CN107315183B - Calibration method of navigation satellite array antenna receiving system - Google Patents
Calibration method of navigation satellite array antenna receiving system Download PDFInfo
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Abstract
The invention provides a calibration method of a navigation satellite array antenna receiving system, and aims to provide a calibration method for suppressing interference and improving the estimation accuracy of an antenna array steering vector. The invention is realized by the following technical scheme: during channel calibration, sending multi-channel data output by the multi-channel analog-to-digital converter into a channel calibration processing module for channel calibration signal processing, measuring inconsistency among channels, sequentially selecting at least two channels, keeping the other channels running normally, updating channel consistency response changing along with time, calculating to obtain channel response for the array processing algorithm module to finish channel calibration; during antenna calibration, a satellite signal is used as a measurement signal, a plurality of paths of antenna calibration signals are synthesized by the array signal weighting processing module DBF and are sent to the navigation satellite digital receiver, the signals are output to the antenna calibration processing module, antenna response of the array in the satellite signal incidence direction under the real working environment is calculated, and antenna calibration is completed.
Description
Technical Field
The invention relates to a calibration method of an array antenna receiving system widely applied to the fields of radar, sonar, wireless communication and the like. In particular to a calibration method for improving the signal-to-interference-and-noise ratio and stabilizing the processing capability of a phase center array, which relates to the field of navigation satellite signal processing and is applied to a system for receiving and processing navigation satellite signals by adopting an array antenna.
Background
The satellite navigation system is a system based on radio ranging, an antenna is a key part for realizing radio signal receiving and sending, and indexes such as directivity, polarization characteristics, working bandwidth characteristics, phase stability and the like of the antenna directly determine the service quality of the satellite navigation system. The problem that the satellite navigation system is weak in signal and easy to interfere is also more and more prominent. According to the function division of each part, the satellite navigation system can be roughly divided into a space section, a control section and an application section, wherein the space section and the control section mostly adopt the traditional surface antenna structure, and the application section adopts a flat antenna or a spiral antenna. The satellite receiving antenna currently used generally receives a satellite signal through an antenna. The traditional planar antenna directional pattern is not easy to control, and the working bandwidth is narrow; the gain coefficients of the panel antenna and the spiral antenna are low, the directional diagram cannot be adjusted in a self-adaptive mode, and the requirements of an anti-interference user machine cannot be met. The directional diagram of a single antenna is not easy to control, the gain is not high, and the polarization characteristic and the bandwidth characteristic cannot meet the development requirement of a satellite navigation system; the array antenna considers that a plurality of single antennas are arranged according to a certain rule to form an antenna system, and the specific directional diagram, polarization characteristic and bandwidth characteristic requirements are realized by adjusting the feeding mode and the arrangement rule of each antenna unit, so that the array antenna has very important application prospect and significance. Compared with the existing system, the future satellite navigation system puts higher requirements on the antenna.
The array antenna includes a phased array antenna, a multi-beam antenna, an adaptive antenna, and the like. In the phased array antenna, the feeding phase of each radiating element is controllable, and the shape of a directional diagram of the antenna is changed by adjusting the feeding phase of each radiating element, so that the control of the receiving signal direction and the transmitting signal direction of the antenna is realized. The antenna receiving signal is directly converted into a digital signal after being amplified and filtered; the disadvantage is that the frequency of the rf low-pass sampling is at least twice the rf working bandwidth, which puts very high requirements on the performance (conversion rate, working bandwidth, dynamic range, etc.) of the AD converter, and also requires a very high signal processor at the back end, which cannot be implemented well at present. The traditional antenna relies on a mechanical method to rotate the antenna for tracking the received signal; in order to ensure antenna gain and beam characteristics, a large number of satellite-satellite communication antennas at the control section of the navigation system have large aperture, large rotation inertia of the antennas and high mechanical failure of the control part; phased array antennas can solve the problems faced by mechanically rotating antennas. In a multi-beam antenna, a beam forming network is used to excite the required signal amplitude and phase to array elements, to generate a plurality of sharp beams, and then to generate a shaped beam with a specific shape to cover a specific area through the superposition of the beams, and the efficiency of the multi-beam antenna depends on the array signal processing. Array signal processing is an important branch of the signal processing field, and is to arrange a plurality of sensors at different positions in space to form a sensor array, and to receive (multipoint parallel sampling) and process a space signal field by using the sensor array, and to extract signals received by the array. The signal and its characteristic information (parameters) while suppressing interference and noise or uninteresting information. It is different from general signal processing mode because its array is a sensor group which is arranged on different positions in space according to a certain mode, and mainly utilizes signal space domain characteristics to enhance signal and effectively extract signal space domain information, so that the array signal processing is also called space domain signal processing. The two main research directions of array signal processing are adaptive spatial filtering (adaptive array processing), spatial spectrum estimation (estimating spatial parameters or source positions of signals), which takes signals carried by spatial propagation waves (spatial filtering) as research objects. The digital beam forming technology compensates the amplitude and phase difference of signals among different receiving channels in a digital mode, and realizes spatial filtering after digital multipath synthesis, however, the actual anti-interference performance of a classical anti-interference algorithm is reduced due to position errors among antenna units, inconsistent signal transmission channel response and unsatisfactory antenna directional patterns.
In a satellite navigation system, after the receiver measures the pseudo code phase of a satellite guide signal, the single-point positioning calculates the coordinate position of an antenna in a geocentric coordinate system according to the linear propagation and geometric intersection principle of the satellite guide signal. Due to the influence of transmission media such as an ionosphere and a troposphere on the transmission of the satellite pilot signal, measurement errors of the pseudo code phase of the satellite pilot signal are brought, so that the accuracy of single-point positioning can reach 10m, and the accuracy requirements of applications such as direction finding/attitude determination, aircraft landing/landing guidance and the like cannot be met. Compared with the measurement of the pseudo code phase, the measurement precision of the carrier phase can be improved by 1 to 2 orders of magnitude, and the precision of relative positioning is improved to a centimeter or even millimeter level by utilizing the high-precision measurement of the carrier phase and the differential satellite navigation technology for eliminating common-mode errors, so that the method becomes a key technology for direction finding/attitude measuring, aircraft landing/landing guidance and the like.
When the traditional array processing algorithm is applied to a satellite navigation system, the code phase and the carrier phase of a satellite navigation signal are inevitably influenced, and the phase information of the navigation satellite signal is closely related to the position relationship, so that the positioning and timing function of a receiving system can be directly influenced. Because the non-omnidirectional characteristic of the antenna and the inconsistency of the channels can cause damage to the phase information of the navigation satellite signals, the inaccurate antenna array guiding vector can cause that the phase deviation of the array processing on the specific satellite signals cannot be controlled and the optimal signal-to-noise ratio can be obtained. Therefore, performing the corresponding phase calibration on the antenna is the key to ensure the system performance. On the other hand, the navigation satellite signal belongs to a narrow-band signal, and in high-precision differential relative positioning measured by means of the carrier phase of the navigation satellite signal, the most important is to ensure that the carrier phase responses in different directions are consistent after the array antenna data is subjected to digital beam forming, namely, a stable phase center is provided. Therefore, the conventional calibration of the broadband linear frequency modulation signal of the receiving channel of the digital array antenna can be converted into a single-frequency signal for carrying out, and meanwhile, in order to keep the relative phase relationship of the navigation satellite signal reaching the antenna and enable the landing/battle guidance application with high-precision relative positioning requirements to benefit, the accurate antenna array guide vector of the navigation array antenna receiving system needs to be measured.
Disclosure of Invention
The invention aims at the defects of the prior art and provides a calibration method of a navigation satellite array antenna receiving system, which can save hardware resources, enhance useful signals, inhibit interference, improve the signal-to-noise ratio of signals and the estimation accuracy of antenna array steering vectors and has higher measurement accuracy of the array steering vectors.
The above object of the present invention can be achieved by the following means. A calibration method for a receiving system of a navigation satellite array antenna is characterized by comprising the following steps: the calibration of a navigation array antenna receiving system is divided into a channel calibration part and an antenna calibration part which are switched by a control command; in the channel calibration stage, the radio frequency switch is adjusted to be channel calibration signal input, multi-channel data output by the multi-channel analog-to-digital converter is sent to a channel calibration processing module to be subjected to channel calibration signal processing, inconsistency among the channels is measured, at least two of the channels are sequentially selected, the rest of the channels keep normal operation, channel consistency response changing along with time is updated, channel response used by the array processing algorithm module is obtained through calculation, and calibration of the channels is completed; when the antenna is calibrated, a satellite signal is used as a measuring signal, the radio frequency switch is connected with the input of the antenna, multi-channel data output by the multi-channel analog-to-digital converter AD is sent to the array signal weighting processing module DBF, the antenna calibration processing module provides a plurality of weight vectors of calibration beams required by the array signal weighting processing module DBF aiming at a specific satellite, the multi-channel antenna calibration signal synthesized by the array signal weighting processing module DBF is sent to the navigation satellite digital receiver, the amplitude and the phase of the navigation satellite signal are measured by a tracking loop in the navigation satellite digital receiver and output to the antenna calibration processing module, the antenna response of the array in the satellite signal incidence direction under the real working environment is calculated by combining the amplitude, the phase and the preset calibration beam weight vector processed by the antenna calibration, namely the antenna measures the array steering vectors of the incidence signals in different directions, and realizing the calibration of the antenna array.
Compared with the prior art, the invention has the following beneficial effects:
1. hardware resources can be saved, useful signals can be enhanced, interference can be inhibited, and signal-to-noise ratio can be improved. In the channel calibration stage, the radio frequency switch is adjusted to be channel calibration signal input, digital multichannel data output by the analog-to-digital converter enters the channel calibration processing module, channel response is obtained through calculation, the array processing algorithm module uses an array signal processing algorithm to accurately measure the inconsistent response of the channels in the antenna array receiving processing system and the guide vector measurement of the antenna to incident signals in different directions, the relative phase relation of navigation satellite signals processed by the array signals is accurately controlled, the maximum signal-to-interference-plus-noise ratio is obtained, the coexistence of anti-interference and precise relative positioning capability is realized, useful signals can be enhanced, and interference can be inhibited. When the channel calibration signal is used, the channel response calculation can be realized by adopting a multiplying-accumulating correlator structure without introducing a filter, the measurement of the response difference between the channels can also be realized by utilizing the correlation technology, the calibration signal is coupled to the input of a radio frequency channel, the data of two channels are multiplied and accumulated to obtain the amplitude and phase response difference between the two channels, the introduction of the filter is avoided, the digital down-conversion module can be multiplexed to realize, and the hardware resource is saved.
2. Flexible channel calibration mechanism. When the channel calibration is carried out, all channels can be selected to be carried out simultaneously, such as starting time; at least two channels are allowed to be selected for operation, and the other channels can keep normal operation, so that the digital beam forming processing of the navigation array antenna receiving system has continuous anti-interference capability and can carry out periodic calibration at the same time, the channel consistency response changing along with time is updated, and the system performance is improved.
3. And (4) antenna array steering vector estimation accuracy. The invention measures the amplitude and the phase of the navigation satellite signal by means of a tracking loop in the navigation satellite digital receiver, and measures the accurate antenna array relative steering vector under the real working environment. During antenna calibration, the antenna calibration processing module can provide weight vectors of a plurality of calibration beams required by the array signal weighting processing module DBF for a specific satellite, and the calculation method of satellite signal amplitude and phase output by the receiver and antenna calibration processing preset weight is combined, so that not only can high signal-to-noise ratio be ensured, but also accurate calculation of an antenna guide vector can be ensured. The specific measurement principle can be realized by setting independent beams as the number of antennas or channels and combining amplitude and phase measurement provided by a navigation satellite digital receiver to construct a linear equation set and estimate the relative steering vector of the antenna in the satellite direction.
4. The array steering vector measurement accuracy is higher. The invention takes the satellite signal as the measuring signal, and compared with the measuring signal in a darkroom, the invention better accords with the assumption of far-field plane wave and has higher array steering vector measuring precision.
5. The method has the characteristics of independent beam equation and improvement of the signal-to-noise ratio of the signals in the calibration stage and the estimation accuracy of the antenna array steering vector. In order to measure the guide vector of the satellite signal in the incident direction, the antenna calibration processing module aims at the same satellite, ensures that a plurality of groups of calibration beam weight vectors are linearly independent in design, has certain array processing gain for the satellite signal in the direction, can improve the signal-to-noise ratio of the satellite signal in calibrated beam data, further improves the measurement precision of the amplitude and the phase of the satellite signal by a tracking loop in a rear-end navigation satellite digital receiver, and improves the calculation accuracy of the antenna array guide vector.
6. The method is particularly suitable for the calibration of the navigation satellite signal antenna array receiving system which needs precision relative application of carrier phase measurement and strong anti-interference capability.
Drawings
The invention is further illustrated in the following description with reference to the figures and examples, but the invention is not limited thereby within the scope of the examples described.
FIG. 1 is a schematic diagram of a navigational satellite array antenna receiving system of the present invention.
Fig. 2 is a schematic diagram of a signal preprocessing digital down-conversion DDC circuit of fig. 1.
Fig. 3 is a flow chart of a channel response calculation process of the channel calibration processing module of fig. 1.
FIG. 4 is a schematic diagram of the operation of the calibration channel of the digital receiver antenna of the navigation satellite of FIG. 1.
Detailed Description
See fig. 1. The whole navigation array antenna receiving system can be divided into two parts of channel calibration and antenna calibration, wherein the two modes are switched by a control command. The array antenna forms an antenna calibration channel through a radio frequency switch and a multi-path analog-to-digital converter AD, the antenna calibration channel is connected with a navigation satellite digital receiver through an array signal weighting processing module DBF, and is connected with an array signal processing algorithm module connected with the array signal weighting processing module DBF through a channel calibration processing module, the array signal processing algorithm module is connected with the array signal weighting processing module DBF and is connected between the channel calibration processing module and the antenna calibration processing module, and the antenna calibration processing module transmits a control command to a channel calibration part through a bus, provides an antenna calibration beam weight for the array signal weighting processing module DBF and communicates with the navigation satellite digital receiver. According to the invention, in the channel calibration stage, a radio frequency switch is adjusted to be a channel calibration signal input, multi-channel data output by a multi-channel analog-to-digital converter is sent to a channel calibration processing module for channel calibration signal processing, inconsistency among channels is measured, at least two channels are selected in sequence, the rest channels keep normal operation, channel consistency response changing along with time is updated, channel response used by an array processing algorithm module is obtained through calculation, and the calibration of the channels is completed; when the antenna is calibrated, a satellite signal is used as a measuring signal, the radio frequency switch is connected with the input of the array antenna, multi-channel data output by the multi-channel analog-to-digital converter AD is sent to the array signal weighting processing module DBF, the antenna calibration processing module provides a plurality of weight vectors of calibration beams required by the array signal weighting processing module DBF aiming at a specific satellite, the multi-channel antenna calibration signal synthesized by the array signal weighting processing module DBF is sent to the navigation satellite digital receiver, the amplitude and the phase of the navigation satellite signal are measured through a tracking loop in the navigation satellite digital receiver and are output to the antenna calibration processing module, the antenna response of the array in the satellite signal incidence direction under the real working environment is calculated by combining the amplitude, the phase and the preset calibration beam weight vector processed by the antenna calibration, namely the antenna measures the guide vectors of the incidence signals in different directions, and realizing the calibration of the antenna array.
The channel calibration processing module and the antenna calibration processing module respectively control the state control of channel response and the state of an antenna steering vector. The channel calibration processing module outputs the measurement data of the channel response, and the antenna calibration processing module outputs the antenna guide vectors in different signal incidence directions. When channel calibration is carried out, a channel calibration processing module generates a channel calibration single-tone signal, one channel of channel calibration signal is in the same amplitude and phase through a radio frequency power divider and is coupled to the input end of each radio frequency channel, a radio frequency switch is connected with the calibration signal, the radio frequency switch sends output multi-channel data into the channel calibration module through an analog-to-digital converter (AD) to carry out digital correlation operation, one channel data is selected as a reference signal and is subjected to correlation operation with the rest channel signals, and a channel response vector of amplitude and phase response difference between any two channels is obtained.
Before the channel calibration processing is used formally at startup, the channel calibration processing module can perform multi-channel parallel processing to obtain the whole channel response vector at one time, which is called startup calibration. In the operation of the equipment of the navigation array antenna receiving system, the channel calibration processing module can sequentially select at least two channels to perform, and can coordinate the on and off of the radio frequency switch of each channel through a control command, and the channels which are not subjected to the channel calibration continue to perform the array signal weighting processing, so as to keep the continuous operation of the digital beam forming processing system of the navigation array antenna receiving system, which is called periodic calibration. The antenna calibration is carried out after the channel calibration parameters are obtained, a guide vector of the antenna array to a specific satellite signal incidence direction is measured, at the moment, a plurality of known linear independent calibration beam weights are generated by an antenna calibration processing module to be aligned to the satellite, digital signals formed by array signal weighting processing parts of beams are sent to a navigation satellite digital receiver, a navigation satellite signal tracking loop arranged by the navigation satellite digital receiver carries out simultaneous measurement on the amplitude and the phase of the satellite signals of a plurality of beams, and finally the antenna calibration processing module combines the calibration beam weights and satellite signal amplitude and phase measurement data output by the navigation satellite digital receiver to estimate the guide vector of the antenna array in the satellite signal incidence direction through a least square method.
The navigation satellite signals pass through a radio frequency front end which comprises a plurality of paths of radio frequency switches, a mixer, a filter, an analog-to-digital converter (AD) and a sampling circuit which are sequentially connected in series from an array antenna and respectively enter an array signal weighting processing module (DBF) and a channel calibration processing module, the flow direction of the navigation satellite signals is output to enter a navigation satellite digital receiver to capture and track the satellite signals, the satellite signals are decoded, and ephemeris/almanac and pseudorange/carrier phase measurement is output for single-point or differential positioning navigation.
In order to ensure the smooth operation of the process, channel response and an array antenna guide vector are required as prerequisites, so the invention provides a calibration method of a navigation satellite array antenna receiving system, which is realized by a channel calibration processing module and an antenna calibration processing module respectively. The input signal of the channel calibration processing module is subjected to AD sampling of multi-channel data through a filter and an analog-to-digital converter, a channel calibration single-tone signal is output, a control instruction for a radio frequency front end is output, the selection of a radio frequency switch in the radio frequency front end is controlled, and meanwhile, the response of a channel is output. The current attitude of an input antenna of the antenna calibration processing module, the tracking loop of the navigation satellite digital receiver outputs related amplitude, carrier phase, a control instruction for controlling a radio frequency switch in a radio frequency front end and an antenna calibration beam weight, and prompts a current channel satellite of the navigation satellite digital receiver and the most important antenna array guide vector. The channel calibration process is performed before the antenna calibration process, and the channel calibration process and the antenna calibration process are preconditions for normal operation.
The principle and implementation of the channel calibration and the antenna calibration will be described in detail below with reference to fig. 2 to 4, respectively.
See fig. 2. In a preceding-stage signal preprocessing digital down-conversion DDC circuit common to the channel calibration processing module and the array signal weighting processing module DBF, for a plurality of digital channels of the navigation satellite array antenna receiving system, in order to maintain phase coherence of complex baseband signals after down-conversion between the channels, the present embodiment performs digital down-conversion processing using the same digital local oscillator module and the same low-pass filter. The digital down-conversion processing adopts a signal preprocessing module in the navigation satellite array antenna receiving system shown in fig. 1, and the signal preprocessing module mainly comprises an analog-to-digital converter (AD) for simulating intermediate frequency signals and a digital down-conversion direct-conversion (DDC). The signal preprocessing adopts a complex baseband signal output by orthogonal demodulation digital down-conversion processing as the input of a channel calibration processing module and an array signal weighting processing module DBF, digital local oscillators with the phase difference of 90 degrees in two paths of signals in a digital down-conversion DDC are respectively connected with a low-pass filter in series, and the digital local oscillators are respectively multiplied by a digital intermediate frequency signal input by an analog-to-digital converter AD and then filtered through the low-pass filter to form the orthogonal demodulation digital down-conversion module. The orthogonal demodulation digital down-conversion module realizes digital down-conversion DDC conversion from the intermediate frequency sampling signal to a zero intermediate frequency complex baseband signal through frequency spectrum shifting. The digital down-conversion DDC is a process of generating sine or cosine signals with the same frequency as a radio frequency or intermediate frequency signal carrier through a numerically controlled oscillator NCO, multiplying the sine or cosine signals by the radio frequency or intermediate frequency signals, and finally obtaining baseband signals through filtering and resampling by a low-pass filter. The orthogonal demodulation digital local oscillator module generates a sine signal and a cosine signal which are equal to the intermediate frequency, the sine signal and the cosine signal are respectively sampled and multiplied by analog-to-digital (AD) of an analog intermediate frequency signal after signal conditioning from the radio frequency front end of the navigation satellite array antenna receiving system, and multiplication results respectively enter a low-pass filter for filtering to obtain a real part and an imaginary part of a complex baseband signal of zero intermediate frequency.
See fig. 3. In the channel calibration processing flow, the channel calibration processing module performs digital down-conversion processing on a multi-channel complex baseband signal Y obtained by the orthogonal demodulation digital down-conversion moduleiI-1, …, N, first passes Y in the channel response measurement1、Y2、Yn、YrThe path enters a decimation filter D to control the calculation complexity of the correlation processing of the rear end, and the complex baseband signal after being decimated by the decimation filter D and the selected path data Y taking the path as the referencerMultiplying by a multiplier correspondingly connected with the input accumulator for accumulation, and outputting a channel response vector h through the accumulator and the integrator S:
wherein, YrIn order to refer to the array metadata,*denotes the complex conjugate, tsCalibrating the starting time, t, for the channeleCalibrating the stop time for the channel, hiFor a correlation coefficient between the ith channel and the reference channel, normalizing each element in the channel response vector h according to any one element to obtain a normalized channel response vector h' for the array signal processing algorithm module to use:
h′＝[1 h2/h1… hN/h1]T. (2)
the digital correlator structure between the channel and the complex baseband data of the channel is adopted by the channel calibration processing module during channel calibration, the sampling of the complex baseband data of the channel can be selected before the correlation of the channel data, the integral length can be configured, the hardware resource can be saved, and the compromise between the measurement accuracy and the measurement time can be realized.
See fig. 4. Figure 4 shows a typical tracking loop in a navigation satellite digital receiver involving code loop tracking and carrier loop tracking where the pseudo code is multiplied by the input signal to a pseudo code stripped code tracking portion. The numerically controlled oscillator NCO is a numerically controlled oscillator in the word, and the digital frequency generated by the NCO during GNSS signal demodulation is equal to the carrier frequency of the satellite signal, so it is also called an NCO carrier generator. The multiplication of a digital local oscillation signal generated by an NCO carrier generator and an input signal is a carrier tracking part of carrier stripping, and the correct tracking of a code ring and a carrier ring provides a correct pseudo code phase and a correct carrier phase. The array signal weighting processing module DBF, the navigation satellite digital receiver and the antenna calibration processing module finish antenna calibration together to form an antenna calibration processing subsystem. The antenna calibration processing subsystem comprises: the array signal weighting processing module DBF is electrically connected with the array signal weighting processing module DBF of the navigation satellite digital receiver and the antenna calibration processing algorithm module. The navigation satellite digital receiver is connected in parallel between the array signal weighting processing module DBF and the antenna calibration processing algorithm module, the array signal weighting processing module DBF inputs the received array complex baseband signal into an antenna calibration channel of the navigation satellite digital receiver, the amplitude and the carrier phase of the relevant signal are output through a tracking loop, and the antenna calibration processing module calculates an antenna calibration beam weight and feeds the antenna calibration beam weight back to the array signal weighting processing module DBF. A typical tracking loop of a navigation satellite digital receiver comprises an NCO carrier generator, an NCO carrier loop filter, a carrier loop discriminator and a signal amplitude/phase measurement output module which are connected in parallel between two low-pass filter closed loop circuits in series in sequence. The weight vector used by the array weighting processing is a specific antenna calibration beam weight value generated by the antenna calibration processing module, meanwhile, the antenna calibration processing module receives the satellite signal amplitude and phase output by the navigation satellite digital receiver and the attitude information of the current antenna, and calculates the antenna response of the current satellite incident direction, namely the array steering vector, by operating an antenna calibration algorithm. After the antenna calibration mode is started, the antenna calibration processing module receives the array complex baseband signal from the signal preprocessing module aiming at the selected satellite, a group of independent calibration beams is output by combining the selected satellite incidence direction under the antenna coordinate system, the calibration beam weight is arranged in the digital beam forming DBF module, the multi-path calibration data after beam synthesis is sent to the navigation satellite digital receiver, the selected satellite signal is measured through tracking of a plurality of tracking loops, the satellite signal after pseudo code and carrier stripping is output by the navigation satellite digital receiver, the amplitude and the carrier phase of the relevant signal output by the tracking loops are sent to an antenna calibration processing algorithm module, and the antenna calibration processing algorithm module calculates the antenna response, namely the array guide vector, of the selected satellite direction according to the comprehensively preset calibration beam weight and the measured value of the navigation satellite digital receiver. In the antenna calibration processing subsystem, the array complex baseband signals enter an array signal weighting processing module DBF, the synthesized digital signals are sent to a navigation satellite digital receiver, and the amplitude and phase measurement values of the satellite signals are output through an NCO carrier generator, an NCO carrier loop filter and a carrier loop discriminator which are connected in series in sequence and through a signal amplitude/phase measurement output module.
Design criteria for the calibration beam are as follows: the antenna calibration processing algorithm module obtains the current time according to the response of the darkroom or the geometric antenna and the externally input antenna attitudeThe front satellite signal incidence direction (theta, phi) and the corresponding satellite PRN number; in order to calculate the array steering vector of the satellite signal incidence direction, M independent calibration wave beams are set, M is required to be more than or equal to N, wherein N is the number of antenna array elements, a linear equation set is constructed by combining amplitude and phase measurement provided by a navigation satellite digital receiver, and a calibration wave beam bmThe design criteria for the weight vector are as follows:
in the formula, bmFor the mth calibration beam weight, s.t. represents the condition that the calibration beam needs to satisfy, pmIs an array element position vector, r is a unit vector of the incident direction of the navigation satellite signal under an antenna coordinate system, ageo(θ, φ) represents the steering vector determined by the path difference generated by the array geometry, H represents the conjugate transpose of the complex vector, | - | represents the magnitude of the modulus of the complex vector or the complex scalar, C ∈ [1, N]The gain, which represents the direction of the satellite signal,
indicating non-parallelism, i.e. a linear independence between the vectors. When the antenna calibration processing module has array steering vector measurements for the antenna array darkroom, the geometric array steering vectors in the above equation can be replaced with darkroom measurements. The above criteria ensure that the M calibration beams are linearly independent with sufficient gain in the signal direction, and therefore the accuracy of the measurement of the antenna steering vector can be improved.
A calibration beam meeting the above design criteria is:
wherein, Δ is a scalar quantity representing the magnitude of amplitude angle variation, v is a random vector with an element of 0 or 1, j is an imaginary unit, a (θ, φ) is a geometric array steering vector or an antenna array steering vector obtained by darkroom measurement, and b is a required calibration beam weight vector. For example, Δ ═ pi/6, and v is a random vector with elements of 0 or 1.
After the antenna calibration processing algorithm module calibrates the beam weight and fixes, set up the satellite of the digital receiver baseband tracking number PRN of the navigation satellite, and collect amplitude and phase complex vector that the baseband signal processing measures, calculate the relative array guide vector according to calibrating the beam weight and amplitude phase measurement vector of the baseband:
in the formula (I), the compound is shown in the specification,Hwhich represents the transpose of the conjugate,+representing the pseudo-inverse, matrix B being all the calibration beam vectors Bmα is an unknown complex scalar a as a matrix of column vectorsref(theta, phi) is the value of the element corresponding to the reference array element in the guide vector, and the relative guide vector arelAnd (theta, phi) means that the position element of the reference array element in the array guide vector takes a value of 1.
The antenna calibration processing module calculates an absolute antenna array steering vector according to an amplitude and phase response directional diagram and a relative steering vector which are obtained by measuring a reference array element in a darkroom:
aabs(θ,φ)＝arel(θ,φ)×aref,meas(θ,φ), (6)
wherein, aref,meas(θ, φ) is the amplitude and phase response pattern of the reference array element measured in the darkroom.
And finally, explaining a calibration strategy of the navigation satellite array antenna receiving system. The channel calibration is independent of the antenna calibration and can be performed independently: generally, the method needs to be carried out during startup, which is called startup channel calibration; it can also be done during operation, called run-time calibration. The correlation among all channels can be measured simultaneously during startup calibration, and at least two channels can be selected in sequence for periodic calibration because the continuity of digital beam forming processing operation of the navigation array antenna receiving system needs to be maintained, and the rest channels can be kept working. Antenna calibration relies on channel calibration, and in fact, the description of antenna calibration above is made assuming that the channel response has been correctly compensated. During antenna calibration, each group of baseband measurement vectors can calculate a relative guide vector, in practice, the length of a pseudo code of a GPS system is 1ms, which means that 1ms can output a vector, and the relative guide vector obtained by antenna calibration actually is an average value of a series of measurements.
Claims (10)
1. A calibration method for a receiving system of a navigation satellite array antenna is characterized by comprising the following steps: the calibration of a navigation array antenna receiving system is divided into a channel calibration part and an antenna calibration part which are switched by a control command; in the channel calibration stage, multi-channel data output by the multi-channel analog-to-digital converter is sent to a channel calibration processing module for channel calibration signal processing, the channel calibration processing module performs multi-channel parallel processing to obtain channel response vectors, the radio frequency switch is adjusted to be channel calibration signal input, the inconsistency among the channels is measured, at least two channels are selected, the other channels keep normal operation, the channel consistency response which changes along with time is updated, the channel response used by the array processing algorithm module is obtained through calculation, and the calibration of the channels is completed; the antenna calibration is carried out after the channel calibration parameters are obtained, the guide vector of the antenna array to the specific satellite signal incidence direction is measured, the antenna calibration processing module generates a plurality of known linear independent calibration beam weight values to be aligned with the satellite, the digital signals formed by the array signal weighting processing part beam are sent to the navigation satellite digital receiver, a navigation satellite signal tracking loop arranged by the navigation satellite digital receiver measures the amplitude and the phase of the satellite signals of a plurality of beams simultaneously, when the antenna is calibrated, the antenna calibration processing module combines the calibration beam weight value vector and the satellite signal amplitude and phase measurement data output by the navigation satellite digital receiver, a radio frequency switch is connected with the antenna input by taking the satellite signals as the measurement signals, and the multi-channel data output by the multi-channel analog-to-digital converter AD is sent to the array signal weighting processing module DBF, the antenna calibration processing module provides a plurality of calibration wave beam weight vectors required by the array signal weighting processing module DBF aiming at a specific satellite, a plurality of paths of antenna calibration signals synthesized by the array signal weighting processing module DBF are sent to a navigation satellite digital receiver, the amplitude and the phase of the navigation satellite signals are measured through a tracking loop in the navigation satellite digital receiver and output to the antenna calibration processing module, the antenna measures the guide vectors of incident signals in different directions by combining the amplitude and the phase of the satellite signals output by the receiver and the preset calibration wave beam weight vectors processed by the antenna calibration processing, the obtained relative guide vector is an average value of a series of measurements, each group of baseband measurement vectors calculates a relative guide vector, the guide vector of the antenna array in the incident direction of the satellite signals is estimated through a least square method, and the antenna response of the array in the incident direction of the satellite signals under the real working environment is calculated, and realizing the calibration of the antenna array.
2. The method of calibrating a gnss receiver system of claim 1, wherein: the array antenna forms an antenna calibration channel through a radio frequency switch and a multi-path analog-to-digital converter AD, the antenna calibration channel is connected with a navigation satellite digital receiver through an array signal weighting processing module DBF, and is connected with an array signal processing algorithm module connected with the array signal weighting processing module DBF through a channel calibration processing module, the array signal processing algorithm module is connected with the array signal weighting processing module DBF and is connected between the channel calibration processing module and the antenna calibration processing module, and the antenna calibration processing module transmits a control command to a channel calibration part through a bus, provides an antenna calibration beam weight for the array signal weighting processing module DBF and communicates with the navigation satellite digital receiver.
3. The method of calibrating a gnss receiver system of claim 1, wherein: the channel calibration processing module and the antenna calibration processing module respectively control the state control of channel response and the state of an antenna steering vector.
4. The method of calibrating a gnss receiver system of claim 1, wherein: the channel calibration processing module outputs the measurement data of the channel response, and the antenna calibration processing module outputs the antenna guide vectors in different signal incidence directions.
5. The method of calibrating a gnss receiver system of claim 1, wherein: when channel calibration is carried out, a channel calibration processing module generates a channel calibration single-tone signal, one channel of channel calibration signal is in the same amplitude and phase through a radio frequency power divider and is coupled to the input end of each radio frequency channel, a radio frequency switch is connected with the calibration signal, the radio frequency switch sends output multi-channel data into the channel calibration module through an analog-to-digital converter (AD) to carry out digital correlation operation, one channel data is selected as a reference signal and is subjected to correlation operation with the rest channel signals, and a channel response vector of amplitude and phase response difference between any two channels is obtained.
6. The method of calibrating a gnss receiver system of claim 1, wherein: in the operation of equipment of the navigation array antenna receiving system, the channel calibration processing module sequentially selects at least two channels, simultaneously coordinates the on and off of the radio frequency switch of each channel through a control command, and continues array signal weighting processing on the channels which are not subjected to channel calibration, so as to keep the periodic calibration of continuous operation of digital beam forming processing of the navigation array antenna receiving system.
7. The method of calibrating a gnss receiver system of claim 1, wherein: the antenna calibration is carried out after the channel calibration parameters are obtained, a guide vector of the antenna array to a specific satellite signal incidence direction is measured, at the moment, a plurality of known linear independent calibration beam weights are generated by an antenna calibration processing module to be aligned to the satellite, digital signals formed by array signal weighting processing parts of beams are sent to a navigation satellite digital receiver, a navigation satellite signal tracking loop arranged by the navigation satellite digital receiver carries out simultaneous measurement on the amplitude and the phase of the satellite signals of a plurality of beams, and finally the antenna calibration processing module combines the calibration beam weights and satellite signal amplitude and phase measurement data output by the navigation satellite digital receiver to estimate the guide vector of the antenna array in the satellite signal incidence direction through a least square method.
8. The method of calibrating a gnss receiver system of claim 1, wherein: the navigation satellite signals pass through a radio frequency front end which comprises a plurality of paths of radio frequency switches, a mixer, a filter, an analog-to-digital converter (AD) and a sampling circuit which are sequentially connected in series from an array antenna, and respectively enter an array signal weighting processing module (DBF) and a channel calibration processing module, the flow direction of the navigation satellite signals is output to enter a navigation receiving navigation satellite digital receiver to capture and track the satellite signals, the satellite signals are decoded, and ephemeris/almanac and pseudo range/carrier phase measurement are output for single-point or differential positioning navigation.
9. The method of calibrating a gnss receiver system of claim 1, wherein: the input signal of the channel calibration processing module is subjected to AD sampling of multi-channel data through a filter and an analog-to-digital converter, a channel calibration single-tone signal is output, a control instruction for a radio frequency front end is output, the selection of a radio frequency switch in the radio frequency front end is controlled, and meanwhile, the response of a channel is output.
10. The method of calibrating a gnss receiver system of claim 1, wherein: the antenna calibration processing module inputs the current attitude of the array antenna, and the tracking loop of the navigation satellite digital receiver outputs related amplitude, carrier phase, a control instruction for controlling a radio frequency switch in a radio frequency front end and an antenna calibration beam weight, so as to prompt the array antenna guide vector for the current channel satellite of the navigation satellite digital receiver.
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