CN105676234B - A kind of space-time adaptive anti-interference method based on navigation neceiver - Google Patents
A kind of space-time adaptive anti-interference method based on navigation neceiver Download PDFInfo
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Classifications
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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
Abstract
The invention discloses a kind of space-time adaptive anti-interference method based on navigation neceiver, 1) antenna array receiver radio frequency analog signal, obtain digital medium-frequency signal after analog down, digital sample；2) the signal digital quadrature down conversion of sampling is become into digital baseband signal；3) baseband signal is divided into two-way, wherein data to be sent to the best initial weights for DSP (digital signal processing chip), calculating adaptive algorithm all the way；4) after digital signal processing chip power-up initializing, 0 core and 1 core calculate adaptive weight according to adaptive algorithm；5) baseband signal combination weights space-time adaptive filters all the way；6) the signal up-conversion after interference is filtered out, analog-to-digital conversion exports navigation signal.The present invention realizes that high performance space-time adaptive is anti-interference with small operand, and the position available for navigation neceiver positions.
Description
Technical field
The invention belongs to satellite navigation communications, and in particular to a kind of anti-interference side of space-time adaptive based on navigation neceiver
Method can be used for the anti-interference of satellite navigation communication.
Background technology
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.
With the increasingly complexity of spatial frequency spectrum, the anti-interference research of navigation neceiver is increasingly becoming the emphasis and heat of scientific research
Point, the stability which raises receiver have also expanded application range.Particularly China's Big Dipper II for satellite navigation system by
Gradually networking and its application in military affairs increase, and jamproof research more shows its value with application.
Research of the foreign countries on receiver is anti-interference is very deep, and a large amount of product that come out.Narrowband disturber
Face was just made that Narrow Band Interference Suppression Technique summary early in Milstein in 1988, and technology is quickly sent out in this respect later
Exhibition.And in terms of broadband interference, adaptive array techniques are currently often used, 2000, Fante was anti-interference to STAP for the first time
Technology gives the elaboration for comparing completion, U.S. army it is thought that Anti-Jamming Technique in terms of on quantum jump.Wherein, Lockheed
Martin companies, Rockwell Collins companies etc. in this field ploughing and weeding for many years, and be provided in weapon system.It is modern
Nian Lai, the country also begins to research correlation theory and technology, and has devised the anti-interference prototype based on space-time adaptive.However
Due to the use environment of navigation neceiver complexity, for example during automobile traveling, encounter receiver side when jolting or turning askew
Position changes, it is desirable that higher real-time or closer to the distance apart from interference source needs higher interference free performance, currently
Anti-interference equipment cannot still meet the requirements.
Invention content
It is an object of the invention to be directed to the deficiency of above-mentioned prior art, when proposing a kind of sky based on navigation neceiver from
Anti-interference method is adapted to, this method subtracts each other the space-time self-adaptive filtering method of multi-Stage Wiener Filter algorithm, and combine using correlation
MDL (Minimum description length, minimum description length) criterion estimation signal interference quantity of information theory, to keep away
Exempt from big operand, promoted and inhibit jamming margin, improve the use scope of navigation neceiver.
Realizing the object of the invention technical thought is：With FPGA, (Field Programmable Gate Array, scene can
Programming gate array) logic chip and DSP (Digtial singnal process, digital signal processing chip) be core processing
Platform, FPGA are primary processor, and DSP is coprocessor complete design function, and specific implementation step includes as follows：
1) radio-frequency module is first passed around after array antenna received navigation signal and becomes analog if signal, in then simulating
Frequency signal, which is sent to the sampling of ADC moduluses, enters FPGA, obtains M dimension word signal x (n)=[x1,x2,...,xM]T=As (n)+v
(n), wherein M be number of antennas, A=[a (θ1),a(θ2),...,a(θM)] be receiving array antenna direction vector, s (n) is
The navigation signal received, v (n) are the white noise of system；
2) by x (n) quadrature frequency conversion low-pass filtering, orthogonal two-way digital baseband signal I (n) and Q (n) are obtained；
3) digital baseband signal I (n) and Q (n) are respectively classified into two-way, and signal is sent to DSP ends according to the instruction of DSP all the way
Adaptive weight is calculated, signal then carries out space-time adaptive filtering all the way；
4) data processing is carried out using digital signal processing chip C6678,0 core reads data and using related phase from FPGA
Subtract multistage Wiener's algorithm and calculate weights, while 1 core then calculates interference signal quantity using MDL criterion, according to interference signal quantity
Adjust the dimensionality reduction number in multi-Stage Wiener Filter；
5) adaptive weight being calculated is received, is filtered with the M roads signal space-time adaptive by the delay of P ranks；
6) the signal up-conversion after interference is filtered out, digital-to-analogue conversion exports analogue navigation signal in radio frequency.
Preferred technical solution, the step 1) is middle to form uniform circular array reception signal using M antenna, is simulating first
End is converted to analog if signal using radio-frequency module, and analog-to-digital conversion becomes digital medium-frequency signal.
Preferred technical solution, the step 2) become base band letter into the digital medium-frequency signal quadrature frequency conversion of FPGA
Number.
Preferred technical solution, the step 3) are specially：Digital baseband data I (n) and Q (n) are respectively classified into two-way, and one
Road I, Q signal are sent to DSP, and another way I, Q signal make the delay of P ranks respectively, are then multiplied with adaptive weight, complete interference filter
Wave, exports and is：
Wherein yI、yQThe respectively output on I, Q road, wopt_I、wopt_QRespectively correspond to the adaptive weight coefficient of branch
Preferred technical solution, the correlation stated in the step 4) subtract each other multi-Stage Wiener Filter algorithm and are：
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
Wherein, d0It is the expected response initial signal for needing to approach, X (n) represents input signal matrix, i.e. X (n)=[x
(n),x(n-1),…,x(n-M)]T, S=[1,0 ..., 0]TFor constraint vector, subscript H represents conjugate transposition, di(n) it represents to need
The expected response signal to be approached, M are filter order, X0(n) the observation data vector of input is represented, D is iterations, hi
For normalized cross correlation vector,Represent input signal X (n) and desired signal di(n) cross-correlation to
Amount, * represent conjugate transposition, ei(n) evaluated error of wave filter output, w are representedi、wp、TMWFAnd WTRepresent in calculating process
Between be worth, WMWFRepresent the optimal weight vector finally calculated.
MDL criterion calculate interference signal quantity：
Wherein n=0 ..., M-1, Λ (n) they are likelihood function：
Wherein, λ is the characteristic value of M circuit-switched datas, is arranged from big to small.The amount of interference calculated is sent out interrupting information internuclear
Send 0 core to.
DSP is divided into two parts of identical storages to shared cache area after reading data, and portion is used for the weights operation of 0 core,
Portion is estimated for the amount of interference of 1 core；Amount of interference is sent to 0 core by way of sending out interruption internuclear, when not interfering with,
Multi-Stage Wiener Filter dimensionality reduction number is 7；When there are one during broadband interference, dimensionality reduction number is 5；When there are two during broadband interference, drop
It is 7 to tie up number；During three broadband interferences, dimensionality reduction number is 9.
Compared with the prior art, the present invention has the following advantages：
(1) existing space-time adaptive jamproof system, mostly using linearly constrained minimum variance (LCMV) and LMS
Wiener Filter Method, the former needs to carry out inverse of a matrix operation, and implementation complexity is high, and operand is big, and the latter is although solve fortune
Complexity issue is calculated, but the data volume for calculating best initial weights needs is larger, convergence factor disunity is unfavorable for real-time operation.
The present invention subtracts each other multi-Stage Wiener Filter algorithm using correlation, has taken into account implementation complexity and the data volume needed, improves in real time
Property.
(2) present invention can not only inhibit to interfere, and improve the application range of navigation neceiver, can also calculate interference letter
Number amount increases the function of system, and synchronous signal quantity participates in the calculating of adaptive weight as parameter again, improves anti-dry
Disturb the performance of system.
Description of the drawings
Fig. 1 is the hardware design block diagram of the present invention；
Fig. 2 is the algorithm design flow diagram of FPGA+DSP in the present invention；
Fig. 3 is the algorithm design flow diagram that DSP 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. 3, specific implementation step of the invention is as follows：
Step 1, antenna array receiver satellite navigation signals obtain 46.52MHz analog if signals by radio frequency.
The present invention forms Homogeneous Circular array using M paster antenna, and wherein M is the integer more than zero；Each antenna is penetrated
It is independent of each other independently of one another between frequency channel, the radius of circular array isWherein λ is the wavelength of satellite navigation signals；Each road
Signal becomes analog if signal after radio-frequency module frequency-conversion processing.
Low noise amplification, mixing, low-pass filtering are passed through in radio-frequency module for the signal that M antenna receives in synchronization
The data of t moment afterwards are：
X=[x1,x2,...xM]T1 ＞ of=As (t)+v (t) ＜
Wherein, xiFor the data that i-th of antenna receives, i=1 ..., M；A=[a (θ1) a(θ2) ... a(θ2)] be
Receiving array steering vector is that M ties up matrix, s (t)=[s1(t) s2(t) ... sM(t)] the navigation letter received for antenna
Number, v (t) is that mean value is zero white noise vector.
Each road analog if signal enters ADC chip moduluses and is converted to digital medium-frequency signal, obtains in 15.48MHz numbers
Frequency according to be sent into fpga chip,：
X (n)=[x1,x2,...xM]T2 ＞ of=As (n)+v (n) ＜
Wherein x (n) is the data matrix that M roads antenna receives；A=[a (θ1) a(θ2) ... a(θ2)] it is receiving array
Steering vector is that M ties up matrix, s (n)=[s1(n) s2(n) ... sM(n)] navigation signal received for antenna, v (n) are
Mean value is zero white noise vector.
Step 2, by digital medium-frequency signal down-converted, orthogonal I, Q the two paths of data baseband signal of two-way is obtained.
2a)：Using the method design NCO (digital oscillation controller) of look-up table, the cosine and sine signal of 15.48MHz is generated,
The data of this signal and step 1 are mixed：
xI(n)=cos ω0n·x(n)
xQ(n)=sin ω0n·x(n) 〈3〉
Wherein ω0For generated signal angular frequency, x (n) is the digital medium-frequency signal that ADC is obtained；
The high fdrequency component after mixing 2b) is filtered to I, Q two paths of data low-pass filtering using FIR filter.FIR bandwidth
The half-band width of navigation signal, 10.23MHz are set as, FIR filter exponent number is 64 ranks：
Wherein, h (n) is the impulse response function of low-pass filter,Represent the two convolution.
Step 3, digital baseband signal I (n), Q (n) are respectively classified into two-way, all the way I (n), Q (n) according to DSP read write commands,
Transfer data to DSP.
M FIFO pushup storage is established, after the storage signal sent out by DSP when FPGA ends, while by M roads
I, N number of data of Q two-way are stored in the FIFO of foundation, are sent out to DSP ends and are filled with signal, and DSP starts to read storage from FIFO
Data.
Step 4, DSP reads M railway digital base band datas from FPGA ends, calculates adaptive weight.
4a) dsp chip C6678 completions power on loading, send data cached instruction to FPGA ends after initialization, read later
The state of FIFO after FIFO is full, M circuit-switched datas is read from FIFO, is divided into same two parts and stores to shared cache area MSMC
In.
4b) data that 0 verification receives carry out the data delay rearrangement of space-time adaptive, calculate the formula of adaptive weight
For：
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
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.
1 core calculates the quantity of interference signal according to the data of buffer area, and MDL criterion are：
Wherein n=0 ..., M-1, Λ (n) they are likelihood function：
Wherein, λ is the characteristic value of M circuit-switched datas, is arranged from big to small.The amount of interference calculated is sent out interrupting information internuclear
Send 0 core to.
4c) DSP transfers back to the adaptive weight for calculating gained in FPGA.
DSP first normalizes adaptive weight, and fixed point transmitted by EMIF buses, according to before transmission and FPGA
It appoints data and address command, completes communication.
Step 5, FPGA is according to the adaptive optimal weights calculated, space-time adaptive filtering.
L2 cache structure 5a) is established, FPGA stores the adaptive weight coefficient received into level-one register, when
After FPGA receives the weight coefficient on the P Q road on M roads, in the synchronous two-stage register for transmitting M*P*2 coefficient, after being used for
Continuous adaptive-filtering.
The adaptive weight received 5b) is combined, space-time adaptive filtering filters out interference.
M roads signal obtains the input data of space-time adaptive per P roads signal is obtained after P grades of delays all the way：
The output of wave filter is：
Wherein yI、yQThe respectively output on I, Q road, wopt_I、wopt_QRespectively correspond to the adaptive weight coefficient of branch.
Step 6, unjammable navigation signal exports.
It is 46.52MHz that the signal for filtering interference is sent into 9957 quadrature up-conversion of DAC chip to intermediate frequency, and digital-to-analogue conversion is
Radio-frequency module up-conversion to satellite navigation signals frequency range is sent into after analog signal to export.
Claims (5)
1. a kind of space-time adaptive anti-interference method based on navigation neceiver, it is characterised in that：It includes the following steps：
1) radio-frequency module is first passed around after array antenna received navigation signal and becomes analog if signal, then believe analog intermediate frequency
It number send to the sampling of ADC moduluses and enters FPGA, obtain M dimension word signal x (n)=[x1,x2,...,xM]T=As (n)+v (n),
Middle M be number of antennas, A=[a (θ1),a(θ2),...,a(θM)] be receiving array antenna direction vector, s (n) is receives
Navigation signal, v (n) be system white noise；
2) by x (n) quadrature frequency conversion low-pass filtering, orthogonal two-way digital baseband signal I (n) and Q (n) are obtained；
3) digital baseband signal I (n) is divided into two-way, and digital baseband signal Q (n) is divided into two-way, and signal is according to the instruction of DSP all the way
It is sent to DSP ends and calculates adaptive weight, signal then carries out space-time adaptive filtering all the way；
4) data processing is carried out using digital signal processing chip C6678,0 core is read data from FPGA and subtracted each other using correlation more
Grade Wiener's algorithm calculates weights, while 1 core then calculates interference signal quantity using MDL criterion, is adjusted according to interference signal quantity
Dimensionality reduction number in multi-Stage Wiener Filter；
5) adaptive weight being calculated is received, is filtered with the M roads signal space-time adaptive by the delay of P ranks；
6) the signal up-conversion after interference is filtered out, digital-to-analogue conversion exports analogue navigation signal in radio frequency.
2. a kind of space-time adaptive anti-interference method based on navigation neceiver according to claim 1, it is characterised in that：
Uniform circular array is formed using M aerial array in the step 1) and receive signal, use radio-frequency module frequency conversion in analog end first
To analog if signal, then become digital medium-frequency signal by modulus conversion chip.
3. a kind of space-time adaptive anti-interference method based on navigation neceiver according to claim 1, it is characterised in that：
Enter the digital medium-frequency signal digital quadrature down conversion of FPGA in the step 2), become orthogonal two-way baseband signal.
4. a kind of space-time adaptive anti-interference method based on navigation neceiver according to claim 1, it is characterised in that：
The step 3) is specially：Digital baseband data I (n) and Q (n) are divided into two-way, and I, Q signal are sent to DSP, another way I, Q all the way
Signal makees the delay of P ranks respectively, is then multiplied with adaptive weight, and completion interference filter exports and is：
Wherein yI、yQThe respectively output on I, Q road, wopt_I、wopt_QRespectively correspond to the adaptive weight of branch.
5. a kind of space-time adaptive anti-interference method based on navigation neceiver according to claim 1, it is characterised in that：
The correlation stated in the step 4) subtracts each other multi-Stage Wiener Filter algorithm：
Forward direction iteration initialization：
d0(n)=SHX(n) X0(n)=X (n)-Sd0(n)
Forward direction iteration
di(n)=hi(n)Xi-1(n)
Xi(n)=Xi-1(n)-hi(n)di(n)
Wherein, i=1,2,3 ..., D；
Backward iteration initialization
eD(n)=dD(n)
Backward iteration
ej-1(n)=dj-1(n)-wjej(n)
Wherein, i=D, D-1 ..., 3,2,1；
Weight vector initializes
wp=1
Weight vector iterates to calculate
wi=wp
Enable TMWF=[S, h1,…,hD],WT=[1, W1,…,WD]T, then WMWF=TMWFWT
Wherein, d0It is the expected response initial signal for needing to approach, X (n) represents input signal matrix, i.e. X (n)=[x (n), x
(n-1),…,x(n-M)]T, S=[1,0 ..., 0]TFor constraint vector, subscript H represents conjugate transposition, di(n) it represents to need to approach
Expected response signal, M is filter order, X0(n) the observation data vector of input is represented, D is iterations, hiFor normalizing
The cross correlation vector of change,Represent input signal X (n) and desired signal di(n) cross correlation vector, * tables
Show conjugate transposition, ei(n) evaluated error of wave filter output, w are representedi、wp、TMWFAnd WTRepresent the median of calculating process,
WMWFRepresent the optimal weight vector finally calculated；
MDL criterion calculate interference signal quantity：
Wherein n=0 ..., M-1, Λ (n) they are likelihood function：
Wherein, λiFor the characteristic value of M circuit-switched datas, arrange from big to small；By the amount of interference calculated transmission of sending out interrupting information internuclear
To 0 core；
DSP is divided into two parts of identical storages to shared cache area after reading data, and portion is used for the weights operation of 0 core, a
Estimate for the amount of interference of 1 core；Amount of interference is sent to 0 core by way of sending out interruption internuclear, multistage when not interfering with
Wiener filtering dimensionality reduction number is 7；When there are one during broadband interference, dimensionality reduction number is 5；When there are two during broadband interference, dimensionality reduction is secondary
Number is 7；During three broadband interferences, dimensionality reduction number is 9.
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| CN110412620B (en) * | 2019-06-29 | 2022-10-28 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Anti-interference antenna signal processing device |
| CN110806593A (en) * | 2019-11-19 | 2020-02-18 | 河北科技大学 | Navigation signal anti-interference method and device and terminal equipment |
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| CN113093623A (en) * | 2021-04-08 | 2021-07-09 | 浙江大辰北斗科技有限公司 | Navigation anti-interference method |
| CN113472371B (en) * | 2021-05-31 | 2022-09-02 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Adaptive array antenna digital beam synthesis anti-interference processing method |
| CN113534198B (en) * | 2021-06-16 | 2023-05-23 | 北京遥感设备研究所 | Satellite navigation dynamic anti-interference method and system based on covariance matrix reconstruction |
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