CN105353386A - Anti-interference method and device for navigation receiver through employing inertial navigation equipment - Google Patents
Anti-interference method and device for navigation receiver through employing inertial navigation equipment Download PDFInfo
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- CN105353386A CN105353386A CN201510676966.1A CN201510676966A CN105353386A CN 105353386 A CN105353386 A CN 105353386A CN 201510676966 A CN201510676966 A CN 201510676966A CN 105353386 A CN105353386 A CN 105353386A
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- satellite
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- wave beam
- carrier
- inertial navigation
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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
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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 relates to the technical field of electronic information, specifically an anti-interference method and device for a navigation receiver through employing inertial navigation equipment under the condition of cold start. The method comprises the steps: calculating a guide vector between a satellite and an antenna array according to information provided by inertial navigation, adjusting the weight of an array and forming a wave beam, and enabling the wave beam to face the incoming direction of a satellite signal. The method is advantageous in that 1, the method can divide the direction of the wave beam in an adaptive manner; 2, the method controls the direction of the wave beam synthesized by a plurality of antennas through the position information obtained by the inertial navigation equipment, and achieves the effects of improving signal receiving gain, and weakening interference.
Description
Technical field
The present invention relates to electronic information technical field, under specifically referring to cold start-up, a kind of navigation neceiver anti-disturbance method and device utilizing inertial navigation set.
Background technology
Well known, satellite navigation system is the satellite-based radio navigation system using artificial satellite as guidance station, the power sending signal due to satellite navigation system is very low, be faced with complicated severe channel circumstance, be vulnerable to having a mind to or being not intended to interference of various ways, cause the decline of navigation neceiver navigator fix performance, therefore, must take measures to resist these interference with the location usefulness ensureing navigation neceiver.
Current satellite navigation receiver mainly adopts self-adapting airspace or joint space-time filtering, is mainly divided into two classes: the first kind falls into zero to aim at interference, with suppressing or offseting the impact that way reduces interference; Equations of The Second Kind is by the antenna gain of wave beam forming lifting to signal, and aims at undesired signal with low sidelobe, reaches the object improving signal to noise ratio (S/N ratio).But there is open defect in above-mentioned two class schemes: in first kind scheme based on zero fall into adaptive processing technique only consider suppress interference, do not take enhancing satellite-signal into account, therefore these class methods do not need precognition satellite-signal to.Need in Equations of The Second Kind scheme to predict and expect that the direction of satellite is as the constraint to processor weight vector, this self-adaptive processing based on wave beam control is except getting deeply stuck in formation in interference, also form high-gain wave beam in satellite-signal direction, satellite-signal can be strengthened while suppression interference, thus significantly improve antijamming capability.But due to satellite-signal direction can not be predicted in practical application, usually array antenna is taked to simulate the method for multiple wave beam, make the different directions that each beam position divides in advance, thus enable synthesis wave beam cover whole episphere, make each satellite can both by corresponding wave cover; Therefore, the beam position that prior art adopts divides in advance, can not come to adaptive adjustment beam position according to satellite-signal during actual motion.
Summary of the invention
The object of the invention is to overcome the division in advance of beam position in prior art, can not come to adaptive adjustment beam position according to satellite-signal during actual motion; Thus provide a kind of utilize inertial navigation set secondary beam to be formed navigation neceiver anti-disturbance method and device, the supplementary utilizing inertial navigation equipment to provide carrys out the sensing of adaptive division wave beam.
Technical scheme of the present invention comprises, and the information provided according to inertial navigation calculates the steering vector between satellite and aerial array, the weighting weights of adjustment array formed wave beam make its point to satellite-signal to.
The computation process of the weighting weights of the beam forming of described satellite-signal comprises the steps:
Step 1, is obtained the position location during last time start of the receiver stored, or obtains the positional information of present receiving machine from inertial navigation set by GNSS receiver;
Step 2, provides current time information by RTC equipment, calculates the locus residing for current time satellite according to the satellite ephemeris stored before being disturbed or almanac;
Step 3, according to the satellite position information that step 1 obtains, the positional information of the carrier that step 2 obtains and attitude information, the formulae discovery through following:
Under being located at ECEF coordinate system, the position of satellite
, the position of carrier
with three attitudes of attitude carrier: course (Y:Yaw), roll (R:Roll), pitching (P:Pitch);
If
represent the steering vector of satellite-signal, if
represent the angle of pitch of carrier positions vector and ECEF coordinate system XOY plane,
represent corresponding position angle, refer to that x-axis is to the angle of carrier positions vector at XOY face projection vector; The transition matrix that ECEF coordinate is tied to earth's surface coordinate (north-Dong-upper coordinate system and ENU) is obtained according to carrier positions.
Again according to the attitude of carrier, obtain the attitude transition matrix of carrier
satellite-signal vector
be converted into:
the vector of carrier fixed coordinate system is converted into from ECEF coordinate system;
If
.So the angle of pitch of satellite-signal and aerial array
be expressed as:
；
When
time,
, position angle
be expressed as follows:
Order
,
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
The position angle obtained
, the angle of pitch
be exactly the Bo Dajiao (DOA) of satellite-signal, now obtain the Bo Dajiao of satellite-signal;
Step 4, the DOA of the satellite-signal obtained according to step 3 can obtain the steering vector of satellite-signal accordingly, and apply a kind of parallel multi-beam anti-interference method, the method generates multiple wave beam simultaneously, and each wave beam only aims at single satellite;
Wherein weight vectors is:
;
Wherein,
it is the covariance matrix of array received signal.
Multiple wave beam aims at the satellite of more than four and four simultaneously, the result of Wave beam forming is sent into receiver, completes anti-interference process.
Device comprises the computing unit connected successively, presets unit, statistic unit, inversion unit, weighted units, receiving element, modulating unit, determining unit;
Device calculates steering vector by computing unit and default unit.
Advantage of the present invention comprises, 1. the sensing of the adaptive division wave beam of energy; 2. the positional information utilizing inertial navigation equipment to obtain controls the beam position of multiple antennas synthesis, reaches the effect strengthening Signal reception gain, weaken interference simultaneously.
Accompanying drawing explanation
Accompanying drawing 1 is structure drawing of device;
Accompanying drawing 2 is wave beam process figure.
Embodiment
The present invention calculates the steering vector between satellite and aerial array according to the information that inertial navigation provides, adjustment array weighting weights formed wave beam make its point to satellite-signal to.See accompanying drawing 1, this device comprises the computing unit 1 connected successively, presets unit 2, statistic unit 3, inversion unit 4, weighted units 5, receiving element 6, modulating unit 7, determining unit 8; Device calculates steering vector by computing unit 1 and default unit 2.
Especially, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
The computation process of the weighting weights of the beam forming of described satellite-signal comprises the steps:
Step 1, is obtained the position location during last time start of the receiver stored, or obtains the positional information of present receiving machine from inertial navigation set by GNSS receiver;
Step 2, provides current time information by RTC equipment, calculates the locus residing for current time satellite according to the satellite ephemeris stored before being disturbed or almanac;
Step 3, according to the satellite position information that step 1 obtains, the positional information of the carrier that step 2 obtains and attitude information, the formulae discovery through following:
Under being located at ECEF coordinate system, the position of satellite
, the position of carrier
with three attitudes of attitude carrier: course (Y:Yaw), roll (R:Roll), pitching (P:Pitch);
If
represent the steering vector of satellite-signal, if
represent the angle of pitch of carrier positions vector and ECEF coordinate system XOY plane,
represent corresponding position angle, refer to that x-axis is to the angle of carrier positions vector at XOY face projection vector; The transition matrix that ECEF coordinate is tied to earth's surface coordinate (north-Dong-upper coordinate system and ENU) is obtained according to carrier positions.
Again according to the attitude of carrier, obtain the attitude transition matrix of carrier
satellite-signal vector
be converted into:
the vector of carrier fixed coordinate system is converted into from ECEF coordinate system;
If
.So the angle of pitch of satellite-signal and aerial array
be expressed as:
；
When
time,
, position angle
be expressed as follows:
Order
,
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
The position angle obtained
, the angle of pitch
be exactly the Bo Dajiao (DOA) of satellite-signal, now obtain the Bo Dajiao of satellite-signal;
Step 4, the DOA of the satellite-signal obtained according to step 3 can obtain the steering vector of satellite-signal accordingly, and apply a kind of parallel multi-beam anti-interference method, the method generates multiple wave beam simultaneously, and each wave beam only aims at single satellite;
Wherein weight vectors is:
;
Wherein,
it is the covariance matrix of array received signal.
Multiple wave beam aims at the satellite of more than four and four simultaneously, the result of Wave beam forming is sent into receiver, completes anti-interference process.See accompanying drawing 2.
Claims (4)
1. utilize navigation neceiver anti-disturbance method and the device of inertial navigation set,
It is characterized in that, the information provided according to inertial navigation calculates the steering vector between satellite and aerial array, the weighting weights of adjustment array formed wave beam make its point to satellite-signal to.
2. a kind of navigation neceiver anti-disturbance method and device utilizing inertial navigation set according to claim 1, it is characterized in that, the computation process of the weighting weights of the beam forming of described satellite-signal comprises the steps:
Step 1, is obtained the position location during last time start of the receiver stored, or obtains the positional information of present receiving machine from inertial navigation set by GNSS receiver;
Step 2, provides current time information by RTC equipment, calculates the locus residing for current time satellite according to the satellite ephemeris stored before being disturbed or almanac;
Step 3, according to the satellite position information that step 1 obtains, the positional information of the carrier that step 2 obtains and attitude information, the formulae discovery through following:
Under being located at ECEF coordinate system, the position P0 of satellite, the position P1 of carrier and three attitudes of attitude carrier: course Y, roll R, pitching P;
If
represent the steering vector of satellite-signal, if
represent the angle of pitch of carrier positions vector and ECEF coordinate system XOY plane,
represent that corresponding position angle obtains according to carrier positions the transition matrix that ECEF coordinate is tied to earth's surface coordinate:
；
Again according to the attitude of carrier, obtain the attitude transition matrix of carrier:
satellite-signal vector
be converted into:
the vector of carrier fixed coordinate system is converted into from ECEF coordinate system;
If
, the angle of pitch of satellite-signal and aerial array
be expressed as:
；
When
time,
, position angle
be expressed as follows:
Order
,
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
If
and
, then
;
The position angle obtained
, the angle of pitch
be exactly the Bo Dajiao (DOA) of satellite-signal, now obtain the Bo Dajiao of satellite-signal;
Step 4, the DOA of the satellite-signal obtained according to step 3 can obtain the steering vector of satellite-signal accordingly, and apply a kind of parallel multi-beam anti-interference method, the method generates multiple wave beam simultaneously, and each wave beam only aims at single satellite;
Wherein weight vectors is:
;
Wherein,
it is the covariance matrix of array received signal.
3. a kind of navigation neceiver anti-disturbance method and device utilizing inertial navigation set according to claim 1 and 2, it is characterized in that, multiple wave beam aims at the satellite of more than four and four simultaneously, the result of Wave beam forming is sent into receiver, completes anti-interference process.
4. a kind of navigation neceiver anti-disturbance method and device utilizing inertial navigation set according to claim 1 and 2, it is characterized in that, device comprises the computing unit (1) connected successively, preset unit (2), statistic unit (3), inversion unit (4), weighted units (5), receiving element (6), modulating unit (7), determining unit (8);
Device calculates steering vector by computing unit (1) and default unit (2).
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| CN201510676966.1A CN105353386A (en) | 2015-10-20 | 2015-10-20 | Anti-interference method and device for navigation receiver through employing inertial navigation equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109425875A (en) * | 2017-09-05 | 2019-03-05 | 清华大学 | Satellite-signal separating and treating apparatus and method |
| CN112332917A (en) * | 2020-10-23 | 2021-02-05 | 军事科学院系统工程研究院网络信息研究所 | Laser communication autonomous tracking and aiming method controlled by inertial navigation |
| CN113660619A (en) * | 2021-08-20 | 2021-11-16 | 上海无线电设备研究所 | Beam alignment method based on network node coordinate information |
| CN113701751A (en) * | 2021-08-24 | 2021-11-26 | 西安大衡天成信息科技有限公司 | Navigation device based on multi-beam antenna |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109425875A (en) * | 2017-09-05 | 2019-03-05 | 清华大学 | Satellite-signal separating and treating apparatus and method |
| CN109425875B (en) * | 2017-09-05 | 2021-05-04 | 清华大学 | Satellite signal separation processing device and method |
| CN112332917A (en) * | 2020-10-23 | 2021-02-05 | 军事科学院系统工程研究院网络信息研究所 | Laser communication autonomous tracking and aiming method controlled by inertial navigation |
| CN113660619A (en) * | 2021-08-20 | 2021-11-16 | 上海无线电设备研究所 | Beam alignment method based on network node coordinate information |
| CN113660619B (en) * | 2021-08-20 | 2023-02-28 | 上海无线电设备研究所 | Beam alignment method based on network node coordinate information |
| CN113701751A (en) * | 2021-08-24 | 2021-11-26 | 西安大衡天成信息科技有限公司 | Navigation device based on multi-beam antenna |
| CN113701751B (en) * | 2021-08-24 | 2024-05-07 | 西安大衡天成信息科技有限公司 | Navigation device based on multi-beam antenna |
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Application publication date: 20160224 |