CN103091685A - Space-time cascade anti-interference device based on inertial navigation processing method thereof - Google Patents

Abstract

The invention discloses a space-time cascade anti-interference device based on inertial navigation. The space-time cascade anti-interference device based on inertial navigation comprises an array antenna module and a radio frequency channel module. The array antenna module is used for receiving satellite signals and transmitting the satellite signals to the radio frequency channel module. The radio frequency channel module is used for transforming the satellite signals into intermediate frequency signals. An analog/digital (A/D) module of a signal processing module transforms simulative intermediate frequency signals into digital intermediate frequency signals. The signal processing module is connected with an inertial navigation module. The signal processing module performs data interaction with the inertial navigation module. The inertial navigation module combines satellite almanac/ ephemeris data with inertial navigation data, and finally a satellite signal Bodard angle is figured out. The digital intermediate frequency signals and the satellite signal Bodard angle maps out weighted vector entering together signal processing module of corresponding array antenna. Space-time interference elimination is performed in the signal processing module, and finally an output signal after the anti-interference is acquired and transmitted to a receiver to perform navigation and positioning calculation. The defects that anti-interference is not complete and reserved satellite signals is not stable in the prior art are solved.

Description

Cascade means for anti-jamming and disposal route thereof during based on auxiliary empty of inertial navigation

Technical field

The invention belongs to satellite navigation positioning technical field, when being specifically related to based on auxiliary empty of inertial navigation, cascade means for anti-jamming and disposal route thereof, use the interference under complex electromagnetic environment eliminated.

Background technology

Satellite navigation system has on a large scale, round-the-clock, round-the-clock hi-Fix, test the speed and the ability of timing services is provided, and is widely applied in national defence and national economy every field.To the dependent enhancing of satellite navigation system, the competition in satellite navigation field must aggravate along with the civilian and military action.Because satellite navigation signals easily is subjected to have a mind to or disturb unintentionally, so the interference of satellite navigation system suppresses to become the study hotspot in military communication field.

Satellite navigation system is the critical infrastructure that concerns national defense safety and economic security, and as a powerful military sensor-based system, it has become the important weapon of day war, electronic warfare, expeditionary warfare, NAVIGATION WARFARE and information war.Yet, with regard to Military Application, satellite navigation system still exists obvious shortcoming, that be exactly arrive the satellite-signal on ground weak, easily be interfered, particularly apply when having a mind to disturb for our satellite navigation receiving system as the enemy, common satellite navigation receiver can't receive the satellite navigation positioning signal effectively with complete losing lock, and this is fatal for military weaponry.Therefore the power of satellite navigation system antijamming capability in complex electromagnetic environment has become the key that it plays a role, therefore further investigate the interference mechanism of satellite navigation system, the jamproof new method of satellite navigation receiver is proposed, the satellite navigation anti-interference type receiver that research is practical has very important military value and realistic meaning.

The extensive expansion of arranging net and using along with the acceleration of China's Big Dipper two generations satellite navigation system, the quality of the Big Dipper two generations anti-interference performance of satellite navigation receiver directly have influence on it under complex electromagnetic environment and NAVIGATION WARFARE in availability, reliability, integrity and precision, most important to promoting my fight capability of army in IT-based warfare.

Traditional means for anti-jamming often due to optimum weighted vector directivity function form the trap of interference radiating way dark not, so limited to disturbing with the inhibition degree of noise.So the shortcoming that shows disturbs elimination not thorough exactly, it is poor that signal to noise ratio (S/N ratio) is improved.And be difficult to find every direction vector that satellite is corresponding under the constraint of many stars, so information in the more difficult signal that recovers accurately and stably every satellite.

Summary of the invention

The present invention mainly solves the anti-interference thorough and unsettled shortcoming of reservation satellite letter of original technology, cascade means for anti-jamming and disposal route thereof when providing based on auxiliary empty of inertial navigation, after adopting the spatial domain anti-interference process complete, then the spatial domain output signal is carried out the time domain aftertreatment; Adopt the method for assisting that inertial navigation is combined with ephemeris to obtain the satellite direction vector, and the related data of signal processing module is transported to the inertial navigation module calculates, and the anti-signal processing module (FPGA) of sending back to of the result that will calculate.

For achieving the above object, technical scheme of the present invention is as follows:

During based on auxiliary empty of inertial navigation, the cascade means for anti-jamming, comprise array antenna module, radio-frequency module, inertial navigation module, signal processing module,

Described array antenna module receiving satellite signal, be used for satellite-signal is transferred to the radio-frequency channel module, described radio-frequency channel module down-converts to analog if signal with satellite-signal, and the A/D module in described signal processing module is converted into digital medium-frequency signal with analog if signal

Described signal processing module also connects the inertial navigation module, and described signal processing module and inertial navigation module are carried out data interaction, and described inertial navigation module is combined satellite almanac/almanac data with the inertial navigation data, and finally calculates the satellite-signal ripple and reach the angle,

Described digital medium-frequency signal and described satellite-signal ripple reach the weight vectors that the angle maps out corresponding aerial array and jointly send into signal processing module, disturb when signal processing module carries out sky and eliminate, finally obtain the output signal after anti-interference, be sent to receiver and carry out the navigator fix computing.

The jamproof disposal route of cascade during based on auxiliary empty of inertial navigation comprises the following steps:

Step 1, satellite-signal are mingled with interference and form response on array antennas, then are sent to the radio-frequency channel;

Step 2, radio-frequency channel are completed satellite-signal are carried out down-converted from the radio frequency to the intermediate frequency, the output analog if signal;

Step 3, analog if signal are completed analog if signal to the transformation of digital medium-frequency signal through the A/D sampling;

Step 4, digital medium-frequency signal are sent into and are carried out the spatial domain anti-interference process in signal processing module, signal processing module and inertial navigation module are carried out data interaction in this step, thereby make the intrinsic covariance data in signal-processing board change into through the inertial navigation module direction vector that signal is processed to be needed, the anti-signal-processing board of sending back to again, the ephemeris that perhaps obtains from receiver/almanac data is processed through the inertial navigation module, obtain the direction vector of satellite, be transported to signal-processing board.

Step 5, the enable signal of coming in conjunction with the receiver feedback through the digital medium-frequency signal of spatial domain anti-interference process, can signal be 0 if begin, expression is satisfied the blocked condition of receiver phaselocked loop through the digital medium-frequency signal Satellite signal of spatial domain anti-interference process, directly output signal is changed through D/A and delivered to receiver, otherwise the time domain processing module that the digital medium-frequency signal that continues that step 4 is obtained continues in the number of delivering letters disposable plates module is carried out aftertreatment, then obtains final output signal through being sent to receiver.

Beneficial effect of the present invention:

To process array antenna module and radio-frequency module, and the digital medium-frequency signal entering signal processing module completed of A/D resume module, send into the weight vectors of satellite-signal to signal processing module with the DSP form in conjunction with the inertial navigation module, disturb to eliminate when signal processing module carries out sky, finally obtain the output signal after anti-interference.

Description of drawings

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or description of the Prior Art, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is jamproof system device design drawing.

Fig. 2 is anti-interference algorithm flow chart.

Embodiment

For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.

According to Fig. 1, this device mainly is comprised of 5 parts: array antenna, radio-frequency channel, signal processing module, inertial navigation module, receiver.The functional representation of every part is as follows:

Array antenna: receiving satellite signal, the response signal with electromagnetic wave on antenna is transferred to the radio-frequency channel.

Radio-frequency channel: the satellite RF signal is down-converted to intermediate-freuqncy signal.

Inertial navigation module: satellite almanac/almanac data is combined with the inertial navigation data, and finally calculates the satellite-signal ripple and reach the angle.

Signal processing module: utilize the A/D module that analog if signal is converted into digital medium-frequency signal, and it is done Digital Down Convert and anti-jamming signal processing.

Receiver: receive through the signal after anti-interference process, and this signal is carried out acquisition and tracking, and the locating information of final output receiver.

The task that whole device is completed is exactly that the satellite that enters antenna is eliminated as much as possible or suppressed with disturbing the undesired signal in mixed signal, and the satellite-signal after anti-interference process is sent to receiver carries out the navigator fix computing.

With reference to Fig. 2, signal treatment step of the present invention is as follows:

Step 1, satellite navigation signals are mingled with interference and form response on array antennas, are being sent to the radio-frequency channel.

Step 2, radio-frequency channel are completed signal are carried out down-converted from the radio frequency to the intermediate frequency, the output intermediate-freuqncy signal.

Step 3, intermediate-freuqncy signal are completed simulating signal to the transformation of digital signal through the A/D sampling.

Step 4, digital medium-frequency signal are sent into signal processing module (in FPGA) and are carried out the spatial domain anti-interference process, need signal processing module and inertial navigation module to carry out data interaction in this process.The data interaction of signal processing module and inertial navigation module is expressed as follows:

(1) the intrinsic covariance matrix data that in signal processing module, digital medium-frequency signal obtained pass to the inertial navigation module and carry out the calculating such as matrix decomposition.

(2) inertial navigation module is sent the beam forming weight that calculates into signal processing module and is processed.

step 5, digital medium-frequency signal through the spatial domain anti-interference process feeds back the enable signal of coming in conjunction with receiver, can signal be that the 0(enable signal only has 0 if begin, 1 two kinds of situations, initial time, enable signal is 0), expression is satisfied the blocked condition of receiver phaselocked loop through the digital medium-frequency signal Satellite signal of spatial domain anti-interference process, directly output signal is changed through D/A and delivered to receiver, otherwise the time domain processing module that the digital medium-frequency signal that continues that step 4 is obtained continues in the number of delivering letters disposable plates module is carried out aftertreatment, then obtain final output signal through being sent to receiver.

Satellite signal beam shaping weight vector of the present invention is calculated as follows described:

Initially being written into of step 1, ephemeris/almanac

Ephemeris/almanac data is sent into inertial navigation module (during initialization adopt almanac), resolve data are correlated with, to obtain the locating information of satellite.

Step 2, reach the angle based on the auxiliary Calculation of Satellite signal wave of inertial navigation data

Can obtain positional information and the attitude information of carrier according to the data of inertial navigation, the satellite position information that integrating step 1 obtains, the formula operation that process is following:

Be located under the WGS-84 coordinate system position P0 (x, y, z) of satellite, the position P1 (x1, y1, z1) of carrier and three attitudes of attitude carrier: course (Y:Yaw), roll (R:Roll), pitching (P:Pitch).

If expression satellite-signal vector, φ represent the angle of pitch on carrier positions vector and WGS-84 coordinate system x0y plane, λ represents respective party parallactic angle (referring to that the x axle is to the angle of carrier positions vector at x0y face projection vector).Obtain according to the position of carrier the transition matrix that the WGS-84 coordinate is tied to earth's surface coordinate (north-Dong-upper coordinate system)

$C_{\mathrm{ENU}}^{\mathrm{ECEF}}=\left[\begin{array}{ccc}-\sin \mathrm{\λ}& \cos \mathrm{\λ}& 0\\ -\sin \mathrm{\φ}\cos \mathrm{\λ}& -\sin \mathrm{\φ}\sin \mathrm{\λ}& \cos \mathrm{\φ}\\ \cos \mathrm{\φ}\cos \mathrm{\λ}& \cos \mathrm{\φ}\sin \mathrm{\λ}& \sin \mathrm{\φ}\end{array}\right]$

According to the attitude of carrier, obtain the attitude transition matrix of carrier again

$C_{\mathrm{RPY}}^{\mathrm{ENU}}=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos R& \sin R\\ 0& -\sin R& \cos R\end{array}\right]\left[\begin{array}{ccc}\cos P& 0& -\sin P\\ 0& 1& 0\\ \sin P& 0& \cos P\end{array}\right]\left[\begin{array}{ccc}\cos Y& -\sin Y& 0\\ \sin Y& \cos Y& 0\\ 0& 0& 1\end{array}\right]$

So satellite-signal vector s is converted into

$S^{\′}=C_{\mathrm{RPY}}^{\mathrm{ENU}}{C}_{\mathrm{ENU}}^{\mathrm{ECEF}}S$

S ' is converted into the vector of the PRY coordinate system of carrier from the ECEF coordinate system like this.If I _z=[0,0,1].So angle of pitch of satellite-signal and aerial array

Be expressed as

When

The time,

Azimuth angle theta is expressed as follows:

Order

Below minute, four kinds of situations are determined θ:

(1) if S ' (1)＞0 and S ' (2) 〉=0, θ=α ₀

(2) if S ' (1)=0 and S ' (2)＞0,

(3) if S ' (1)＜0 and S ' (2) 〉=0, θ=π-α ₀

(4) if S ' (1)＜0 and S ' (2)＜0, θ=π+α ₀

(5) if S ' (1)=0 and S ' (2)＜0, θ=3 pi/2s.

(6) if S ' (1)＞0 and S ' (2)＜0, θ=2 π-α ₀

The azimuth angle theta that obtains, the angle of pitch Be exactly the Bo Dajiao (DOA) of satellite-signal.

Step 3, according to the DOA that obtains satellite-signal in step 2, map out the weight vectors W of corresponding aerial array ₁Concrete mapping method is as follows:

The known DOA that obtains for (θ, ), θ represents the position angle,

The angle (angle of pitch) of expression and array antenna place plane normal (linear array refers to and the linear array vertical plane).

If d represents array element distance, λ represents the incoming signal wavelength, and M represents array number.For different arrays, the weight vectors W that obtains ₁Different.

1) for even linear array:

For uniform circular array:

Wherein θ represent justify the battle array radius.

For the uniform circular array that has an array element in the center of circle:

For M * M uniform surface battle array:

Wherein

For any array:

(x wherein _k, y _k, z _k) k=1,2 ..., M represents that each array element is in the position of space coordinates.

Above demonstration and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in above-described embodiment and instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.

Claims (2)

1. during based on auxiliary empty of inertial navigation, the cascade means for anti-jamming, is characterized in that, comprises array antenna module, radio-frequency module, inertial navigation module, signal processing module,

Described array antenna module receiving satellite signal, be used for satellite-signal is transferred to the radio-frequency channel module, described radio-frequency channel module down-converts to analog if signal with satellite-signal, and the A/D module in described signal processing module is converted into digital medium-frequency signal with analog if signal

Described signal processing module also connects the inertial navigation module, and described signal processing module and inertial navigation module are carried out data interaction, and described inertial navigation module is combined satellite almanac/almanac data with the inertial navigation data, and finally calculates the satellite-signal ripple and reach the angle,

Described digital medium-frequency signal and described satellite-signal ripple reach the weight vectors that the angle maps out corresponding aerial array and jointly send into signal processing module, disturb when signal processing module carries out sky and eliminate, finally obtain the output signal after anti-interference, be sent to receiver and carry out the navigator fix computing.

2. during based on auxiliary empty of inertial navigation, the jamproof disposal route of cascade, is characterized in that, comprises the following steps:

Step 1, satellite-signal are mingled with interference and form response on array antennas, then are sent to the radio-frequency channel;

Step 2, radio-frequency channel are completed satellite-signal are carried out down-converted from the radio frequency to the intermediate frequency, the output analog if signal;

Step 3, analog if signal are completed analog if signal to the transformation of digital medium-frequency signal through the A/D sampling;

Step 4, digital medium-frequency signal are sent into and are carried out the spatial domain anti-interference process in signal processing module, signal processing module and inertial navigation module are carried out data interaction in this step, thereby make the intrinsic covariance data in signal-processing board change into through the inertial navigation module direction vector that signal is processed to be needed, the anti-signal-processing board of sending back to again, the ephemeris that perhaps obtains from receiver/almanac data is processed through the inertial navigation module, obtain the direction vector of satellite, be transported to signal-processing board.

Step 5, the enable signal of coming in conjunction with the receiver feedback through the digital medium-frequency signal of spatial domain anti-interference process, can signal be 0 if begin, expression is satisfied the blocked condition of receiver phaselocked loop through the digital medium-frequency signal Satellite signal of spatial domain anti-interference process, directly output signal is changed through D/A and delivered to receiver, otherwise the time domain processing module that the digital medium-frequency signal that continues that step 4 is obtained continues in the number of delivering letters disposable plates module is carried out aftertreatment, then obtains final output signal through being sent to receiver.

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