CN105375938A - Signal processing method based on inertial navigation auxiliary space frequency, apparatus and receiver - Google Patents

Abstract

The invention discloses a signal processing method based on an inertial navigation auxiliary space frequency, an apparatus and a receiver. The method comprises the following steps of processing a base-band digital signal corresponding to a satellite signal into an instant branch signal and a time-delay branch signal, and converting the two signals into a frequency-domain instant branch signal and a frequency-domain time-delay branch signal; based on satellite position information, aiming at each frequency point of the satellite signal, calculating a constraint guiding vector, based on each constraint guiding vector, calculating an anti-interference weight corresponding to each frequency point, and based on each anti-interference weight, carrying out anti-interference filtering processing on the two frequency-domain signals of each frequency point; and converting the two frequency-domain signals after the anti-interference filtering processing so as to obtain one time domain signal. Aiming at each frequency point of the satellite, the anti-interference weight is calculated. Aiming at each frequency point of each satellite, wave beam formation can be performed respectively so that a signal to noise ratio of a low elevation satellite is increased, the number of visible stars is increased too and anti-interference performance of the receiver is improved.

Description

Empty signal processing method, device and receiver is frequently assisted based on inertial navigation

Technical field

The present invention relates to technical field of satellite navigation, particularly relate to and a kind ofly assist empty signal processing method, device and receiver frequently based on inertial navigation.

Background technology

At present, wireless communication technology plays more and more important effect in modern communication field.But because wireless signal is fainter, be easily subject to the impact of various natural or artificial disturbing factor, even cannot use.Therefore, wireless communication system needs to use interference mitigation technology to improve antijamming capability usually.In view of adopt single spatial domain, time domain and frequency domain the anti-jamming effectiveness of Anti-Jamming Technique limited, the method usually adopting multiple anti-interference mode to combine is carried out anti-interference.

In spatial domain; usually based on inertial navigation system (INS; InertialNavigationSystem; hereinafter referred to as inertial navigation) supplementary; as attitude of satellite information (comprising the satellite angle of pitch etc.), it is anti-interference to carry out that the center frequency point for every satellite-signal forms beam position respectively.This method has certain help to raising signal to noise ratio, but beam position edge frequency band points to inaccurate.

There is the defect of impact low elevation angle satellite signal to noise ratio equally in the simple empty anti-disturbance method of associating frequently.

Summary of the invention

In view of this, for overcoming at least one shortcoming above-mentioned, and following at least one advantage is provided.The invention discloses a kind of signal processing method of assisting empty frequency based on inertial navigation.

For solving the problems of the technologies described above, the present invention by the following technical solutions: the method comprises:

The baseband digital signal corresponding with satellite-signal is treated to instant tributary signal and time delay tributary signal, and described instant tributary signal and described time delay tributary signal are converted to the instant tributary signal of frequency domain and frequency domain time delay tributary signal respectively;

Based on satellite position information, each frequency for described satellite-signal calculates constraint steering vector, calculate based on each described constraint steering vector the anti-interference weights corresponding to each frequency described, based on each described anti-interference weights, anti-interference filtration process is carried out to the instant tributary signal of described frequency domain of each frequency and described frequency domain time delay tributary signal; And

The instant tributary signal of described frequency domain after described anti-interference filtration process and described frequency domain time delay tributary signal are changed, obtains a road time-domain signal.

Assist empty signal processing method frequently for above-mentioned based on inertial navigation, in a kind of possible implementation, describedly described instant tributary signal and described time delay tributary signal be converted to the instant tributary signal of frequency domain respectively and frequency domain time delay tributary signal comprises:

Segmentation windowing process and fast fourier transform process are carried out respectively to described instant tributary signal and described time delay tributary signal, obtains corresponding to the instant tributary signal of frequency domain of described instant tributary signal and corresponding to the frequency domain time delay tributary signal of described time delay tributary signal.

Empty signal processing method is frequently assisted based on inertial navigation for above-mentioned, in a kind of possible implementation,

Described the instant tributary signal of described frequency domain after described anti-interference filtration process and described frequency domain time delay tributary signal to be changed, obtain a road time-domain signal and comprise:

Respectively inverse fourier transform process is carried out to the instant tributary signal of described frequency domain after described anti-interference filtration process and described frequency domain time delay tributary signal, obtains corresponding to the instant tributary signal of time domain of the instant tributary signal of described frequency domain and corresponding to the time domain time delay tributary signal of described time delay tributary signal; And

Instant for described time domain tributary signal and described time domain time delay tributary signal are carried out adding anti-window process and splicing respectively, obtains a road time-domain signal.

Assist empty signal processing method frequently for above-mentioned based on inertial navigation, in a kind of possible implementation, the described anti-interference weights corresponding to each frequency described, calculate especially by formula (1):

$W_{f_n}=R{\left(f_n\right)}^{-1}a\left(f_n\right){\left(a{\left(f_n\right)}^{H}R{\left(f_n\right)}^{-1}a\left(f_n\right)\right)}^{-1}---\left(1\right)$

Wherein, f _nfor described frequency, for described frequency f _nanti-interference weights, a (f _n) be the described frequency f calculated based on described satellite position information _nconstraint steering vector, a (f _n) ^hfor a (f _n) conjugate transpose, n=1 ...., N, N are the number of described frequency, R (f _n) be described frequency f _ncorresponding covariance matrix.

Empty signal processing method is frequently assisted based on inertial navigation for above-mentioned, in a kind of possible implementation,

Described constraint steering vector a (f _n) calculate based on formula (2):

Wherein, a (f _n) described frequency f for calculating based on described satellite position information _nconstraint steering vector, for described satellite-signal come to, d is the distance of each bay to the center of circle, and described antenna formation is the uniform circular array that M bay forms, and c is the light velocity.

The invention also discloses a kind of signal processing apparatus of assisting empty frequency based on inertial navigation, comprising:

Frequency domain conversion module, for the baseband digital signal corresponding with satellite-signal is treated to instant tributary signal and time delay tributary signal, and described instant tributary signal and described time delay tributary signal are converted to the instant tributary signal of frequency domain and frequency domain time delay tributary signal respectively;

Anti-interference filtration module, for based on satellite position information, each frequency for described satellite-signal calculates constraint steering vector, calculate based on each described constraint steering vector the anti-interference weights corresponding to each frequency described, based on each described anti-interference weights, anti-interference filtration process is carried out to the instant tributary signal of described frequency domain of each frequency and described frequency domain time delay tributary signal; And

Time domain transforming block, for changing the instant tributary signal of described frequency domain after the anti-interference process of described anti-interference filtration module and described frequency domain time delay tributary signal, obtains a road time-domain signal.

Empty signal processing apparatus is frequently assisted based on inertial navigation for above-mentioned, in a kind of possible implementation, described frequency domain conversion module is configured to: baseband digital signal is treated to instant tributary signal and time delay tributary signal, segmentation windowing process and fast fourier transform process are carried out respectively to described instant tributary signal and described time delay tributary signal, obtains corresponding to the instant tributary signal of frequency domain of described instant tributary signal and corresponding to the frequency domain time delay tributary signal of described time delay tributary signal.

Empty signal processing apparatus is frequently assisted based on inertial navigation for above-mentioned, in a kind of possible implementation, described time domain transforming block is configured to: carry out inverse fourier transform process respectively to the instant tributary signal of described frequency domain after described anti-interference filtration process and described frequency domain time delay tributary signal, obtains corresponding to the instant tributary signal of time domain of the instant tributary signal of described frequency domain and corresponding to the time domain time delay tributary signal of described frequency domain time delay tributary signal; And instant for described time domain tributary signal and described time domain time delay tributary signal are carried out adding anti-window process and splicing respectively, obtain a road time-domain signal.

Assist empty signal processing apparatus frequently for above-mentioned based on inertial navigation, in a kind of possible implementation, described anti-interference filtration module through type (1) calculates anti-interference weights for each frequency of described satellite-signal:

$W_{f_n}=R{\left(f_n\right)}^{-1}a\left(f_n\right){\left(a{\left(f_n\right)}^{H}R{\left(f_n\right)}^{-1}a\left(f_n\right)\right)}^{-1}---\left(1\right)$

Wherein, f _nfor described frequency, for described frequency f _nanti-interference weights, a (f _n) be the described frequency f calculated based on described satellite position information _nconstraint steering vector, a (f _n) ^hfor a (f _n) conjugate transpose, n=1 ...., N, N are the number of described frequency, R (f _n) be described frequency f _ncorresponding covariance matrix.

Assist empty signal processing apparatus frequently for above-mentioned based on inertial navigation, in a kind of possible implementation, described anti-interference filtration module calculates described constraint steering vector based on formula (2):

Wherein, a (f _n) described frequency f for calculating based on described satellite position information _nconstraint steering vector, for described satellite-signal come to, d is the distance of each bay to the center of circle, and described antenna formation is the uniform circular array that M bay forms, and c is the light velocity.

The invention also discloses a kind of receiver, comprise above-mentioned signal processing apparatus of assisting empty frequency based on inertial navigation.

By adopting technique scheme, of the present invention reached beneficial effect is: calculate anti-interference weights by each frequency for satellite, Wave beam forming can be carried out respectively for each frequency of each satellite-signal, thus improve the signal to noise ratio of low elevation angle satellite, increase visible star number order, improve the interference free performance of receiver.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing the embodiment of the present invention is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the content of the embodiment of the present invention and these accompanying drawings.

The flow chart of assisting empty signal processing method frequently based on inertial navigation that Fig. 1 provides for one embodiment of the invention;

The flow chart of assisting empty signal processing method frequently based on inertial navigation that Fig. 2 provides for another embodiment of the present invention;

Another flow chart of assisting empty signal processing method frequently based on inertial navigation that Fig. 3 provides for another embodiment of the present invention;

The flow chart of the computational methods of the anti-interference weights that Fig. 4 provides for another embodiment of the present invention;

The method schematic diagram adding the splicing of anti-window that Fig. 5 provides for another embodiment of the present invention;

The structural representation of assisting empty signal processing apparatus frequently based on inertial navigation that Fig. 6 provides for another embodiment of the present invention; And

The structural representation of the receiver that Fig. 7 provides for another embodiment of the present invention.

Embodiment

The technical problem solved for making the present invention, the technical scheme of employing and the technique effect that reaches are clearly, be described in further detail below in conjunction with the technical scheme of accompanying drawing to the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those skilled in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

Technical scheme of the present invention is further illustrated by embodiment below in conjunction with accompanying drawing.

embodiment 1

The flow chart of assisting empty signal processing method frequently based on inertial navigation that Fig. 1 provides for one embodiment of the invention, the method comprises the following steps:

The baseband digital signal corresponding with satellite-signal is treated to instant tributary signal and time delay tributary signal by step S11, receiver, and instant tributary signal and time delay tributary signal are transformed to the instant tributary signal of frequency domain and frequency domain time delay tributary signal respectively;

Step S12, based on satellite position information and the instant tributary signal of frequency domain, each frequency for satellite-signal calculates anti-interference weights;

In the present embodiment, also can carry out the calculating of anti-interference weights based on frequency domain time delay tributary signal based on the instant tributary signal of frequency domain;

Step S13, carry out anti-interference filtration process based on the calculated instant tributary signal of the frequency domain of each anti-interference weights to each frequency and frequency domain time delay tributary signal; And

Step S14, the instant tributary signal of the frequency domain after anti-interference filtration process and frequency domain time delay tributary signal to be changed, obtain a road time-domain signal.

embodiment 2

The flow chart of assisting empty signal processing method frequently based on inertial navigation that Fig. 2 provides for another embodiment of the present invention: the method in the present embodiment comprises the following steps:

The M road satellite-signal received is treated to M road baseband digital signal by step S21, receiver;

Wherein, M is the number of the bay of receiver, and receiver carries out analog-to-digital conversion to the array antenna satellite-signal being down-converted to intermediate frequency, obtains baseband digital signal after sampling adjustment and down-converted;

Step S22, for every road baseband digital signal, this baseband digital signal is treated to two paths of signals, a road is instant tributary signal, and another road is the time delay tributary signal through delay process;

In the present embodiment, this time delay tributary signal is the tributary signal through 1/2 delay process;

Step S23, respectively instant tributary signal and time delay tributary signal to be processed, make it be transformed to the instant tributary signal of frequency domain and frequency domain time delay branch road;

In the present embodiment, especially by segmentation windowing and FFT (FastFourierTransformation, fast fourier transform) process instant tributary signal and time delay tributary signal are transformed from the time domain to frequency domain, meanwhile, broadband signal can be realized to be divided into narrow band signal;

Step S24, for the instant tributary signal of frequency domain or frequency domain time delay tributary signal, empty frequency is adopted to combine anti-disturbance method, satellite-based positional information, each frequency for satellite-signal calculates constraint steering vector, and calculates the anti-interference weights of the band beam position of each frequency based on the constraint steering vector calculated;

The anti-interference weights that step S25, use calculate carry out anti-interference filtration process to the instant tributary signal of the frequency domain obtained after step S22 process and frequency domain time delay tributary signal;

In step s 24 which, each frequency for satellite-signal calculates anti-interference weights respectively, and then in step s 25, the instant tributary signal of the frequency domain of anti-interference weights to this frequency that use calculates and frequency domain time delay tributary signal carry out anti-interference filtration process.

Step S26, the instant tributary signal of the frequency domain of the anti-interference process through step S25 and frequency domain time delay tributary signal carried out respectively to inverse fourier transform (IFFT) process, make this two paths of signals be transformed to time-domain signal;

Step S27, anti-window process and splicing are added to the two-way frequency-region signal after step S26 process, be formed as a road time-domain signal.

For above-mentioned steps S24, shown in Fig. 3 and Fig. 4, particular according to formula (1) calculates the anti-interference weights of each frequency.

$W_{f_n}=R{\left(f_n\right)}^{-1}a\left(f_n\right){\left(a{\left(f_n\right)}^{H}R{\left(f_n\right)}^{-1}a\left(f_n\right)\right)}^{-1}---\left(1\right)$

Wherein, f _nfor frequency, for frequency f _nanti-interference weights, a (f _n) the frequency f that calculates for the satellite position information provided based on inertial navigation and ephemeris/almanac _nconstraint steering vector, a (f _n) ^hfor a (f _n) conjugate transpose, n=1 ...., N; N is the number of frequency, R (f _n) be frequency f _ncorresponding covariance matrix.

Constraint steering vector a (f _n) through type (2) calculates:

Wherein, a (f _n) the frequency f that calculates for the satellite position information provided based on inertial navigation and ephemeris/almanac _nconstraint steering vector, be the signal of a satellite come to, d is the distance of each bay to the center of circle, and antenna formation is the uniform circular array that M bay forms, and c is the light velocity, then can calculate the constraint steering vector of each frequency in this satellite according to formula (3).According to the port number of receiver, obtain the constraint steering vector of each frequency of multi-satellite respectively.

In the present embodiment, the derivation detailed process of above-mentioned formula (1) is as follows:

Assuming that the number of bay is M, FFT, i.e. frequency number of counting is N.Instant tributary signal after suppressing NBI, namely after FFT process conversion or time delay tributary signal are formed covariance matrix according to frequency points, thus N number of M × M covariance matrix A (f can be obtained _n), to L covariance matrix A (f _n) carrying out adding up obtains covariance matrix R (f _n), to this N number of covariance matrix A (f _n) carry out process of inverting, obtain the inverse matrix A (f of N number of M × M _n) ^-1; Based on this inverse matrix A (f _n) ^-1, adopt linearly constrained minimum variance, calculate the anti-interference weights W (f of each frequency based on formula (3) _n), under certain constraint, namely make the total power signal of output minimum, to reach the object suppressing interference.

$\begin{array}{cc}{W}_{f_n}=\arg \min E\left[{\left|{W_{f_n}}^{H}A\left(f_n\right)\right|}^2\right]& s.t.{W_{f_n}}^{H}a\left(f_n\right)=1\end{array}$

$\begin{array}{cc}=\arg \min {W_{f_n}}^{H}R\left(f_n\right)W_{f_n}& s.t.W_{f_n}a\left(f_n\right)=1\end{array}---\left(3\right)$

Wherein, a (f _n) the frequency f that calculates for the satellite position information provided based on inertial navigation and ephemeris/almanac _nconstraint steering vector; A (f _n) be frequency-region signal covariance matrix (autocorrelation matrix namely in figure); E is average; R (f _n) be to L covariance matrix A (f _n) carrying out adding up obtains covariance matrix, for conjugate transpose.To R (f _n) matrix inversion acquisition R (f _n) ^-1after matrix, formula (1) can be derived by formula (3).

Then, in above-mentioned steps S25, adopt the instant tributary signal of the frequency domain of anti-interference weights to this frequency that calculates and frequency domain time delay tributary signal to carry out anti-interference filtration process based on formula (4) for each frequency.

$Y_1\left(f_n\right)=W_{f_n}^H{X}_1\left(f_n\right),Y_2\left(f_n\right)=W_{f_n}^H{X}_2\left(f_n\right)$ Formula (4)

Wherein, X ₁(f _n) be frequency f _ninstant tributary signal, X ₂(f _n) be frequency f _ntime delay tributary signal, Y ₁(f _n) be frequency f after anti-interference filtration process _ninstant tributary signal, Y ₂(f _n) be frequency f after anti-interference filtration process _ntime delay tributary signal.

For step S27, shown in Figure 5, two-way frequency-region signal after Fig. 5 shows anti-interference filtration is treated to the connecting method of two paths of signals after time domain through IFFT, specifically comprise: add anti-window process to the data of instant tributary signal and time delay tributary signal mid portion (such as data segment 1/4-3/4 position) respectively, alternative splicing is a road time-domain signal.Thus effectively can shield the impact of margin signal distortion on signal quality, and only amount of calculation and the resources costs that windowing effectively can reduce process is carried out to part signal part.

Anti-interference method provided by the invention, calculates anti-interference weights by each frequency for satellite, can carry out Wave beam forming for each frequency of each satellite, and beam position gain is obvious, improves empty frequency and combines jamproof performance; And, the anti-interference process output signal-to-noise ratio of low elevation angle satellite-signal is significantly improved; In addition, windowing and add anti-window process and effectively reduce the margin signal distortion that signal cutout causes.Method and apparatus provided by the invention can be integrated in FPGA (Field-ProgrammableGateArray, field programmable gate array) middle realization, be conducive to the Miniaturization Design of receiver, be applicable to the receiver terminal of the multiple satellite navigation system such as the Big Dipper, GPS, there is stronger practicality.

embodiment 3

As shown in Figure 6, be the structural representation of assisting empty signal processing apparatus frequently based on inertial navigation that the embodiment of the present invention provides, this device comprises: frequency domain conversion module 1, anti-interference filtration module 2 and time domain transforming block 3.

Wherein, instant tributary signal and time delay tributary signal for the baseband digital signal corresponding with satellite-signal is treated to instant tributary signal and time delay tributary signal, and are converted to the instant tributary signal of frequency domain and frequency domain time delay tributary signal by frequency domain conversion module 1 respectively; Anti-interference filtration module 2 is for based on satellite position information, each frequency for satellite-signal calculates constraint steering vector, calculate the anti-interference weights corresponding to each frequency based on each constraint steering vector, carry out anti-interference filtration process based on the instant tributary signal of the frequency domain of each anti-interference weights to each frequency and frequency domain time delay tributary signal; Time domain transforming block 3, for processing the instant tributary signal of frequency domain after the anti-interference filtration process of anti-interference filtration module 2 and frequency domain time delay tributary signal, obtains a road time-domain signal.

Specifically, frequency domain conversion module 1 is configured to: baseband digital signal is treated to instant tributary signal and time delay tributary signal, segmentation windowing process and fast fourier transform process are carried out respectively to instant tributary signal and time delay tributary signal, obtains corresponding to the instant tributary signal of frequency domain of instant tributary signal and corresponding to the frequency domain time delay tributary signal of time delay tributary signal.

Time domain transforming block 3 is configured to: carry out inverse fourier transform process respectively to the instant tributary signal of the frequency domain after the anti-interference process of anti-interference filtration module 2 and frequency domain time delay tributary signal, obtains corresponding to the instant tributary signal of time domain of the instant tributary signal of frequency domain and corresponding to the time domain time delay tributary signal of frequency domain time delay tributary signal; And instant for described time domain tributary signal and time domain time delay tributary signal are carried out adding anti-window process and splicing respectively, obtain a road time-domain signal.

Anti-interference filtration module 3 through type (1) calculates anti-interference weights for each frequency of satellite-signal:

$W_{f_n}=R{\left(f_n\right)}^{-1}a\left(f_n\right){\left(a{\left(f_n\right)}^{H}R{\left(f_n\right)}^{-1}a\left(f_n\right)\right)}^{-1}---\left(1\right)$

Wherein, f _nfor frequency, for frequency f _nanti-interference weights, a (f _n) be the frequency f calculated based on satellite position information _nconstraint steering vector, a (f _n) ^hfor a (f _n) conjugate transpose, n=1 ...., N, N are the number of frequency, R (f _n) be frequency f _ncorresponding covariance matrix.And anti-interference filtration module 3 calculates constraint steering vector based on formula (2):

Wherein, a (f _n) frequency f for calculating based on satellite position information _nconstraint steering vector, for satellite-signal to come to, antenna formation be the uniform circular array that M bay forms, each bay is d, c to the distance in the center of circle is the light velocity.

embodiment 4

As shown in Figure 7, be the structural representation of the receiver that another embodiment of the present invention provides, this receiver comprises: antenna rf module 4, for satellite-signal is down-converted to intermediate frequency, and the analog intermediate frequency signal after frequency conversion is transferred to AD conversion module; AD conversion module 5, with antenna rf model calling, for carrying out Analog-digital Converter to the analog intermediate frequency signal received, obtains digital intermediate frequency signal; Immunity module 6, is connected with AD conversion module, for digital intermediate frequency signal is down-converted to baseband digital signal, carries out AF panel process and uppermixing process, obtains the intermediate-freuqncy signal after anti-interference filtration, and export this intermediate-freuqncy signal to baseband digital signal.Empty signal processing apparatus is frequently assisted based on inertial navigation wherein in immunity module and above-described embodiment.

All or part of content in the technical scheme that above embodiment provides can be realized by software programming, and its software program is stored in the storage medium that can read, storage medium such as: the hard disk in computer, CD or floppy disk.

Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute and can not protection scope of the present invention be departed from.Therefore, although be described in further detail invention has been by above embodiment, the present invention is not limited only to above embodiment, when not departing from the present invention's design, can also comprise other Equivalent embodiments more, and scope of the present invention is determined by appended right.

Claims (10)

1. assist an empty signal processing method frequently based on inertial navigation, it is characterized in that, comprising:

The baseband digital signal corresponding with satellite-signal is treated to instant tributary signal and time delay tributary signal, and described instant tributary signal and described time delay tributary signal are converted to the instant tributary signal of frequency domain and frequency domain time delay tributary signal respectively;

Based on satellite position information, each frequency for described satellite-signal calculates constraint steering vector, calculate based on each described constraint steering vector the anti-interference weights corresponding to each frequency described, based on each described anti-interference weights, anti-interference filtration process is carried out to the instant tributary signal of described frequency domain of each frequency and described frequency domain time delay tributary signal; And

The instant tributary signal of described frequency domain after described anti-interference filtration process and described frequency domain time delay tributary signal are changed, obtains a road time-domain signal.

2. assist empty signal processing method frequently based on inertial navigation as claimed in claim 1, it is characterized in that, describedly described instant tributary signal and described time delay tributary signal are converted to the instant tributary signal of frequency domain respectively and frequency domain time delay tributary signal comprises:

Segmentation windowing process and fast fourier transform process are carried out respectively to described instant tributary signal and described time delay tributary signal, obtains corresponding to the instant tributary signal of frequency domain of described instant tributary signal and corresponding to the frequency domain time delay tributary signal of described time delay tributary signal.

3. assist empty signal processing method frequently based on inertial navigation as claimed in claim 1, it is characterized in that, described the instant tributary signal of described frequency domain after described anti-interference filtration process and described frequency domain time delay tributary signal to be changed, obtain a road time-domain signal and comprise:

Respectively inverse fourier transform process is carried out to the instant tributary signal of described frequency domain after described anti-interference filtration process and described frequency domain time delay tributary signal, obtains corresponding to the instant tributary signal of time domain of the instant tributary signal of described frequency domain and corresponding to the time domain time delay tributary signal of described time delay tributary signal; And

Instant for described time domain tributary signal and described time domain time delay tributary signal are carried out adding anti-window process and splicing respectively, obtains a road time-domain signal.

4. assist empty signal processing method frequently based on inertial navigation as claimed in claim 1, it is characterized in that, the described anti-interference weights corresponding to each frequency described, calculate especially by formula (1):

W _fn＝R(f _n) ^-1a(f _n)(a(f _n) ^HR(f _n) ^-1a(f _n)) ^-1(1)

Wherein, f _nfor described frequency, W _fnfor described frequency f _nanti-interference weights, a (f _n) be the described frequency f calculated based on described satellite position information _nconstraint steering vector, a (f _n) ^hfor a (f _n) conjugate transpose, n=1 ..., N, N are the number of described frequency, R (f _n) be described frequency f _ncorresponding covariance matrix.

5. assist empty signal processing method frequently based on inertial navigation as claimed in claim 4, it is characterized in that, described constraint steering vector a (f _n) calculate based on formula (2):

Wherein, a (f _n) described frequency f for calculating based on described satellite position information _nconstraint steering vector, for described satellite-signal come to, d is the distance of each bay to the center of circle, and described antenna formation is the uniform circular array that M bay forms, and c is the light velocity.

6. assist an empty signal processing apparatus frequently based on inertial navigation, it is characterized in that, comprising:

Frequency domain conversion module, for the baseband digital signal corresponding with satellite-signal is treated to instant tributary signal and time delay tributary signal, and described instant tributary signal and described time delay tributary signal are converted to the instant tributary signal of frequency domain and frequency domain time delay tributary signal respectively;

Anti-interference filtration module, for based on satellite position information, each frequency for described satellite-signal calculates constraint steering vector, calculate based on each described constraint steering vector the anti-interference weights corresponding to each frequency described, based on each described anti-interference weights, anti-interference filtration process is carried out to the instant tributary signal of described frequency domain of each frequency and described frequency domain time delay tributary signal; And

Time domain transforming block, for changing the instant tributary signal of described frequency domain after the anti-interference filtration process of described anti-interference filtration module and described frequency domain time delay tributary signal, obtains a road time-domain signal.

7. assist empty signal processing apparatus frequently based on inertial navigation as claimed in claim 6, it is characterized in that, described frequency domain conversion module is configured to: baseband digital signal is treated to instant tributary signal and time delay tributary signal, segmentation windowing process and fast fourier transform process are carried out respectively to described instant tributary signal and described time delay tributary signal, obtains corresponding to the instant tributary signal of frequency domain of described instant tributary signal and corresponding to the frequency domain time delay tributary signal of described time delay tributary signal.

8. assist empty signal processing apparatus frequently based on inertial navigation as claimed in claim 6, it is characterized in that, described time domain transforming block is configured to: carry out inverse fourier transform process respectively to the instant tributary signal of described frequency domain after described anti-interference filtration process and described frequency domain time delay tributary signal, obtains corresponding to the instant tributary signal of time domain of the instant tributary signal of described frequency domain and corresponding to the time domain time delay tributary signal of described frequency domain time delay tributary signal; And instant for described time domain tributary signal and described time domain time delay tributary signal are carried out adding anti-window process and splicing respectively, obtain a road time-domain signal.

9. assist empty signal processing apparatus frequently based on inertial navigation as claimed in claim 6, it is characterized in that, described anti-interference filtration module through type (1) calculates anti-interference weights for each frequency of described satellite-signal:

W _fn＝R(f _n) ^-1a(f _n)(a(f _n) ^HR(f _n) ^-1a(f _n)) ^-1(1)

Wherein, f _nfor described frequency, W _fnfor described frequency f _nanti-interference weights, a (f _n) be the described frequency f calculated based on described satellite position information _nconstraint steering vector, a (f _n) ^hfor a (f _n) conjugate transpose, n=1 ..., N, N are the number of described frequency, R (f _n) be described frequency f _ncorresponding covariance matrix.

10. assist empty signal processing apparatus frequently based on inertial navigation as claimed in claim 9, it is characterized in that, described anti-interference filtration module calculates described constraint steering vector a (f based on formula (2) _n):

Wherein, a (f _n) described frequency f for calculating based on described satellite position information _nconstraint steering vector, for described satellite-signal come to, d is the distance of each bay to the center of circle, and described antenna formation is the uniform circular array that M bay forms, and c is the light velocity.