CN107525523B - Satellite navigation assists the method and device of SINS progress initial azimuth alignment - Google Patents

Satellite navigation assists the method and device of SINS progress initial azimuth alignment Download PDF

Info

Publication number
CN107525523B
CN107525523B CN201710732472.XA CN201710732472A CN107525523B CN 107525523 B CN107525523 B CN 107525523B CN 201710732472 A CN201710732472 A CN 201710732472A CN 107525523 B CN107525523 B CN 107525523B
Authority
CN
China
Prior art keywords
signal
interference
wave
blind
satellite
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710732472.XA
Other languages
Chinese (zh)
Other versions
CN107525523A (en
Inventor
蔡乃小
易炯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BEIJING HWA CREATE Co Ltd
Original Assignee
BEIJING HWA CREATE Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BEIJING HWA CREATE Co Ltd filed Critical BEIJING HWA CREATE Co Ltd
Priority to CN201710732472.XA priority Critical patent/CN107525523B/en
Publication of CN107525523A publication Critical patent/CN107525523A/en
Application granted granted Critical
Publication of CN107525523B publication Critical patent/CN107525523B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position

Abstract

The present invention provides the method and devices that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment, are related to the technical field of satellite navigation, this method comprises: passing through array antenna received multi-channel rf signal;Every road radiofrequency signal is handled, export digital medium-frequency signal, how blind wave beam anti-interference process and demodulation resolving is carried out to processing result when carrying out empty to digital medium-frequency signal, construct multiple groups carrier wave pseudorange, carrier phase difference is done to multiple groups carrier wave pseudorange, it calculates position vector and carries out coordinate conversion, obtain azimuth, assist SINS to carry out initial azimuth alignment according to azimuth.Satellite navigation auxiliary SINS provided by the invention carries out the method and device of initial azimuth alignment, effectively overcome in the prior art since Magnetic Sensor precision initial orientation caused by by surrounding environment influence is difficult the technical issues of precisely aligning, and it is applied widely, it can also assist SINS to complete initial azimuth alignment under strong electromagnetic interference environment.

Description

Satellite navigation assists the method and device of SINS progress initial azimuth alignment
Technical field
The present invention relates to the technical fields of satellite navigation, carry out initial side more particularly, to a kind of satellite navigation auxiliary SINS The method and device of position alignment.
Background technique
With MEMS (MEMS, Micro-Electro-Mechanical System, MEMS) technology It rapidly develops, the strapdown inertial navigation system based on MEMS construction designs (SINS, Strapdown inertial Navigation system, strapdown inertial navigation system) have become the solution that inertial navigation generallys use.SINS work As principle be carried out by the acquisition sensing datas such as gyroscope and accelerometer recursion resolve obtain the position of carrier, speed and Posture information, therefore SINS needs the work for completing initially to be aligned at the beginning of starting navigation.
According to different definition, initial alignment has different classification.Classify by alignment procedures, initial alignment includes coarse alignment With two processes of fine alignment;Wherein, coarse alignment divides horizontal aligument and alignment of orientation again.Based on MEMS construction SINS due to its from The limitation of body gyroscope precision can not perceive earth rotation movement, therefore be not available conventional analytic method and realize initial orientation Coarse alignment process.
For alignment of orientation problem, SINS mainly uses the magnetic field sensors such as integrated electronic compass to complete orientation pair at present Quasi- work.But since Magnetic Sensor output accuracy is easy to be affected by the surrounding environment, and there are soft magnetism effects and Hard Magnetic effect, very Difficulty carries out accurate error compensation to it, to strongly limit magnetic field sensor in SINS system initial orientation coarse alignment Using.
For above-mentioned since Magnetic Sensor precision is easy by surrounding environment influence, initial orientation is caused to be difficult to precisely align Technical problem, currently no effective solution has been proposed.
Summary of the invention
In view of this, the purpose of the present invention is to provide the sides that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment Method and device cause SINS system initial to overcome Magnetic Sensor precision is easy in the prior art to be influenced by periphery electromagnetic environment Orientation is difficult the technical issues of being precisely aligned.
In a first aspect, the embodiment of the invention provides the sides that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment Method, comprising: by array antenna received multi-channel rf signal, every road radiofrequency signal is handled, exports digital medium-frequency signal, Wherein, array antenna includes mutiple antennas a period of time, and every road radiofrequency signal includes satellite-signal and interference signal;According to digital intermediate frequency Signal how blind wave beam anti-interference process when carrying out empty, exports the anti-interference intermediate-freuqncy signal of blind wave beam;The anti-interference intermediate frequency of blind wave beam is believed Number carry out demodulation resolving, output satellite ephemeris and base band observed quantity;Wherein, base band observed quantity include satellite spreading code pseudorange and Carrier integration doppler information;Multiple groups carrier wave pseudorange is constructed according to base band observed quantity, and carrier wave phase is done to multiple groups carrier wave pseudorange Position difference processing, calculates the position vector between any two antenna element;Coordinate conversion is carried out to position vector, is calculated every The corresponding azimuth of a position vector;SINS is assisted to carry out initial azimuth alignment according to azimuth.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein on Stating and assisting SINS progress initial azimuth alignment according to azimuth includes: to carry out geometric average according to geometrical-restriction relation azimuthal Processing, to reduce azimuthal measurement variance;Initial orientation pair is carried out according to geometric average treated azimuth auxiliary SINS It is quasi-.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein on Stating array antenna is four array element square matrixes, and antenna element is four, and the spacing of the two neighboring antenna element of four array element square matrixes is wave Long 0.5 times;Radiofrequency signal is four tunnels, and digital medium-frequency signal is four tunnels.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the third of first aspect Possible embodiment, wherein above-mentioned wave beam anti-interference process how blind when carrying out empty according to digital medium-frequency signal includes: will be digital The complex carrier signal that intermediate-freuqncy signal is generated with the first local intermediate frequency oscillator carries out Frequency mixing processing, generates zero-frequency envelope and high-frequency envelope; The low-pass filtered device of digital medium-frequency signal after Frequency mixing processing is filtered out into high-frequency envelope and leaves zero-frequency envelope, wherein zero-frequency envelope Including four road signals;How blind wave beam anti-interference process when carrying out empty to zero-frequency envelope signal.
The third possible embodiment with reference to first aspect, the embodiment of the invention provides the 4th kind of first aspect Possible embodiment, wherein how blind wave beam anti-interference process includes the blind wave beam anti-interference process of multiple lists when above-mentioned empty, single blind Wave beam anti-interference process includes: to select in four road signals to be all the way the reference signal of single blind wave beam self-adaptive processing algorithm, choosing Select the input signal that other three roads signals in four road signals are filter in single blind wave beam self-adaptive processing algorithm;It is blind when establishing empty Wave beam self-adaptive processing algorithm model;Blind wave beam self-adaptive processing algorithm model exports filtering interference signals all the way when according to sky, Retain the anti-interference intermediate-freuqncy signal of blind wave beam of satellite-signal.
The 4th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 5th kind of first aspect Possible embodiment, wherein before carrying out demodulation resolving to the anti-interference intermediate-freuqncy signal of blind wave beam, the above method further include: The complex carrier signal that the anti-interference intermediate-freuqncy signal of blind wave beam is generated with the second local intermediate frequency oscillator is subjected to Frequency mixing processing;By Frequency mixing processing The anti-interference intermediate-freuqncy signal of blind wave beam afterwards is filtered through bandpass filter;In anti-interference to the blind wave beam after filtering processing Frequency signal carries out demodulation resolving.
With reference to first aspect, the embodiment of the invention provides the 6th kind of possible embodiments of first aspect, wherein on Stating and carrying out demodulation resolving to the anti-interference intermediate-freuqncy signal of blind wave beam includes: to capture to satellite-signal, obtains satellite-signal code The coarse value of phase and carrier frequency;Tracking processing is carried out to the satellite-signal after acquisition success, exports millisecond integrated value;To milli Second integrated value carries out bit synchronous and frame synchronization process, so that satellite-signal periodically exports navigation message and base band observation Amount;Any group of base band observed quantity is selected, satellite position and speed is carried out in conjunction with satellite ephemeris and navigation message and carrier connects The resolving of the position and speed of receipts machine.
Second aspect, the embodiment of the invention also provides the dresses that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment It sets, comprising: rf signal reception module, for being carried out to every road radiofrequency signal by array antenna received multi-channel rf signal Processing exports digital medium-frequency signal, wherein array antenna includes mutiple antennas a period of time, and every road radiofrequency signal includes satellite-signal And interference signal;Anti-interference process module, how blind wave beam anti-interference process when for carrying out empty according to digital medium-frequency signal, output The blind anti-interference intermediate-freuqncy signal of wave beam;Demodulation resolves module, for carrying out demodulation clearing to the anti-interference intermediate-freuqncy signal of blind wave beam, Output satellite ephemeris and base band observed quantity;Wherein, base band observed quantity includes satellite spreading code pseudorange and carrier integration Doppler letter Breath;Position vector computing module for constructing multiple groups carrier wave pseudorange according to base band observed quantity, and carries multiple groups carrier wave pseudorange Wave phase difference processing calculates the position vector between any two antenna element;Azimuthal angle calculation module, for being sweared to position Amount carries out coordinate conversion, calculates the corresponding azimuth of each position vector;Alignment of orientation module, for according to azimuth SINS is assisted to carry out initial azimuth alignment.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein on It states alignment of orientation module to be also used to: geometric average processing is carried out according to geometrical-restriction relation azimuthal, it is azimuthal to reduce Measure variance;Initial azimuth alignment is carried out according to geometric average treated azimuth auxiliary SINS.
In conjunction with second aspect, the embodiment of the invention provides second of possible embodiments of second aspect, wherein on Stating array antenna is four array element square matrixes, and antenna element is four, and the spacing of the two neighboring antenna element of four array element square matrixes is wave Long 0.5 times;Radiofrequency signal is four tunnels, and digital medium-frequency signal is four tunnels.
The embodiment of the present invention bring it is following the utility model has the advantages that
A kind of satellite navigation auxiliary SINS provided in an embodiment of the present invention carries out the method and device of initial azimuth alignment, leads to It crosses and the received radiofrequency signal of array antenna is handled, after exporting digital medium-frequency signal, when carrying out empty to digital medium-frequency signal Mostly blind wave beam anti-interference process, exports the anti-interference intermediate-freuqncy signal of blind wave beam, is carrying out demodulation resolving, output satellite ephemeris and base Band observed quantity, then the calculating of position vector is carried out, by carrying out coordinate conversion to position vector, calculate each position vector pair The azimuth answered, and then initial azimuth alignment is carried out to auxiliary SINS according to the azimuth.Without magnetic in calculating process Sensor measures, and effectively overcomes in the prior art since Magnetic Sensor precision is easy by surrounding environment influence, caused Initial orientation is difficult the technical issues of precisely aligning, and applied widely, can also assist under strong electromagnetic interference environment SINS completes initial azimuth alignment.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below Attached drawing is some embodiments of the present invention, for those skilled in the art, without creative efforts, It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the method flow diagram that a kind of auxiliary SINS provided in an embodiment of the present invention carries out initial azimuth alignment;
Fig. 2 is a kind of realization block diagram of satellite signal receiver provided in an embodiment of the present invention;
Fig. 3 is a kind of schematic diagram of four array element square matrix provided in an embodiment of the present invention;
The implementation flow chart of Fig. 4 blind wave beam anti-interference process when being provided in an embodiment of the present invention a kind of empty;
The algorithm model figure of Fig. 5 blind wave beam self-adaptive processing when being provided in an embodiment of the present invention a kind of empty;
Fig. 6 is a kind of composed structure schematic diagram of base band demodulating provided in an embodiment of the present invention;
Fig. 7 is the structural representation for the device that a kind of auxiliary SINS provided in an embodiment of the present invention carries out initial azimuth alignment Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than Whole embodiments.Based on the embodiments of the present invention, those skilled in the art institute without making creative work The every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, Technique of Satellite Navigation and Positioning is due to having the characteristics that positioning accuracy is high, round-the-clock, Global coverage, and it is wide General application.In general, load can be calculated by carrying out carrier phase difference split-phase to localization process to two or more satellite antenna Body orientation.But satellite navigation signals are since its long transmission distance, transmission loss are big, are easy intentionally and to be not intended to penetrate by various Frequency signal interference, so that the signal-to-noise ratio decline for making receiver receive signal can not even work.Based on this, the embodiment of the present invention is mentioned A kind of satellite navigation auxiliary SINS has been supplied to carry out the method and device of initial azimuth alignment, to overcome the interference of radiofrequency signal, into And SINS is assisted to carry out initial azimuth alignment.
To be assisted a kind of satellite navigation disclosed in the embodiment of the present invention first convenient for understanding the present embodiment The method that SINS carries out initial azimuth alignment describes in detail.
Embodiment one:
The embodiment of the invention provides the methods that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment, such as Fig. 1 institute A kind of satellite navigation auxiliary SINS shown carries out the method flow diagram of initial azimuth alignment, comprising the following steps:
Step S102 is handled every road radiofrequency signal by array antenna received multi-channel rf signal, output number Intermediate-freuqncy signal;
Wherein, the process handled every road radiofrequency signal may include amplifying at frequency conversion to every road radiofrequency signal Reason exports analog if signal, and carries out AD sampling to the analog if signal, and then export digital medium-frequency signal, specific Treatment process, can refer to associated materials in the prior art, it is not limited by the embodiments of the present invention.
Wherein, above-mentioned array antenna includes mutiple antennas a period of time, and every road radiofrequency signal includes satellite-signal and interference signal;
Step S104, how blind wave beam anti-interference process, it is anti-interference to export blind wave beam when carrying out empty according to digital medium-frequency signal Intermediate-freuqncy signal;
Step S106 carries out demodulation resolving, output satellite ephemeris and base band observation to the anti-interference intermediate-freuqncy signal of blind wave beam Amount;
Wherein, above-mentioned base band observed quantity includes satellite spreading code pseudorange and carrier integration doppler information;
Step S108 constructs multiple groups carrier wave pseudorange according to base band observed quantity, and does carrier phase to multiple groups carrier wave pseudorange Difference processing calculates the position vector between any two antenna element;
Step S110 carries out coordinate conversion to position vector, calculates the corresponding azimuth of each position vector;
Step S112 assists SINS to carry out initial azimuth alignment according to azimuth.
A kind of method that satellite navigation auxiliary SINS carries out initial azimuth alignment provided in an embodiment of the present invention, by being poised for battle The received radiofrequency signal of array antenna is handled, after exporting digital medium-frequency signal, how blind wave when carrying out empty to digital medium-frequency signal Beam anti-interference process exports the anti-interference intermediate-freuqncy signal of blind wave beam, is carrying out demodulation resolving, output satellite ephemeris and base band observation Amount, then the calculating of position vector is carried out, by carrying out coordinate conversion to position vector, calculate the corresponding side of each position vector Parallactic angle, and then initial azimuth alignment is carried out to auxiliary SINS according to the azimuth.Without Magnetic Sensor in calculating process It measures, effectively overcomes in the prior art since Magnetic Sensor precision is easy to be led to initial orientation by surrounding environment influence It is difficult the technical issues of precisely aligning, and applied widely, SINS can be also assisted to complete just under strong electromagnetic interference environment Beginning alignment of orientation.
Embodiment two:
The method that satellite navigation auxiliary SINS provided by the above embodiment carries out initial azimuth alignment, can be applied to satellite The receiver of navigation Satellite signal, which has mutiple antennas a period of time, to receive satellite-signal, meanwhile, also there is letter Number processing module, e.g., (Field-Programmable Gate Array, field-programmable are patrolled by amplifier, frequency converter, FPGA Collect gate array) and DSP (Digital Signal Processing, Digital Signal Processing) etc., satellite-signal is put Greatly, the processing such as frequency conversion, filtering and demodulation resolving.Based on this, the embodiment of the invention also provides a kind of satellite signal receivings Machine can be realized the method that the auxiliary of satellite navigation described in above-described embodiment one SINS carries out initial azimuth alignment, as shown in Figure 2 A kind of satellite signal receiver realization block diagram.
Firstly, first the form of the array antenna in the present embodiment is illustrated, in embodiments of the present invention, above-mentioned array Antenna is preferably four array element square matrixes, the schematic diagram of four array element square matrix of one kind as shown in Figure 3, and antenna element is four, four array elements The spacing of the two neighboring antenna element of square matrix is 0.5 times (0.5 λ) of wavelength;Antenna element is designed using the feedback of four feed point bottoms, with Ensure that phase center is fixed on its geometric center, and then it is straight to guarantee that the phase center of any three antenna element forms an isosceles Angle triangle, such as antenna element 1, antenna element 2 and the antenna element 4 in Fig. 3, the direction vector definition such as Fig. 3 on three sides It is shown.Therefore, the radiofrequency signal of array antenna received is four tunnels, is based on the four tunnels radiofrequency signal, is carried out to every road radiofrequency signal Amplify frequency-conversion processing, export analog if signal, and the digital medium-frequency signal for carrying out AD sampling output is also four tunnels.
Based on array antenna shown in Fig. 3, in the realization block diagram of satellite signal receiver shown in Fig. 2, above-mentioned four gusts 1~antenna element of antenna element 4 of first square matrix is for receiving radiofrequency signal (including satellite-signal and interference signal), radiofrequency signal Array antenna each a period of time is received is introduced into No. 4 low-noise amplifiers (abbreviation low noise) progress power amplification later, i.e. in Fig. 2 1~low noise of low noise 4, continue to amplified radiofrequency signal (RF1~RF4) carry out down-converted formed 4 tunnels simulation Intermediate-freuqncy signal (IF1_A~IF4_A), wherein down-converted mainly passes through radio-frequency-down-converter the realization, (radio frequency in such as Fig. 2 Down coversion 1~4) then exported after AD sample circuit (AD sampling 1~4) in Fig. 24 railway digital intermediate-freuqncy signals (IF1_D~ IF4_D)。
In view of long transmission distance, the transmission loss of satellite navigation signals are big, be easy by it is various intentionally and radio frequency unintentionally Signal interference, so that the signal-to-noise ratio decline for making receiver receive signal can not even work, in general, to above-mentioned digital medium-frequency signal (IF1_D~IF4_D) using it is empty when Anti-Jamming Technique (STAP, space-time adaptive processing), when progress- Empty self-adaptive processing, effectively to inhibit the pressing types such as broadband to interfere, thus for the normal work for interfering lower satellite navigation receiver And its orientation resolves and provides possibility.
Therefore, in block diagram shown in Fig. 2, digital medium-frequency signal (IF1_D~IF4_D) can be delivered to FPGA, carried out How blind wave beam anti-interference process when empty, specifically, as shown in Fig. 2, above-mentioned 4 railway digital intermediate-freuqncy signal (IF1_D~IF4_D) inputs How blind wave beam be anti-interference to after FPGA, when carrying out empty and the processing such as base band demodulating.
Specifically, Fig. 4 shows a kind of implementation flow chart of how blind wave beam anti-interference process when sky, wherein shown in Fig. 4 Treatment process realizes that how blind wave beam anti-interference process includes: when above-mentioned empty according to digital medium-frequency signal progress in above-mentioned FPGA
After four railway digital intermediate-freuqncy signals (IF1_D~IF4_D) are input to FPGA, first shaken respectively with the first local intermediate frequency The complex carrier signal that device (intermediate frequency down coversion 1~4 shown in Fig. 4) generates carries out Frequency mixing processing, generates zero-frequency envelope and high-frequency envelope;It will The low-pass filtered device of digital medium-frequency signal (LPF (Low Pass Filter, low-pass filtering shown in Fig. 4 after Frequency mixing processing Device)) it filters out high-frequency envelope and leaves zero-frequency envelope, wherein zero-frequency envelope includes four road signals, ZF1~ZF4 as shown in Figure 4;It is right Zero-frequency envelope signal how blind wave beam anti-interference process when carrying out empty.ZF1~ZF4 when sky after how blind wave beam anti-interference process, The pressing types such as broadband can be effectively inhibited to interfere, three road filtering interference signals of output, the anti-interference intermediate frequency letter for retaining satellite-signal Number STAP_ZFn, to carry out the anti-interference intermediate-freuqncy signal demodulation process process of subsequent blind wave beam.
For zero-frequency envelope signal ZF1~ZF4 in four roads shown in Fig. 4, how blind wave beam anti-interference process includes when above-mentioned empty Multiple blind wave beam anti-interference process of list, each blind wave beam anti-interference process process of list include: that (1) selects in four road signals all the way For the reference signal of single blind wave beam self-adaptive processing algorithm, other three road signals different from reference signal in four road signals are selected For the input signal of filter in single blind wave beam self-adaptive processing algorithm;(2) blind wave beam self-adaptive processing algorithm mould when establishing empty Type;(3) according to sky blind wave beam self-adaptive processing algorithm model exports the intermediate frequency of filtering interference signals, reservation satellite-signal all the way when Signal STAP_ZFn.
Specifically, Fig. 5 shows a kind of algorithm model figure of blind wave beam self-adaptive processing when sky, wherein x0It is adaptive The reference signal of Processing Algorithm, x11、x21And x31For the input signal of filter in self-adaptive processing algorithm, wherein for the ease of Illustrate, the reference signal x of 3 blind wave beam processing in the embodiment of the present invention0ZF1, ZF2 and ZF4, x are selected respectively11、x21、x31∈ { ZF1, ZF2, ZF3, ZF4 }, i.e. x11、x21、x31≠x0.The filter of self-adaptive processing algorithm is by one group of FIR time domain filtering Composition, wmk, m ∈ { 1,2,3 }, k ∈ { 1,2,3...P } are filter coefficient;Filter coefficient is constantly updated by iteration, thus Effectively inhibit self-adaptive processing algorithm reference signal x0The interference of the pressing types such as middle width strip, retains wherein useful satellite-signal, The anti-interference intermediate-freuqncy signal STAP_ZFn of the blind wave beam of final output carries out demodulation resolving processing.
Preferably, before carrying out demodulation resolving processing to the anti-interference intermediate-freuqncy signal STAP_ZFn of blind wave beam, such as Fig. 4 institute Show, the above method further include: (become the anti-interference intermediate-freuqncy signal of blind wave beam and the second local intermediate frequency oscillator on the intermediate frequency in Fig. 4 Frequently the complex carrier signal generated carries out Frequency mixing processing), will move near intermediate frequency with interior envelope;Blind wave beam after Frequency mixing processing is anti-dry It disturbs intermediate-freuqncy signal to be filtered through bandpass filter, i.e. BPF (band-passfilter, bandpass filter) filter in Fig. 4 Except out-of-band noise forms STAP_IFn signal, corresponding base band solution is output to the anti-interference intermediate-freuqncy signal of blind wave beam after filtering processing Mode transfer block carries out subsequent demodulation and resolves processing operation.
When specific implementation, above-mentioned demodulation process process can also carry out in FPGA, specifically, anti-to above-mentioned blind wave beam dry Disturbing intermediate-freuqncy signal and carrying out the process of demodulation process may include: to be caught according to the anti-interference intermediate-freuqncy signal of blind wave beam to satellite-signal It obtains, obtains the coarse value of satellite-signal code phase and carrier frequency;Tracking processing is carried out to the satellite-signal after acquisition success, it is defeated Millisecond integrated value out;Bit synchronous and frame synchronization process are carried out to millisecond integrated value, led so that satellite-signal periodically exports Avionics text and base band observed quantity, select any group of base band observed quantity, carry out satellite position in conjunction with satellite ephemeris and navigation message It sets and the resolving of speed and the position and speed of carrier receiver.
In actual use, above-mentioned demodulating process can realize that Fig. 6 shows a kind of base band in base band demodulating module The composed structure schematic diagram of demodulation after STAP_IFn signal enters base band demodulating module, carries out satellite signal acquisition, master first Acting on is to complete each satellite-signal spread spectrum code phase and the work of carrier frequency two-dimensional search, obtains each satellite-signal code phase The coarse value of position and carrier frequency.Secondly, carrying out tracking processing to the signal after acquisition success.Tracking processing passes through Fig. 6 institute 1~the n of satellite-signal tracking channel shown is realized;Its main function is to complete each satellite-signal spread spectrum code phase and carrier phase Precise synchronization work, core are made of carrier tracking loop and code tracking loop, are respectively completed carrier phase and code phase Synchronous working.Once satellite-signal code phase is synchronous with carrier phase completion, integrated carrier Doppler and millisecond can be exported Following part pseudo range observed quantity information, and value information is integrated as the millisecond that bit synchronous and frame synchronization input.Finally, to The millisecond integrated value of track output carries out bit synchronous and frame synchronization process, main function are that determining satellite broadcasts navigation message Two stages of bit synchronous and frame synchronization are specifically divided on bit boundaries and frame structure boundary.Signal is same in completion bit synchronous and frame Navigation message content can be periodically exported after step, and pseudorange composition in part below the millisecond for combining tracking to obtain is complete pseudo- Away from output.
Entire base band demodulating module exports the base band observed quantities such as the pseudorange and carrier integration Doppler of 3 wave beams simultaneously and leads Avionics text, since the navigation message of 3 wave beam processing outputs is completely the same, it is possible to select the navigation electricity of one of wave beam Carry out relevant treatment of the text output for subsequent resolving.It is anti-interference that blind wave beam when multichannel sky is contained in FPGA module shown in Fig. 2 Treatment process (blind wave beam anti-interference process 1~3 when empty) and base band demodulating (base band demodulating 1~3) process.Base band demodulating module is defeated It after base band observed quantity needed for satellite navigation resolves out, carries out, has in the DSP that subsequent solution process can be shown in Fig. 2 Body, resolve according to the observed quantity of multiple groups base band and satellite ephemeris includes: that any group of base is selected from multiple groups base band observed quantity Band observed quantity;According to any group of base band observed quantity, satellite position, speed and load are carried out in conjunction with satellite ephemeris and navigation message The resolving that body receiver positions and tests the speed.
When specific implementation, FPGA and DSP shown in Fig. 2 pass through EMIF (External Memory Interface, outside Memory interface) bus progress data double-way transmission, it is illustrated by taking four array element square matrix received signal shown in Fig. 3 as an example, DSP is first defended using the ephemeris, satellite spreading code pseudorange and carrier integration doppler information etc. exported after FPGA base band demodulating The resolving that championship sets, carrier receiver positioning and test the speed, that is, the position and speed of satellite position and speed and carrier receiver The resolving of degree can after constructing multiple groups carrier wave pseudorange according to base band observed quantity and carrying out carrier phase difference to carrier wave pseudorange A period of time 1, the position vector of a period of time 2 and a period of time 4 between any two are calculated, finally position vector is carried out from earth rectangular coordinate system Coordinate to geographic coordinate system is converted, and the corresponding azimuth of each position vector is calculated, thus to the initial side of SINS Position alignment is assisted.
Based on above-mentioned solution process, the main process of DSP shown in Fig. 2 is divided into (1) base band configuration management;(2) carrier is fixed Position, resolving of testing the speed;(3) carrier phase difference and azimuthal angle calculation export three zones.Base band configuration management refers to that DSP passes through EMIF bus captures base band, tracking and it is recapturing unlocked etc. configured and controlled in real time, complete the traffic control of base-band resource. The navigation message exported by FPGA to any one wave beam base band demodulating, DSP can calculate the position (x of every satellitesi, ysi,zsi) and speed (vxsi,vysi,vzsi), the satellite spreading code pseudorange and carrier integration exported in conjunction with any one wave beam is more The base band observed quantities such as general Le information, just can complete carrier positions (x using least square Newton iterativer,yr,zr) and speed (vxr,vyr,vzr) resolving, while generate observation geometric matrix Hr, HrIt can indicate are as follows:
Wherein,
The carrier wave pseudorange cp of every satellite can be constructed according to satellite spreading code pseudorange and carrier integration doppler informationi, Its observational equation is cpi=psei+Nisiriionotropom, wherein pseiFor beam phase center, that is, each antenna array Sub- phase center and intersatellite very away from NiFor carrier wave pseudorange integer ambiguity, τsiFor satellite clock correction error, τriFor receiver clock Difference, τionoFor ionospheric error, τtropoFor tropospheric error, σmFor carrier loop tracking error.Due to τsi、τri、τiono、τtropo For common error and ignore σmInfluence, therefore, to different beams, the carrier wave pseudorange cp of same satelliteiMaking single poor processing can derive Δ cp outi=Δ psei+N(i), antenna element phase center geometrical constraint closes in the schematic diagram of four array element square matrixes according to Fig. 3 System can quickly find out N(i)Exact value.In conjunction with equation Δ psei=Hr (i).[Δx Λy Δz]T, it can obtain observational equation group:
The wherein position vector of [Δ x Δ y Δ z] between a period of time phase center.Least square is carried out to observational equation group Solution can obtain position vector [Δ x Δ y Δ z].Position vector is completed from earth rectangular coordinate system [Δ x using equation (2) Δ y Δ z] it is converted to the coordinate of geographic coordinate system [Δ e Δ n Δ u], where wherein φ, λ are respectively carrier in equation (2) Latitude and longitude.With azimuthal angle calculation formulaIt can obtain the corresponding orientation of position vector Angle.Using the above process, direction vector shown in Fig. 3 is calculatedAzimuth be respectively
Further, it is above-mentioned according to azimuth assist SINS carry out initial azimuth alignment include: according to geometrical-restriction relation pair Azimuth carries out geometric average processing, to reduce azimuthal measurement variance;According to geometric average treated azimuth auxiliary SINS carries out initial azimuth alignment.Specifically, by taking the schematic diagram of four array element square matrix shown in Fig. 3 as an example, it is assumed that direction vector It is consistent with carrier y direction, it utilizesGeometric average is carried out to carrier azimuth at triangle restriction, then final output Azimuth
The method that satellite navigation auxiliary SINS provided in an embodiment of the present invention carries out initial azimuth alignment, by becoming to amplification Frequently intermediate-freuqncy signal that treated blind wave beam anti-interference process when carrying out empty, then base band demodulating and resolving are carried out, and it is only to construct multiple groups Vertical carrier wave pseudorange does the processing of carrier phase difference to multiple groups carrier wave pseudorange, calculates the position between any two antenna element Vector is converted carrying out the coordinate from the earth rectangular coordinate system to geographic coordinate system to position vector, can obtain each position The corresponding azimuth of vector, so according to the azimuth to satellite navigation it is initial it is anti-fake carry out auxiliary alignment, effectively prevent Due to caused error affected by environment when being aligned in the prior art with Magnetic Sensor, azimuthal survey is greatly improved Accuracy of measurement.
Embodiment three:
On the basis of the above embodiments, the embodiment of the invention also provides a kind of satellite navigation auxiliary SINS to carry out initially The device of alignment of orientation, a kind of auxiliary SINS as shown in Figure 7 carry out the apparatus structure schematic diagram of initial azimuth alignment, comprising:
Rf signal reception module 101, for by array antenna received multi-channel rf signal, to every road radiofrequency signal into Row processing, exports digital medium-frequency signal, wherein array antenna includes mutiple antennas a period of time, and every road radiofrequency signal includes satellite letter Number and interference signal;
Anti-interference process module 102, how blind wave beam anti-interference process when for carrying out empty according to digital medium-frequency signal, output The blind anti-interference intermediate-freuqncy signal of wave beam;
Demodulation resolves module 103, for carrying out demodulation clearing, output satellite star to the anti-interference intermediate-freuqncy signal of blind wave beam It goes through and base band observed quantity;Wherein, base band observed quantity includes satellite spreading code pseudorange and carrier integration doppler information;
Position vector computing module 104, for constructing multiple groups carrier wave pseudorange according to base band observed quantity, and to multiple groups carrier wave Pseudorange does the processing of carrier phase difference, calculates the position vector between any two antenna element;
It is right respectively to calculate each position vector for carrying out coordinate conversion to position vector for azimuthal angle calculation module 105 The azimuth answered;
Alignment of orientation module 106, for assisting SINS to carry out initial azimuth alignment according to azimuth.
Further, above-mentioned alignment of orientation module is also used to:
Geometric average processing is carried out according to geometrical-restriction relation azimuthal, to reduce azimuthal measurement variance;According to Geometric average treated azimuth auxiliary SINS carries out initial azimuth alignment.
Preferably, above-mentioned array antenna is four array element square matrixes, and antenna element is four, the two neighboring day of four array element square matrixes The spacing of linear array is 0.5 times of wavelength;Radiofrequency signal is four tunnels, and digital medium-frequency signal is four tunnels.
Satellite navigation auxiliary SINS provided in an embodiment of the present invention carries out the device of initial azimuth alignment, with previous embodiment The satellite navigation auxiliary SINS of offer carries out the method technical characteristic having the same of initial azimuth alignment, so also can solve phase Same technical problem, reaches identical technical effect.
Satellite navigation provided by the embodiment of the present invention assists the meter of the method and device of SINS progress initial azimuth alignment Calculation machine program product, the computer readable storage medium including storing program code, the instruction that said program code includes can For executing previous methods method as described in the examples, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description Specific work process, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In the description of the present invention, it should be noted that term " first ", " second ", " third " are used for description purposes only, It is not understood to indicate or imply relative importance.
Finally, it should be noted that above embodiments, only a specific embodiment of the invention, to illustrate skill of the invention Art scheme, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to the present invention into Go detailed description, it should be understood by those skilled in the art that: anyone skilled in the art takes off in the present invention In the technical scope of dew, it can still modify to technical solution documented by previous embodiment or can readily occur in change Change or equivalent replacement of some of the technical features;And these modifications, variation or replacement, do not make relevant art Scheme essence be detached from technical solution of the embodiment of the present invention spirit and scope, should all cover protection scope of the present invention it It is interior.Therefore, protection scope of the present invention should be subject to the protection scope in claims.

Claims (10)

1. a kind of method that satellite navigation auxiliary SINS carries out initial azimuth alignment characterized by comprising
By array antenna received multi-channel rf signal, the radiofrequency signal described in every road is handled, and exports digital medium-frequency signal, Wherein, the array antenna includes mutiple antennas a period of time, and radiofrequency signal described in every road includes satellite-signal and interference signal;
How blind wave beam anti-interference process, exports the anti-interference intermediate-freuqncy signal of blind wave beam when carrying out empty according to the digital medium-frequency signal;
Demodulation resolving, output satellite ephemeris and base band observed quantity are carried out to the blind anti-interference intermediate-freuqncy signal of wave beam;Wherein, institute Stating base band observed quantity includes satellite spreading code pseudorange and carrier integration doppler information;
Multiple groups carrier wave pseudorange is constructed according to the base band observed quantity, and the carrier wave pseudorange described in multiple groups is done at carrier phase difference Reason, calculates the position vector between antenna element described in any two;
Coordinate conversion is carried out to the position vector, calculates the corresponding azimuth of each position vector;
SINS is assisted to carry out initial azimuth alignment according to the azimuth.
2. the method according to claim 1, wherein described assist SINS to carry out initial side according to the azimuth Position is aligned
Geometric average processing is carried out to the azimuth according to geometrical-restriction relation;
According to geometric average, treated that azimuth auxiliary SINS carries out initial azimuth alignment.
3. the method according to claim 1, wherein the array antenna is four array element square matrixes, the antenna array Son is four, and the spacing of the two neighboring antenna element of the four array element square matrix is 0.5 times of wavelength;
The radiofrequency signal is four tunnels, and the digital medium-frequency signal is four tunnels.
4. according to the method described in claim 3, it is characterized in that, how blind when described empty according to digital medium-frequency signal progress Wave beam anti-interference process includes:
The complex carrier signal that the digital medium-frequency signal and the first local intermediate frequency oscillator generate is subjected to Frequency mixing processing, generates zero-frequency packet Network and high-frequency envelope;
The low-pass filtered device of the digital medium-frequency signal after Frequency mixing processing is filtered out into the high-frequency envelope and leaves the zero-frequency packet Network, wherein the zero-frequency envelope includes four road signals;
How blind wave beam anti-interference process when carrying out empty to the zero-frequency envelope signal.
5. according to the method described in claim 4, it is characterized in that, how blind wave beam anti-interference process includes multiple lists when described empty Blind wave beam anti-interference process, the blind wave beam anti-interference process of list include:
It selects in the signal of four road to be all the way the reference signal of single blind wave beam self-adaptive processing algorithm, selects the four roads letter Three road signal of other in number is the input signal of filter in the blind wave beam self-adaptive processing algorithm of the list;
Blind wave beam self-adaptive processing algorithm model when establishing empty;
Blind wave beam self-adaptive processing algorithm model output filters out the interference signal all the way when according to the sky, retains the satellite The anti-interference intermediate-freuqncy signal of blind wave beam of signal.
6. according to the method described in claim 5, it is characterized in that, carrying out demodulation to the blind anti-interference intermediate-freuqncy signal of wave beam Before resolving, the method also includes:
The complex carrier signal that the blind anti-interference intermediate-freuqncy signal of wave beam is generated with the second local intermediate frequency oscillator is subjected to Frequency mixing processing;
The blind anti-interference intermediate-freuqncy signal of wave beam after Frequency mixing processing is filtered through bandpass filter;
Demodulation resolving is carried out to the blind anti-interference intermediate-freuqncy signal of wave beam after filtering processing.
7. the method according to claim 1, wherein described solve the blind anti-interference intermediate-freuqncy signal of wave beam It reconciles to resolve and includes:
The satellite-signal is captured, the coarse value of satellite-signal code phase and carrier frequency is obtained;
Tracking processing is carried out to the satellite-signal after acquisition success, exports millisecond integrated value;
Bit synchronous and frame synchronization process are carried out to the millisecond integrated value, so that the satellite-signal periodically exports navigation Text and base band observed quantity;
Base band observed quantity described in selecting any group carries out satellite position and speed in conjunction with the satellite ephemeris and the navigation message The resolving of the position and speed of degree and carrier receiver.
8. the device that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment characterized by comprising
Rf signal reception module, for by array antenna received multi-channel rf signal, the radiofrequency signal described in every road to be carried out Processing exports digital medium-frequency signal, wherein the array antenna includes mutiple antennas a period of time, and radiofrequency signal described in every road includes Satellite-signal and interference signal;
Anti-interference process module, how blind wave beam anti-interference process when for carrying out empty according to the digital medium-frequency signal, exports blind The anti-interference intermediate-freuqncy signal of wave beam;
Demodulation resolves module, for carrying out demodulation resolving, output satellite ephemeris to the blind anti-interference intermediate-freuqncy signal of wave beam With base band observed quantity;Wherein, the base band observed quantity includes satellite spreading code pseudorange and carrier integration doppler information;
Position vector computing module is carried for constructing multiple groups carrier wave pseudorange according to the base band observed quantity, and described in multiple groups Wave pseudorange does the processing of carrier phase difference, calculates the position vector between antenna element described in any two;
Azimuthal angle calculation module calculates each position vector difference for carrying out coordinate conversion to the position vector Corresponding azimuth;
Alignment of orientation module, for assisting SINS to carry out initial azimuth alignment according to the azimuth.
9. device according to claim 8, which is characterized in that the alignment of orientation module is also used to:
Geometric average processing is carried out to the azimuth according to geometrical-restriction relation;
According to geometric average, treated that azimuth auxiliary SINS carries out initial azimuth alignment.
10. device according to claim 8, which is characterized in that the array antenna is four array element square matrixes, the antenna array Son is four, and the spacing of the two neighboring antenna element of the four array element square matrix is 0.5 times of wavelength;
The radiofrequency signal is four tunnels, and the digital medium-frequency signal is four tunnels.
CN201710732472.XA 2017-08-23 2017-08-23 Satellite navigation assists the method and device of SINS progress initial azimuth alignment Active CN107525523B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710732472.XA CN107525523B (en) 2017-08-23 2017-08-23 Satellite navigation assists the method and device of SINS progress initial azimuth alignment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710732472.XA CN107525523B (en) 2017-08-23 2017-08-23 Satellite navigation assists the method and device of SINS progress initial azimuth alignment

Publications (2)

Publication Number Publication Date
CN107525523A CN107525523A (en) 2017-12-29
CN107525523B true CN107525523B (en) 2019-10-15

Family

ID=60682061

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710732472.XA Active CN107525523B (en) 2017-08-23 2017-08-23 Satellite navigation assists the method and device of SINS progress initial azimuth alignment

Country Status (1)

Country Link
CN (1) CN107525523B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109596144B (en) * 2018-12-10 2020-07-24 苏州大学 GNSS position-assisted SINS inter-travel initial alignment method

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101256080A (en) * 2008-04-09 2008-09-03 南京航空航天大学 Midair aligning method for satellite/inertia combined navigation system
CN102997918A (en) * 2011-09-15 2013-03-27 北京自动化控制设备研究所 Inertia/satellite attitude fusion method
CN105043418A (en) * 2015-08-04 2015-11-11 北京航天控制仪器研究所 Quick initial coarse alignment method of inertial navigation system suitable for shipborne communications on the move

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101256080A (en) * 2008-04-09 2008-09-03 南京航空航天大学 Midair aligning method for satellite/inertia combined navigation system
CN102997918A (en) * 2011-09-15 2013-03-27 北京自动化控制设备研究所 Inertia/satellite attitude fusion method
CN105043418A (en) * 2015-08-04 2015-11-11 北京航天控制仪器研究所 Quick initial coarse alignment method of inertial navigation system suitable for shipborne communications on the move

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SINS快速传递对准建模与仿真;龚晓林 等;《北京航空航天大学学报》;20080831;第34卷(第8期);第865-868页 *

Also Published As

Publication number Publication date
CN107525523A (en) 2017-12-29

Similar Documents

Publication Publication Date Title
Groves et al. A portfolio approach to NLOS and multipath mitigation in dense urban areas
Reigber et al. Very-high-resolution airborne synthetic aperture radar imaging: Signal processing and applications
Martín-Neira et al. The PARIS concept: An experimental demonstration of sea surface altimetry using GPS reflected signals
KR101630890B1 (en) Wide area positioning system
US6766253B2 (en) Method for merging position information with measurements and filtering to obtain high-quality images that are positioned accurately with respect to global coordinates
Pany Navigation signal processing for GNSS software receivers
CN102692179B (en) Positioning equipment and localization method
CN101403790B (en) Accurate one-point positioning method for single-frequency GPS receiver
US7409293B2 (en) Methods and systems for enhancing accuracy of terrain aided navigation systems
CN105607106B (en) A kind of low-cost and high-precision BD/MEMS fusions attitude measurement method
CA2359910C (en) A deeply-integrated adaptive ins/gps navigator with extended-range code tracking
US8085201B2 (en) System for determining position over a network
JP4230458B2 (en) Method and system for real-time navigation using a three-carrier radio signal transmitted from a satellite and ionospheric correction
US6731237B2 (en) Deeply-integrated adaptive GPS-based navigator with extended-range code tracking
EP0198029B1 (en) Enhanced global positioning system delta-range processing
CN105628026A (en) Positioning and posture determining method and system of mobile object
US20090189804A1 (en) Satellite differential positioning receiver using multiple base-rover antennas
Deckert et al. Forest canopy, terrain, and distance effects on global positioning system point accuracy
EP2428819B1 (en) Band-spectrum interference visualizer in a global navigation satellite system receiver
CN105372691B (en) The Long baselines satellites formation GNSS relative positioning methods that a kind of fuzziness is fixed
Zhang et al. Accuracy analysis of the GPS instrumental bias estimated from observations in middle and low latitudes
CN101476860B (en) Magnetic positioning method and device in high background magnetic field
Fascista et al. A localization algorithm based on V2I communications and AOA estimation
CN103630873A (en) Indoor positioning method combining geomagnetic field and WIFI (wireless fidelity) signals
US5579014A (en) Parallel correlator for global positioning system receiver

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant