CN105549036B - A kind of algorithm of navigational satellite receiver Suppression of narrow band interference - Google Patents

A kind of algorithm of navigational satellite receiver Suppression of narrow band interference Download PDF

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CN105549036B
CN105549036B CN201610008502.8A CN201610008502A CN105549036B CN 105549036 B CN105549036 B CN 105549036B CN 201610008502 A CN201610008502 A CN 201610008502A CN 105549036 B CN105549036 B CN 105549036B
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signal
interference
algorithm
narrow band
satellite
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CN105549036A (en
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刘高高
鲍丹
蔡晶晶
武斌
秦国栋
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Xidian University
Kunshan Innovation Institute of Xidian University
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Kunshan Innovation Institute of Xidian University
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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)
  • Noise Elimination (AREA)
  • Filters That Use Time-Delay Elements (AREA)

Abstract

The invention discloses a kind of algorithms of navigational satellite receiver Suppression of narrow band interference, it realizes anti-interference function in receivers, it mainly solves the problems, such as that the anti-narrowband jamming performance of existing receiver is low, real-time is poor, has great importance for improving working performance of the satellite navigation system under complex electromagnetic environment and enhancing its applicability in various environment.Suppression of narrow band interference algorithm subtracts each other multi-Stage Wiener Filter algorithm using correlation in this method, and this algorithm has the advantages that calculation amount is small, reliability is high, can handle satellite-signal in real time.In Project Realization technology realization is carried out by core of FPGA, signal processing function around 7000 chips of ZYNQ and the soft cores of integrated Microblaze is designed, the related update subtracted each other multi-Stage Wiener Filter algorithm and realize weights is completed by the soft cores of Microblaze, the weight coefficient of real-time update is passed to the filtering process of FIR filter progress signal, completes anti-narrowband interference function.

Description

A kind of algorithm of navigational satellite receiver Suppression of narrow band interference
Technical field
The invention belongs to aeronautical satellite fields of communication technology, and in particular to a kind of navigational satellite receiver Suppression of narrow band interference Algorithm.
Background technology
All can Global Navigation Satellite System (English full name is Global Navigation Satellite System, letter Claim GNSS), it is to establish the global position system to grow up by advanced modern science and technology, there is totipotency, whole day The features such as time, continuity and real-time, it can provide to the user and accurately position, test the speed and time service service, in military and civilian Field is widely applied.Therefore, countries in the world all are falling over each other to develop the satellite navigation system of oneself, such as the GPS systems in the U.S. System, the GLONASS systems of Russia, the GALILEO systems of European Union and the triones navigation system of China.
But the working environment residing for satellite navigation receiver is increasingly complicated, and satellite-signal easily by intentionally or It unintentionally interferes, can the antijamming capability of satellite navigation receiver become its critical issue that work normally.Research satellite is led It navigates receiver Anti-Jamming Technique, for improving working performance of the satellite navigation system under complex electromagnetic environment and enhancing it each Applicability in kind environment is of great significance.
In satellite navigation system, narrowband interference the problem of being one extremely important, affects the performance of whole system, if Narrow-band interference signal general power has been more than the jamming margin of system, then system performance meeting severe exacerbation cannot even work.
GNSS (Global Navigation Satellite System) i.e. Global Satellite Navigation System is along with existing Generation science and technology continues to develop the satellite navigation and location system of getting up.The signal that the receiver on ground receives satellite is solved It calculates, realizes the functions such as positioning time service.GNSS has given play to huge work in fields such as military affairs, agricultural, mapping, meteorologies With.Whole world every country is all regarded as one and gives priority to field, and will generate significant impact to national economy at present.
Early in the eighties in last century, with the development of GNSS system, foreign countries have begun to interference mitigation technology field into Gone preliminary exploration, to current, in relation to interference in terms of research with realizing that having become countries in the world navigation field scholar studies A hot spot.GNSS system takes Direct Sequence Spread Spectrum Communication technology, itself can generate interference inhibition, but when next When interference from the external world is excessive, it will be unable to generate inhibiting effect to interference so that system performance reduces, therefore this problem is necessary It is resolved or improves.There are many domestic and international correlation theory in relation to anti-narrowband, but concrete practice application is still more rare at present, Current performance requirement cannot be met.
Invention content
It is an object of the invention to be directed to the deficiency of technology in engineering practice, it is proposed that one kind subtracts each other multistage dimension based on correlation Receive filtering algorithm navigational satellite receiver Suppression of narrow band interference algorithm.
Realizing the technical thought of the present invention is：With FPGA (Field Programmable GateArray, field-programmable Gate array) it is that core has carried out technology realization, emphasis is around ZYNQ-7000 chips and the letter of the soft cores of integrated Microblaze Number processing function is designed, and completes the engineering design that the correlation based on time domain subtracts each other multi-Stage Wiener Filter algorithm.This is led The algorithm of boat satellite receiver Suppression of narrow band interference includes the following steps：
1) antenna first passes around radio-frequency module progress radio-frequency front-end processing after receiving navigation satellite signal, and high-frequency signal is become For analog if signal x (t)=s (t)+j (t)+no (t), wherein, s (t) is the satellite-signal received, and j (t) is from outer The narrow-band interference signal on boundary, no (t) are the white noise of system；
2) analog if signal is sent into ADC converters and sampled, become digital medium-frequency signal X (n)=S (n)+J (n)+N (n), wherein, n represents the time series after over-sampling, and S (n) is the satellite-signal after sampling, after J (n) is sampling Narrow-band interference signal, N (n) are the noise signal after sampling；
3) digital medium-frequency signal is sent into FPGA, carries out Suppression of narrow band interference.
Preferred technical solution, FPGA is using auto-adaptive fir filter and with integrated in the step 3) The soft cores of Microblaze are as microprocessor as chip；Using the integrated soft cores of Microblaze phase is carried out as microprocessor The weight coefficient that multi-Stage Wiener Filter algorithm calculates FIR filter in real time is subtracted each other in pass, is then sent to the weights after updating well The auto-adaptive fir filter that fpga logic part is built filters out the interference component in the signal received.
Preferred technical solution, further includes step 4)：After FPGA filters out interference, signal is sent to rear end and carries out satellite letter Number acquisition and tracking and positioning function.
Antenna can receive the satellite-signal of 4 frequency points in preferred technical solution, wherein step 1)：B3、B1、GPS And GLONASS；High-frequency signal turns after the filter and amplification of prefilter in radio-frequency module and amplifier, then through radio-frequency module For analog if signal.
Doing in the signal received is filtered out using auto-adaptive fir filter in preferred technical solution, wherein step 3) Disturb ingredient, and existing filtering algorithm verified using Microblaze is soft in the chip of FPGA, wherein used correlation subtract each other it is more Grade Wiener filtering algorithm be：
Forward direction iteration initialization：
d0(n)=SHX(n) X0(n)=X (n)-Sd0(n)
Forward direction iteration
For i=1,2 ..., D
Xi(n)=Xi-1(n)-hi(n)di(n)
end
Backward iteration initialization
eD(n)=dD(n)
Backward iteration
For i=D, D-1 ..., 1
end
Weight vector initializes
wp=1
Weight vector iterates to calculate
For i=1,2 ..., D
Wi=wp
end
Enable TMWF=[S, h1,…,hD],WT=[1, W1,…,WD]T, then WMWF=TMWFWT
Wherein, d0(n) the expected response initial signal for needing to approach is represented, H represents conjugate transposition, di(n) it represents to need to force Near expected response signal, x (n) represent input signal, and X (n) represents input signal matrix, i.e. X (n)=[x (n), x (n- 1),…,x(n-M)]T, M is filter order, X0(n) the observation data vector of expression input, S=[1,0 ..., 0]TFor constraint Vector, D are iterations, hiFor normalized cross correlation vector,Represent input signal X (n) with it is expected Signal di(n) cross correlation vector, * represent conjugate transposition, ei(n) evaluated error of wave filter output, w are representedi、wp、TMWFAnd WT Represent the median of calculating process, WMWFRepresent the optimal weight vector finally calculated.
Preferred technical solution, the chip of the FPGA is using ZYNQ-7000 chips, and the integrated chip has The soft cores of Microblaze.
Compared with the prior art, the present invention has the following advantages：
(1) existing receiver Interference Suppression System is mostly realized in receiver antenna, is carried out primarily directed to broadband interference Processing.And it is mostly filtered for the algorithm of Suppression of narrow band interference using LMS algorithm and RLS algorithm.LMS algorithm meter Calculation amount is small, is simply easy to Project Realization, but exists and restrain the shortcomings that slow, can not carry out interference processing in real time, and restrain The factor is difficult to determine.And although RLS algorithm solves the disadvantages that convergence rate, but there are numerical value is unstable, and The inversion operation into row matrix is needed, implementation complexity is high, and operand is big.The present invention subtracts each other multi-Stage Wiener Filter using correlation and calculates Method, improves convergence rate, realizes real-time, while be easy to Project Realization the advantages of having taken into account two kinds of algorithms.
(2) present invention, instead of common DSP, is carried using the soft cores of Microblaze in FPGA technology as processor The high integrated level of chip.More efficiently the weights of calculating can be transmitted in the wave filter in FPGA simultaneously.
Description of the drawings
Fig. 1 is the hardware design block diagram of the present invention；
Fig. 2 is the auto-adaptive fir filter structure chart of the present invention；
Fig. 3 is the specific implementation block diagram of Suppression of narrow band interference module in the present invention；
Fig. 4 is the algorithm design flow diagram that Microblaze calculates weights in the present invention.
Specific embodiment
The realization step and effect of the present invention are described further referring to the drawings：
Referring to figs. 1 to shown in Fig. 4, specific implementation step of the invention is as follows：
Step 1, high-frequency signal B3, B1, GPS and GLONASS of four frequency points of aerial receiver, i.e. B1 frequency points are 1561.098MHz, B3 frequency point are 1268.52MHz, and (L1 1575.42MHz, L2 are by GPS two frequency bins L1 and L2 1227.60MHz), GLONASS two frequency bins L1 and L2 (L1 1602MHz, L2 1246MHz).Satellite-signal is in radio-frequency module Radio-frequency front-end processing is carried out, obtains the analog if signal of 62Mhz and 22.046MHz.Analog if signal is converted using A/D It is digital medium-frequency signal that device, which carries out sampling processing,.ZYNQ-7000 handles the digital medium-frequency signal of sampling, first to entering Digital medium-frequency signal in FPGA (Field Programmable GateArray, field programmable gate array) carries out anti-interference Then capture, the tracking of signal are completed in processing again, finally carry out the positioning calculation of satellite-signal.
Step 2, analog if signal is sent into ADC converters and sampled, become digital medium-frequency signal X (n)=S (n)+J (n)+N (n), wherein, n represents the time series after over-sampling, and S (n) is the satellite-signal after sampling, and J (n) is adopts Narrow-band interference signal after sample, N (n) are the noise signal after sampling.
Step 3, the AD digital medium-frequency signals sampled are cached in two-port RAM first, Microblaze is as micro- place Reason device reads data from RAM, realizes that adaptive algorithm calculates best initial weights in Microblaze, is then sent to coefficient Signal processing is carried out in FIR filter.Wherein marking signal flag is used for that RAM is controlled to read enable signal, to control RAM data Access.
Suppression of narrow band interference module uses logic electricity using the auto-adaptive fir filter of 50 ranks in FPGA The wave filter of the FIR of a weights real-time update is built on road, and weights are provided by Microblaze, for handling A/D converter The digital medium-frequency signal to come over falls the narrowband interference filtering in signal, in logical design, need to use 50 multipliers with And 6 grades of adder compositions.
Correlation, which is completed, using Microblaze subtracts each other multi-Stage Wiener Filter algorithm, to calculate the weight coefficient of wave filter, meter Calculate adaptive weight formula be：
Forward direction iteration initialization：
d0(n)=SHX(n) X0(n)=X (n)-Sd0(n)
Forward direction iteration
For i=1,2 ..., D
Xi(n)=Xi-1(n)-hi(n)di(n)
end
Backward iteration initialization
eD(n)=dD(n)
Backward iteration
For i=D, D-1 ..., 1
end
Weight vector initializes
wp=1
Weight vector iterates to calculate
For i=1,2 ..., D
Wi=wp
end
Enable TMWF=[S, h1,…,hD],WT=[1, W1,…,WD]T, then WMWF=TMWFWT
Wherein, S is normalizes direction vector, S=[1,0 ..., 0]
Wherein, di(n) the expected response signal for needing to approach is represented, x (n) represents input signal, and X (n) represents input letter Number matrix, i.e. X (n)=[x (n), x (n-1) ..., x (n-M)]T, M is filter order, X0(n) the observation data of input are represented Vector, S=[1,0 ..., 0]TFor constraint vector, D is iterations, hiFor normalized cross correlation vector,Represent input signal X (n) and desired signal di(n) cross correlation vector, * represent conjugate transposition, ei(n) Represent the evaluated error of wave filter output, wi、wp、TMWFAnd WTRepresent the median of calculating process, WMWFExpression finally calculates Optimal weight vector.
Microblaze transfers back to the adaptive weight for calculating gained in the FIR filter that logic in FPGA is built.It passes Data and address command are appointed before sending with FPGA, complete communication.
Step 4, after FPGA filters out interference, signal is sent to the acquisition and tracking and positioning function of rear end progress satellite-signal.
The present invention realizes anti-interference function in receivers, and it is low, real can to solve the anti-narrowband jamming performance of existing receiver The problem of when property is poor, for improving working performance of the satellite navigation system under complex electromagnetic environment and enhancing it in various environment In applicability have great importance.Suppression of narrow band interference algorithm subtracts each other multi-Stage Wiener Filter using correlation in this method Algorithm, this algorithm have the advantages that calculation amount is small, reliability is high, can handle satellite-signal in real time.In Project Realization with FPGA carries out technology realization for core, around ZYNQ-7000 chips and the signal processing work(of the soft cores of integrated Microblaze It can be designed, the related update subtracted each other multi-Stage Wiener Filter algorithm and realize weights is completed by the soft cores of Microblaze, it will be real When newer weight coefficient pass to FIR filter carry out signal filtering process, complete anti-narrowband interference function.

Claims (5)

  1. A kind of 1. method of navigational satellite receiver Suppression of narrow band interference, which is characterized in that it includes the following steps：
    1) antenna first passes around radio-frequency module progress radio-frequency front-end processing after receiving navigation satellite signal, and high-frequency signal is become mould Intend intermediate-freuqncy signal x (t)=s (t)+j (t)+no (t), wherein, s (t) is the satellite-signal received, and j (t) is from extraneous Narrow-band interference signal, no (t) are the white noise of system；
    2) analog if signal is sent into ADC converters and sampled, become digital medium-frequency signal X (n)=S (n)+J (n)+N (n), wherein, n represents the time series after over-sampling, and S (n) is the satellite-signal after sampling, and J (n) is the narrowband after sampling Interference signal, N (n) are the noise signal after sampling；
    3) digital medium-frequency signal is sent into FPGA, carries out Suppression of narrow band interference；
    The interference component in the signal received is filtered out using auto-adaptive fir filter, and is used in the chip of FPGA Microblaze is soft to verify existing filtering algorithm, wherein used correlation subtracts each other multi-Stage Wiener Filter algorithm is：
    Forward direction iteration initialization：
    d0(n)=SHX(n) X0(n)=X (n)-Sd0(n)
    Forward direction iteration
    Backward iteration initialization
    eD(n)=dD(n)
    Backward iteration
    Weight vector initializes
    wp=1
    Weight vector iterates to calculate
    Enable TMWF=[S, h1,…,hD],WT=[1, W1,…,WD]T, then WMWF=TMWFWT
    The updated weight coefficient calculated in Microblaze is sent to FIR filtering wherein, completes interference filter, output For：
    Wherein, d0(n) the expected response initial signal for needing to approach, d are representedi(n) the expected response signal for needing to approach, x are represented (n) input signal is represented, X (n) represents input signal matrix, i.e. X (n)=[x (n), x (n-1) ..., x (n-M)]T, M is filtering Device exponent number, X0(n) the observation data vector of expression input, S=[1,0 ..., 0]TFor constraint vector, D is iterations, hiTo return One cross correlation vector changed,Represent input signal X (n) and desired signal di(n) cross correlation vector, * Represent conjugate transposition, ei(n) evaluated error of wave filter output, w are representedi、wp、TMWFAnd WTRepresent the centre of calculating process Value, WMWFRepresent the optimal weight vector finally calculated.
  2. 2. the method for a kind of navigational satellite receiver Suppression of narrow band interference according to claim 1, which is characterized in that described It is real-time that multi-Stage Wiener Filter algorithm as microprocessor progress correlation subtracted each other using the integrated soft cores of Microblaze in step 3) The weight coefficient of FIR filter is calculated, then the weights after updating well are sent in the FIR filter that fpga logic part is built Filter out the interference component in the signal received.
  3. 3. the method for a kind of navigational satellite receiver Suppression of narrow band interference according to claim 1, which is characterized in that it is also Including step 4)：After FPGA filters out interference, signal is sent to the acquisition and tracking and positioning function of rear end progress satellite-signal.
  4. 4. the method for a kind of navigational satellite receiver Suppression of narrow band interference according to claim 1, which is characterized in that wherein Antenna can receive the satellite-signal of 4 frequency points in step 1)：B3, B1, GPS and GLONASS；High-frequency signal passes through radio frequency mould In block after the filter and amplification of prefilter and amplifier, then through radio-frequency module switch to analog if signal.
  5. 5. the method for a kind of navigational satellite receiver Suppression of narrow band interference according to claim 1, which is characterized in that described The chip of FPGA uses ZYNQ-7000 chips, and the integrated chip has the soft cores of Microblaze.
CN201610008502.8A 2016-01-07 2016-01-07 A kind of algorithm of navigational satellite receiver Suppression of narrow band interference Active CN105549036B (en)

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CN106772486A (en) * 2017-02-17 2017-05-31 上海华测导航技术股份有限公司 A kind of GNSS receiver board based on ZYNQ frameworks
CN107907891B (en) * 2017-11-16 2021-08-13 北京卫星信息工程研究所 Space-frequency anti-interference method in satellite navigation application system and application system
CN110046324A (en) * 2019-04-18 2019-07-23 中国科学院电子学研究所 A kind of time-frequency domain conversion method, system, electronic equipment and medium
CN114124122B (en) * 2021-11-22 2023-03-14 中国电子科技集团公司第五十四研究所 Self-adaptive narrowband interference suppression method applied to high dynamic carrier

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