are between 0.1～1 among the figure, and jamming-to-signal ratio is about 30dB.
8. to disturbing the frequency-region signal after suppressing to do the IFFT conversion, be converted to time-domain signal, and N (1-θ) part in the middle of the buffer memory time-domain signal, provide the passage receiving element to use.IFFT unit and FFT unit can adopt the time-sharing multiplex design, to reduce hardware resource consumption.
Adopt the Big Dipper generation satellite signal receiving apparatus of above-mentioned disturbance restraining method among the present invention, be analog to digital converter, disturb inhibition unit, passage receiving element and satellite information processing unit to consist of, as shown in Figure 1 by clock unit, radio frequency unit, ADC unit.
Clock unit provides work required clock signal to other units, in order to guarantee signal receiving performance, requires the clock homology of unit, and namely the input end of inner all the phaselocked loop/Frequency Synthesizer spares in unit uses same signal.
Radio frequency unit receives Big Dipper satellite signal, through filtering, LNA, down coversion and automatic gain control, obtains Big Dipper analog if signal.For the receiving trap of anti-interference type, preferentially select the double conversion scheme, image interference and monkey chatter that it can resolution system, lower intermediate frequency makes the selection of ADC device more wide in range simultaneously.
The ADC unit, it is connected with radio frequency unit, and it is converted to digital medium-frequency signal with Big Dipper analog intermediate frequency, offers to disturb to suppress the unit.Need to prove, for the resolution of ADC, resolution is higher, and its signal to noise ratio (S/N ratio) is higher, and interference suppressioning effect is better, but also larger for the back-end processing resource requirement.For the anti-interference type receiving trap, require ADC bit wide scope: 10bit～14bit, can think among 10bit, 11bit, 12bit, 13bit, the 14bit any one.For the sampling clock of ADC, for guaranteed performance, the carrier frequency of the intermediate-freuqncy signal of ADC input can not be less than 3 times of code clock, and sampling clock need be greater than 2 times of Big Dipper signal bandwidth simultaneously.In order to reduce the intermediate frequency data amount, save processor resource, need to adopt and owe sample mode, namely less than 2 times resting frequence.Because ADC is for owing sampling work, by digital medium-frequency signal, can't calculate accurately effective amplitude of intermediate-freuqncy signal, so automatic gain control need be placed on the ADC front end, the employing analog form is adjusted signal intensity automatically, avoids signal saturated or lose.
The passage receiving element is processed in real time through the Big Dipper digital medium-frequency signal that disturb to suppress, and realizes signal trace, catches, demodulation, frame synchronization and demodulation process, exports satellite information corresponding to each passage, comprises status information, phase demodulation information and original textual information.
The satellite information processing unit receives satellite information, carries out timing/positioning calculation, and the status information of time frequency signal/locating information and device is provided.
Disturb and suppress the unit, based on ADC output digital medium-frequency signal, realize the inhibition to the spread spectrum arrowband disturbs and single-frequency is disturbed.Be the core processing unit of this device, it consists of referring to Fig. 2.Disturb the processor requirement that suppresses to use the unit that certain storage space is arranged, arithmetic speed adopts FPGA, DSP usually efficiently.Both can independently or work in coordination with and realize disturbing inhibit feature.Computing in the disturbance restraining method has taken into full account the processor structure of algorithm performance and FPGA, DSP, under the prerequisite of assurance function, performance, reduces as much as possible hardware resource consumption.

Claims (10)

1. disturbance restraining method based on Big Dipper generation satellite signal receiving, it is characterized in that: it may further comprise the steps:
1. receive the individual Big Dipper digital intermediate frequency data of N (1-θ), N θ sampling number certificate before the while buffer memory, wherein, N is FFT, IFFT transform length, θ is overlapping ratio;
2. select window length to be the window function of N; The individual Big Dipper digital intermediate frequency data of N (1-θ) that receive and front N θ sampling number according to being N data to be analyzed according to the time order and function sequential combination, are multiplied each other N data to be analyzed and N window function coefficient successively;
3. the data of the N after the windowing process are carried out the FFT conversion, and real part data and the imaginary data of the frequency of the N after the FFT conversion are stored;
4. calculate the mould value of each frequency after the FFT conversion;
5. according to the magnitude calculation threshold value of the mould value average under the noiseless environment and this batch data, thereby can obtain disturbing the frequency position;
6. calculate and disturb attenuation coefficient corresponding to frequency;
7. according to the interference frequency position and the attenuation coefficient that calculate gained its real part and imaginary part are decayed;
8. the frequency-region signal that disturbs frequency to carry out after real part and the imaginary part decay is done the IFFT conversion, be converted to time-domain signal.
2. the disturbance restraining method based on Big Dipper generation satellite signal receiving according to claim 1, it is characterized in that: described step 1. in, overlapping ratio θ is 25%～50%, and transform length N gets 2 integer power, and the span of N is 256～1204.
3. the disturbance restraining method based on Big Dipper generation satellite signal receiving according to claim 1 is characterized in that: described step 2. in, window function is Blackman window.
4. the disturbance restraining method based on Big Dipper generation satellite signal receiving according to claim 1 is characterized in that: described step 4. in, the mould value r of each frequency is r = a 2 + b 2 ≈ max ( | a | , | b | ) + 1 4 min ( | a | , | b \ ) , Wherein a is the real part data of frequency, and b is the imaginary data of frequency.
5. the disturbance restraining method based on Big Dipper generation satellite signal receiving according to claim 1 is characterized in that: described step 5. in, threshold T iFor
Figure FSB00000937516000022
T wherein MinThe amplitude average of N frequency when being noiseless, N FFor amplitude in N the frequency less than thresholding T last time I-1The frequency number, r mFor less than threshold T I-1The amplitude of frequency m, ε is the thresholding controlling elements.
6. the disturbance restraining method based on Big Dipper generation satellite signal receiving according to claim 1 is characterized in that: described step 6. in, attenuation coefficient a IkFor a ik = 1 , 0 < r ik &le; T i 1 / 4 , T i < r ik &le; 4 T i 1 / 16 , 4 T i < r ik &le; 16 T i 1 / 64 , 16 T i < r ik &le; 64 T i 1 / 256 , 64 T i < r ik &le; 256 T i 1 / 1024 , 256 T i < r ik , R wherein IkThe mould value of frequency k when being the i time spectrum analysis, T iBe threshold value.
7. one kind is adopted the as claimed in claim 1 Big Dipper generation satellite signal receiving apparatus of disturbance restraining method, it is characterized in that, it comprises:
Radio frequency unit, it receives Big Dipper satellite signal, obtains Big Dipper analog if signal through filtering, low noise amplification and down coversion;
The ADC unit, it is connected with radio frequency unit, and described ADC unit is converted into Big Dipper digital intermediate frequency data with Big Dipper analog if signal;
Disturb and suppress the unit, it is connected with the ADC unit, adopts such as the disturbance restraining method in the claim 1 interference of spread spectrum arrowband and single-frequency interference are suppressed;
The passage receiving element, its with disturb to suppress the unit and be connected, process in real time the Big Dipper digital intermediate frequency data that suppress through disturbing, realize signal trace, catch, demodulation, frame synchronization and demodulation process, export satellite information corresponding to each passage;
The satellite information processing unit, it is connected with the passage receiving element, and it receives satellite information and carries out timing/positioning calculation, and the status information of time frequency signal/locating information and device is provided;
Clock unit, it all suppresses the unit with radio frequency unit, ADC unit, interference, the passage receiving element is connected with the satellite information processing unit.
8. Big Dipper generation satellite signal receiving apparatus according to claim 7 is characterized in that: in described radio frequency unit, adopt the secondary down coversion to obtain Big Dipper analog if signal.
9. Big Dipper generation satellite signal receiving apparatus according to claim 7, it is characterized in that: described ADC unit bit wide is 10bit～14bit.
10. Big Dipper generation satellite signal receiving apparatus according to claim 9 is characterized in that: described ADC unit adopts and owes sample mode, and its sampling clock frequency is greater than 2 times of Big Dipper signal bandwidth; And the carrier frequency of the intermediate-freuqncy signal of ADC unit input is at least 3 times of yard clock.
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CN116299577B (en) * 2023-05-19 2023-08-01 福建福大北斗通信科技有限公司 Narrowband anti-interference device and method applied to Beidou three baseband chip
CN117008158A (en) * 2023-07-12 2023-11-07 广西科学院 Beidou offshore multipath interference elimination method and device based on wavelet packet analysis

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