CN103869347A - Beidou satellite navigation and positioning system - Google Patents

Beidou satellite navigation and positioning system Download PDF

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Publication number
CN103869347A
CN103869347A CN201410114012.7A CN201410114012A CN103869347A CN 103869347 A CN103869347 A CN 103869347A CN 201410114012 A CN201410114012 A CN 201410114012A CN 103869347 A CN103869347 A CN 103869347A
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China
Prior art keywords
module
navigation
positioning system
interference
beidou satellite
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CN201410114012.7A
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Chinese (zh)
Inventor
陈坤
王社兵
夏森
檀剑飞
王威
宋琪
邓禹
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Wuhu Hangfei Science and Technology Co Ltd
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Wuhu Hangfei Science and Technology Co Ltd
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Priority to CN201410114012.7A priority Critical patent/CN103869347A/en
Publication of CN103869347A publication Critical patent/CN103869347A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a Beidou satellite navigation and positioning system which comprises an antenna array, a radio frequency module, an anti-interference module, a navigation module and an inertial navigation and power module. The antenna array is commonly formed on a carrier surface and meshed with the carrier surface. The input end of the radio frequency module is connected with the antenna array, and the output end of the radio frequency module is connected with the anti-interference module. The anti-interference module is used for performing anti-interference processing on digital intermediate frequency signals from the radio frequency module and outputting multi-beam digital intermediate frequency signals. The navigation module is connected with the anti-interference module and used for receiving the multi-beam digital intermediate frequency signals and positioning a target. The inertial navigation and power module is respectively connected with the radio frequency module, the anti-interference module and the navigation module. According to the Beidou satellite navigation and positioning system, the multi-beam technology can be used for locking multiple satellites at the same time, and therefore the positioning speed is increased and accuracy is high; a low-elevation technology is adopted so that coverage can be enlarged; due to the anti-interference technology, signal searching in faraway districts and complex terrain can be good.

Description

A kind of Beidou satellite navigation and positioning system
Technical field
The present invention relates to satellite navigation positioning technical field, relate in particular to a kind of Beidou satellite navigation and positioning system.
Background technology
Satellite navigation and location system is one of national information infrastructure, is the important tool that realizes social informatization, is also the symbol of national science and technology level and economic strength.Building up and coming into operation of Beidou satellite navigation and positioning system, has broken the situation of developed country's monopolization Technique of Satellite Navigation and Positioning such as the U.S., has improved the level of IT application of China's economic society.
The application of Beidou satellite navigation and positioning system relates to national every field, aspect location navigation, using object is mainly the moving objects such as automobile, boats and ships and aircraft, the such as navigation of boats and ships ocean and the diversion of approaching, Waypoint guiding and the landing of marching into the arena, Automobile automatic navigation location, surface car tracking and municipal intelligent traffic management etc.; In daily life, be applied to the department such as police, fire-fighting and medical treatment emergency relief, follow the trail of the objective and the guiding of personal travel and field exploration etc., particularly personal warning when dangerous under attack, especial patient, children's monitoring and relief, seeking help etc. while running into all difficulties in life.
But existing Beidou satellite navigation and positioning system adopts single beam, can not lock multiple satellites simultaneously, locating speed and accurately all having much room for improvement; The signal elevation angle is higher, and coverage rate is narrow; Antijamming capability is not strong, cannot well search for signal with complex-terrain in the remote regions.
Summary of the invention
The technical matters existing based on background technology, the present invention proposes a kind of Beidou satellite navigation and positioning system, to improve locating speed and accuracy, increase coverage rate, to add strong anti-interference ability.
A kind of Beidou satellite navigation and positioning system that the present invention proposes, comprising: aerial array, radio-frequency module, immunity module, navigation module, inertial navigation and power module;
Aerial array, it is conformal in carrier surface identical with carrier surface;
Radio-frequency module, its input end is connected with aerial array, and its output terminal is connected with immunity module;
Immunity module, carries out anti-interference process and exports multi-beam digital medium-frequency signal the digital medium-frequency signal from radio-frequency module;
Navigation module, is connected with immunity module, receives multi-beam digital medium-frequency signal, and target is positioned;
Inertial navigation and power module, be connected with radio-frequency module, immunity module and navigation module respectively.
Preferably, at aerial array outer setting antenna house.
Preferably, aerial array is microstrip antenna and slot antenna.
Preferably, microstrip antenna is the ground plate that one side has thin metal layer, and another side has the thin-medium substrate of reservation shape metal patch.
Preferably, microstrip antenna is microstrip slot antenna, is provided with gap at ground plate, and the another side of thin-medium substrate is printed with microstrip line, cutler feed.
Preferably, aerial array is made up of seven BD-2 antennas.
Preferably, aerial array is circular array, wherein six circular arrays of layout, and other one is positioned at the center of circle.
Preferably, the radius of circular array is 0.35 times of wavelength.
Preferably, immunity module comprises digital band-pass filter, Correction Processor, multi-beam anti-interference filter, the anti-interference weights counter of multi-beam space-time adaptive and multi-beam digital AGC, digital medium-frequency signal input digital band-pass filter, through overcorrect pretreater, obtain weighted vector by the anti-interference weights counter of multi-beam space-time adaptive, after proofreading and correct pretreated information and described weighted vector and processing, be output as the multi-beam digital medium-frequency signal after anti-interference through multi-beam digital AGC in multi-beam anti-interference filter.
In the present invention, described Beidou satellite navigation and positioning system adopts multibeam technique can lock multiple satellites simultaneously, has improved locating speed and accurately high; Adopt low elevation angle technology can increase coverage rate; Employing Anti-Jamming Technique has realized remote area and complex-terrain signal search is good.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of Beidou satellite navigation and positioning system of embodiment of the present invention proposition;
Fig. 2 is the structural representation of radio-frequency module in Fig. 1;
Fig. 3 is immunity module structural representation in Fig. 1.
Embodiment
As shown in Figure 1, Fig. 1 is the structural representation of a kind of Beidou satellite navigation and positioning system of proposing of the embodiment of the present invention 1.
With reference to Fig. 1, the embodiment of the present invention has proposed a kind of Beidou satellite navigation and positioning system, comprising: aerial array 10, radio-frequency module 20, immunity module 30, navigation module 40, inertial navigation and power module 50, antenna house 60; Wherein antenna house 60, aerial array 10, radio-frequency module 20 are packaged in an one-piece construction; Immunity module 30, navigation module 40, inertial navigation and power module 50 are packaged in an one-piece construction.Inertial navigation is connected and powers with radio-frequency module 20, immunity module 30 and navigation module 40 respectively with power module 50.
Aerial array 10 is conformal to coincide in carrier surface and with carrier surface, is provided with antenna house 60 for aerial array 10 is protected in aerial array 10 outsides.Conformal antenna is very little on the aerodynamic performance impact of carrier itself, has simplified antenna installation, and the total space that can realize easily directional diagram covers.In actual applications, usually need the array of realizing wide angular domain to cover, and adopt line array or planar array to be often difficult to realize the requirement that above angular domain covers, usually need on the conformal array antenna surface that is arranged on a solid shape, thereby form nonplanar conformal array antenna.Conformal antenna array must have the characteristic of low section, can realize by microstrip antenna and slot antenna.
Microstrip antenna is on a thin-medium substrate, and one side is enclosed thin metal layer as ground plate, and another side is made the metal patch of reservation shape with photoetching caustic solution, the antenna that utilizes microstrip line or coaxial probe to form paster feed.Microstrip antenna can be divided into two kinds: patch shape is an elongated strip, is micro-strip oscillator antenna, when paster is a surface elemant, is microstrip antenna; If ground plate is carved to gap, and in the time that the another side of dielectric substrate is printed out microstrip line, cutler feed, forms microstrip slot antenna.Microstrip antenna distinguishing feature is that volume is little, lightweight etc.
Print mask-making technology and make because antenna adopts, do not need machining, therefore low, the low profile of cost, is suitable for batch production.Can also be designed to multiple polarization and multiple-frequency operation, therefore, have broad application prospects at everyways such as communication, radar and microwave medical treatment.Antenna Design is subject to multinomial conditionality, as volume, anti-jamming margin, bay gain require and array element between insulated degree requirement etc.Mutual coupling between array element has multiple impact, and first mutual coupling causes the standing-wave ratio (SWR) of array element and directional diagram to change, and directly affects the performance of receiver; The second, mutual coupling is introduced noise in anti-interference algorithm, suppresses the raising ability of Signal to Interference plus Noise Ratio.Therefore, in design, need mutual coupling that array element is shown in to pay close attention to.In addition, in anti-interference algorithm, the change of antenna phase center is introduced Uncertainty in the phase place of the reception signal of different array elements, thereby reduces the accuracy of algorithm, and therefore Nulling antenna has strict restriction to the phase center of array element.
Aerial array 10 is made up of seven BD-2 antennas, and aerial array completes the collection to BD-2 system navigation satellite signal.BD-2 antenna element adopts the broadband and wide wave beam microband antenna of low section to realize.Due to the restriction of Antenna Design size, and the requirement of array element distance, adopt circular array form, wherein six circular arrays of layout, other one is positioned at the center of circle, and the radius of circular array is 0.35 times of wavelength.This array arrangement form has good symmetry and stable phase center.In addition, antenna element is adopted to Miniaturization Design, in the bore limiting, strengthen independence and the consistance of antenna element, effectively suppress element coupling, improve isolation between antennas, to meet the requirement of anti-interference antenna.Multiple-unit Miniaturization Design, in limited antenna installing space, keeps the good consistance in the each unit of antenna array, reduces to be coupled between antenna element, and basic beam shape and the gain that keeps antenna in scanning process.
As shown in Figure 2, radio-frequency module 20, its input end is connected with aerial array 10, and its output terminal is connected with immunity module 30.For BD-2 system satellite navigation signals, seven road input radio frequency signals, through LNA(Low Noise Amplifier, low noise amplifier), down coversion, amplifilter, output seven railway digital signals are to immunity module 30.Radio-frequency module 20 requires radio frequency to have the unified function that produces local oscillator of frequently combining, and has the function of frequency conversion, amplification, filtering, intermediate frequency output, has good passage consistency.Gain consistance and the phase equalization requirement of the anti-interference passage of radio frequency to each passage is very high, for reaching technical requirement, need to consider in following several respects: the components and parts of selecting good stability; Optimization Design of Electronic Circuits, reduces processing links; Increase consistance adjusting module.The requirement of radio-frequency channel aspect volume and power consumption is also very high, for reaching technical requirement, need to consider in following several respects: select volume components and parts little, low in energy consumption; Optimizing structure design, makes full use of circuit space, carries out two-sided placement-and-routing; Choose reasonable connector, is decided to be MCX at present.
As shown in Figure 3, immunity module 30 comprises digital band-pass filter 41, Correction Processor 42, multi-beam anti-interference filter 43, the anti-interference weights counter 44 of multi-beam space-time adaptive and multi-beam digital AGC 45.Digital medium-frequency signal input digital band-pass filter, through overcorrect pretreater, obtain weighted vector by the anti-interference weights counter of multi-beam space-time adaptive, after proofreading and correct pretreated information and weighted vector and processing, be output as the multi-beam digital medium-frequency signal after anti-interference through multi-beam digital AGC in multi-beam anti-interference filter.Multi-beam digital medium-frequency signal enters navigation module 40, carries out the location to target.
In the present invention, space-time adaptive processing is to process many array element (spatial domain) and the data that multiple time domains receive by space-time joint, makes to disturb to be suppressed in space-time two-dimensional space to carry out; Utilize the separate of interference and useful signal space angle, target and interference can be separated effectively, realize filtering.Space-time adaptive treatment technology has overcome the deficiency of airspace filter, is not increasing under the prerequisite of array element, has improved the degree of freedom of front.Space-time adaptive is a kind of broadband technology, multipath is disturbed to the inhibition having had.It is the battle array directivity function product theorem that utilizes antenna array that digital beam forms, directivity function by weighting on bay with control antenna battle array, reach control antenna battle array directional diagram and dynamically in useful signal direction, produce high-gain narrow beam, in undesired signal direction, produce darker zero sunken object.Array, through too much organizing after weighted sum, can focus on the directive gain of array received on assigned direction, is equivalent to form multiple wave beams.
The real-time high-precision three-dimensional localization, three that the present invention can realize carrier test the speed, three survey appearance, precision time service, simultaneously under satellite out-of-lock condition, also can be in the short time precise positioning, test the speed, survey appearance.Therefore, there is the features such as volume is little, lightweight, round-the-clock, high precision, robotization, high-level efficiency, the low elevation angle, multi-beam, anti-interference, location is accurate.Land application aspect, can carry out automobile navigation, emergency reaction, atmospheric physics observation, geophysics resource exploration, engineering survey, deformation monitoring, earth movement monitoring, urban planning control etc.Aspect, ocean, can be used for that the best voyage of ocean-going vessel course line is measured, ship Real-Time Scheduling and hunt for treasure in navigation, ocean rescue, ocean, hydrogeological survey and ocean platform location, eustasy monitoring etc.Aerospace applications aspect, can realize that aircraft navigation, the control of airborne remote sensing attitude, low orbit satellite orbit determination, missile guidance, air rescue and manned spacecraft protection are surveyed etc.
In the present invention, described Beidou satellite navigation and positioning system adopts multibeam technique can lock multiple satellites simultaneously, has improved locating speed and accurately high; Adopt low elevation angle technology can increase coverage rate; Employing Anti-Jamming Technique has realized remote area and complex-terrain signal search is good.
The above; it is only preferably embodiment of the present invention; but protection scope of the present invention is not limited to this; any be familiar with those skilled in the art the present invention disclose technical scope in; be equal to replacement or changed according to technical scheme of the present invention and inventive concept thereof, within all should being encompassed in protection scope of the present invention.

Claims (9)

1. a Beidou satellite navigation and positioning system, is characterized in that, comprising: aerial array (10), radio-frequency module (20), immunity module (30), navigation module (40), inertial navigation and power module (50);
Aerial array (10), it is conformal in carrier surface identical with carrier surface;
Radio-frequency module (20), its input end is connected with aerial array (10), and its output terminal is connected with immunity module (30);
Immunity module (30), to carrying out anti-interference process and export multi-beam digital medium-frequency signal from the digital medium-frequency signal of radio-frequency module (20);
Navigation module (40), is connected with immunity module (30), receives multi-beam digital medium-frequency signal, and target is positioned;
Inertial navigation and power module (50), be connected with radio-frequency module (20), immunity module (30) and navigation module (40) respectively.
2. Beidou satellite navigation and positioning system according to claim 1, is characterized in that, at aerial array (10) outer setting antenna house (60).
3. Beidou satellite navigation and positioning system according to claim 1, is characterized in that, aerial array (10) is microstrip antenna and slot antenna.
4. Beidou satellite navigation and positioning system according to claim 3, is characterized in that, microstrip antenna is the ground plate that one side has thin metal layer, and another side has the thin-medium substrate of reservation shape metal patch.
5. Beidou satellite navigation and positioning system according to claim 4, is characterized in that, microstrip antenna is microstrip slot antenna, is provided with gap at ground plate, and the another side of thin-medium substrate is printed with microstrip line, cutler feed.
6. Beidou satellite navigation and positioning system according to claim 1, is characterized in that, aerial array (10) is made up of seven BD-2 antennas.
7. Beidou satellite navigation and positioning system according to claim 6, is characterized in that, aerial array (10) is circular array, wherein six circular arrays of layout, and other one is positioned at the center of circle.
8. Beidou satellite navigation and positioning system according to claim 7, is characterized in that, the radius of circular array is 0.35 times of wavelength.
9. Beidou satellite navigation and positioning system according to claim 1, it is characterized in that, immunity module (30) comprises digital band-pass filter (31), Correction Processor (32), multi-beam anti-interference filter (33), the anti-interference weights counter of multi-beam space-time adaptive (34) and multi-beam digital AGC (35), digital medium-frequency signal input digital band-pass filter (31), through overcorrect pretreater (32), obtain weighted vector by the anti-interference weights counter of multi-beam space-time adaptive (34), after proofreading and correct pretreated information and described weighted vector and processing in multi-beam anti-interference filter (33), be output as the multi-beam digital medium-frequency signal after anti-interference through multi-beam digital AGC (35).
CN201410114012.7A 2014-03-25 2014-03-25 Beidou satellite navigation and positioning system Pending CN103869347A (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104076368A (en) * 2014-06-25 2014-10-01 芜湖航飞科技股份有限公司 GPS anti-interference antenna technology
CN104183925A (en) * 2014-07-14 2014-12-03 芜湖航飞科技股份有限公司 Multi-beam antenna
CN104360363A (en) * 2014-11-18 2015-02-18 无锡悟莘科技有限公司 Positioning system based on dipole antenna
CN104391307A (en) * 2014-11-18 2015-03-04 无锡悟莘科技有限公司 Beidou positioning system-based positioning method
CN104466351A (en) * 2014-11-06 2015-03-25 中国运载火箭技术研究院 Synthesis aperture heat antenna feeder system suitable for large posture changes
CN104698473A (en) * 2015-03-24 2015-06-10 芜湖航飞科技股份有限公司 Space-time anti-interference filter system of GPS receiver
CN105346471A (en) * 2015-11-27 2016-02-24 芜湖宏景电子股份有限公司 IOS system vehicle safety GPS
CN105356039A (en) * 2015-11-19 2016-02-24 江西洪都航空工业集团有限责任公司 Integrated arrangement structure of satellite navigation and communication antennas
CN106291605A (en) * 2016-08-30 2017-01-04 北京航天长征飞行器研究所 A kind of satellite navigation anti-interference reception system
CN107315175A (en) * 2017-06-06 2017-11-03 芜湖航飞科技股份有限公司 Calibration control device based on the Big Dipper
CN113740883A (en) * 2021-09-06 2021-12-03 阳光学院 Satellite navigation interference direction-finding system and method based on multi-face phased array

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CN202759023U (en) * 2012-02-03 2013-02-27 重庆九洲星熠导航设备有限公司 Omnidirectional anti-interference multi-element GPS/BD antenna based on adaptive array
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CN102207549A (en) * 2010-05-05 2011-10-05 北京泰豪联星技术有限公司 Integrated anti-interference satellite navigation receiving system and anti-interference processing method thereof
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104076368A (en) * 2014-06-25 2014-10-01 芜湖航飞科技股份有限公司 GPS anti-interference antenna technology
CN104183925A (en) * 2014-07-14 2014-12-03 芜湖航飞科技股份有限公司 Multi-beam antenna
CN104466351A (en) * 2014-11-06 2015-03-25 中国运载火箭技术研究院 Synthesis aperture heat antenna feeder system suitable for large posture changes
CN104466351B (en) * 2014-11-06 2017-06-16 中国运载火箭技术研究院 A kind of aperture synthesis hot day feedback system for adapting to big attitudes vibration
CN104391307A (en) * 2014-11-18 2015-03-04 无锡悟莘科技有限公司 Beidou positioning system-based positioning method
CN104360363A (en) * 2014-11-18 2015-02-18 无锡悟莘科技有限公司 Positioning system based on dipole antenna
CN104698473A (en) * 2015-03-24 2015-06-10 芜湖航飞科技股份有限公司 Space-time anti-interference filter system of GPS receiver
CN105356039A (en) * 2015-11-19 2016-02-24 江西洪都航空工业集团有限责任公司 Integrated arrangement structure of satellite navigation and communication antennas
CN105346471A (en) * 2015-11-27 2016-02-24 芜湖宏景电子股份有限公司 IOS system vehicle safety GPS
CN106291605A (en) * 2016-08-30 2017-01-04 北京航天长征飞行器研究所 A kind of satellite navigation anti-interference reception system
CN106291605B (en) * 2016-08-30 2018-08-21 北京航天长征飞行器研究所 A kind of satellite navigation anti-interference reception system
CN107315175A (en) * 2017-06-06 2017-11-03 芜湖航飞科技股份有限公司 Calibration control device based on the Big Dipper
CN113740883A (en) * 2021-09-06 2021-12-03 阳光学院 Satellite navigation interference direction-finding system and method based on multi-face phased array

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Application publication date: 20140618