CN107643532A - Satellite navigation signals processing method and processing device, computer equipment and storage medium - Google Patents
Satellite navigation signals processing method and processing device, computer equipment and storage medium Download PDFInfo
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Abstract
The present invention provides satellite navigation signals processing method and processing device, computer equipment and storage medium, receiving satellite navigation signals, the satellite navigation signals are pre-processed to obtain baseband signal, and get attitude of carrier information and satellite position information, after direction vector being determined according to the attitude of carrier information and the satellite position information, direction vector can be used to frenulum signal weighting, the Beam synthesis signal with directive property is obtained, so as to which wave beam accurately satellite corresponding to sensing will be strengthened；And then, blocking matrix is constructed according to Beam synthesis signal, block signal is obtained to base band signal weighted using blocking matrix, then using direction vector and block signal as anti-interference input signal, space-time AF panel processing is carried out, in this way, can come in interference to formation null, therefore existing adaptive nulling Anti-Jamming Technique is compared, there is higher interference free performance.
Description
Technical field
The present invention relates to technical field of satellite navigation, more particularly to a kind of satellite navigation signals processing method and processing device, meter
Calculate machine equipment and storage medium.
Background technology
The power of satellite navigation signals in itself is small, and the antijamming capability of signal system is weak, in the NAVIGATION WARFARE ring of electronic countermeasure
Under border, electromagnetic space interference is severe, even in the usually various performance indications for being not intended to interference and also reducing navigator fix and equipping.By
Level of hardware limits, and domestic more array-element antenna interference free performances have reached a bottleneck, simple to rely on conventional spatial domain, sky
When, space-time frequency etc. Anti-interference algorithm can not further improve interference free performance.
Therefore, the anti-interference tool for improving satellite navigation signals is of great significance.
The content of the invention
Based on this, it is necessary to provide a kind of interference free performance high satellite navigation signals processing method and processing device.
A kind of satellite navigation signals processing method, including：
Satellite navigation signals are received, and the satellite navigation signals are pre-processed to obtain baseband signal；
Satellite position information is obtained, and direction vector is determined according to the satellite position information；
Using the direction vector to described base band signal weighted, the Beam synthesis signal with directive property is obtained；
Blocking matrix is constructed according to the direction vector, and obtained using the blocking matrix to described base band signal weighted
To block signal；
Using the Beam synthesis signal and the block signal as anti-interference input signal, carry out at space-time AF panel
Reason, obtain it is anti-interference after output signal.
A kind of satellite navigation signals processing unit, including：
Signal receiving processing module, pre-processed to obtain for receiving satellite navigation signals, and to satellite navigation signals
Baseband signal；
Direction vector determining module, direction is determined for obtaining satellite position information, and according to the satellite position information
Vector；
Beam signal determining module, pointed to for described base band signal weighted, obtaining having using the direction vector
The Beam synthesis signal of property；
Block signal determining module, for constructing blocking matrix according to the direction vector, and use the blocking matrix
To described base band signal weighted, block signal is obtained；
Output signal determining module, for the Beam synthesis signal and the block signal to be believed as anti-interference input
Number, carry out space-time AF panel processing, obtain it is anti-interference after output signal.
A kind of computer equipment, including memory, processor and from being stored on the memory and can be in the processing
The computer program run on device, above-mentioned satellite navigation signals processing is realized described in the computing device during computer program
The step of method.
A kind of computer-readable storage medium, computer program is stored with the computer-readable storage medium, it is characterised in that institute
When stating computer program and being executed by processor, the step of realizing above-mentioned satellite navigation signals processing method.
Above-mentioned satellite navigation signals processing method and processing device, computer equipment and storage medium, receiving satellite navigation letter
Number, the satellite navigation signals are pre-processed to obtain baseband signal, and get attitude of carrier information and satellite position letter
Breath, after determining direction vector according to the attitude of carrier information and the satellite position information, can use direction vector pair
Frenulum signal weighting, the Beam synthesis signal with directive property is obtained, so as to strengthen corresponding to the accurate sensing of wave beam
Satellite；And then blocking matrix is constructed according to Beam synthesis signal, obstruction letter is obtained to base band signal weighted using blocking matrix
Number, then using direction vector and block signal as anti-interference input signal, space-time AF panel processing is carried out, in this way, can be with
Come in interference to formation null, therefore compare existing adaptive nulling Anti-Jamming Technique, there is higher interference free performance.
Brief description of the drawings
Fig. 1 is the flow chart of the satellite navigation signals processing method of an embodiment；
Fig. 2 is the particular flow sheet of a step of Fig. 1 satellite navigation signals processing method；
Fig. 3 is the flow chart of the satellite navigation signals processing method of another embodiment；
Fig. 4 is the particular flow sheet of another step of Fig. 1 or Fig. 3 satellite navigation signals processing method；
Fig. 5 is the structure chart of the satellite navigation signals processing unit of an embodiment；
Fig. 6 is the concrete structure diagram of a module of Fig. 5 satellite navigation signals processing unit；
Fig. 7 is the structure chart of the satellite navigation signals processing unit of another embodiment；
Fig. 8 is the concrete structure diagram of another module of Fig. 5 or Fig. 7 satellite navigation signals processing unit；
Fig. 9 is the schematic diagram of the satellite navigation signals processing unit of a specific embodiment.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more saturating
It is thorough comprehensive.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Referring to Fig. 1, an embodiment of the present invention provides a kind of satellite navigation signals processing method, including：
S110：Satellite navigation signals are received, and satellite navigation signals are pre-processed to obtain baseband signal.
Satellite navigation signals can be received by antenna.Antenna can be more array-element antenna arrays, it is preferred that be further
The interference free performance of satellite navigation signals is improved, the element number of array of more array-element antenna arrays is not less than 4.Pretreatment can include putting
Greatly, filtering, analog down, digital sample quantization, digital quadrature down conversion, digital filtering etc. are handled, and are passed through by radiofrequency signal
Processing obtains intermediate-freuqncy signal and then obtains baseband signal；Pretreatment can also be zero intermediate frequency processing, directly by the satellite of radio frequency
Navigation signal is converted into baseband signal.
S120：Satellite position information is obtained, and direction vector is determined according to satellite position information.
In a wherein specific embodiment, step S120 includes：Attitude of carrier information and satellite position information are obtained, and
Direction vector is determined according to attitude of carrier information and satellite position information.
Wherein, attitude of carrier information can be provided by inertial navigation.Inertial navigation is inertial navigation system (INS, abbreviation inertial navigation).Satellite
Azimuth information can lead offer by defending.Defend and lead as satellite navigation system, be specifically as follows GPS (GPS) or north
The satellite navigation system that struggles against etc..It should be noted that：There is part geo-synchronous orbit satellite in view of Beidou satellite navigation system, arrive
Satellite navigation signals up to ground are relatively weak compared to for GPS, can be obtained more using beam position technology
Big antenna gain, leave bigger signal to noise ratio surplus and meet that AF panel remains demand, therefore, especially suitable for big-dipper satellite
Navigation system.
Can be true according to attitude of carrier information and satellite position information in the case of the attitude of carrier information for thering is inertial navigation to provide
Direction vector is determined, so as to form the wave beam accurately pointed to；, can also root in the case of the attitude of carrier information provided without inertial navigation
Direction vector is determined according to satellite position information, so as to form the wave beam of multiple fixed-directions, whole satellite starry sky is covered, equally may be used
To play a part of strengthening satellite navigation signals.In addition, using the attitude of carrier information and satellite position information of real-time update, can
The wave beam of directive property is formed for each satellite, with reference to Anti-Jamming Technique, multi-beam sensing is anti-interference to be obviously improved antenna
Interference free performance, so as to improve the interference free performance of satellite navigation information.
S130：Using direction vector to base band signal weighted, the Beam synthesis signal with directive property is obtained.
Because direction vector has directive property, therefore, after being weighted by direction vector to baseband signal, can obtain
Beam synthesis signal with directive property.
S140：Blocking matrix is constructed according to direction vector, and using blocking matrix to base band signal weighted, obtains obstruction letter
Number.
It can be orthogonality relation by direction vector and blocking matrix, construct blocking matrix.By blocking matrix to base band
Signal weighting can obtain block signal.
S150：Using Beam synthesis signal and block signal as anti-interference input signal, space-time AF panel processing is carried out,
Obtain it is anti-interference after output signal.
Space-time interference processing can use current mature and stable space-time Anti-interference algorithm, can handle space interference in real time,
Come in interference to the accurate null of generation.
Above-mentioned satellite navigation signals processing method, satellite navigation signals are being received, satellite navigation signals are being pre-processed
Baseband signal is obtained, and gets attitude of carrier information and satellite position information, is believed according to attitude of carrier information and satellite position
After breath determines direction vector, direction vector can be used to obtain having the Beam synthesis of directive property to believe to base band signal weighted
Number, so as to which wave beam accurately satellite corresponding to sensing will be strengthened；And then blocking matrix is constructed according to Beam synthesis signal,
Block signal is obtained to base band signal weighted using blocking matrix, then using direction vector and block signal as anti-interference input
Signal, space-time AF panel processing is carried out, in this way, can come in interference to formation null, therefore compare existing adaptive nulling
Anti-Jamming Technique, there is higher interference free performance.
In one of the embodiments, using direction vector to base band signal weighted, obtain having the wave beam of directive property to close
Formula into signal can be：
Wherein, d (n) is Beam synthesis signal, and it is real part to be represented by d (n)=d_i (n)+d_q (n), i (n), and q (n) is
Imaginary part；M is number of beams corresponding to satellite navigation signals；A (n) is direction vector, ()HRepresent conjugate transposition computing；X (n) is
Baseband signal, it is real part to be represented by x (n)=x_i (n)+x_q (n), i (n), and q (n) is imaginary part；N believes to receive satellite navigation
Number antenna array number.
In one of the embodiments, to base band signal weighted, the formula of block signal is obtained according to using blocking matrix
For：
Wherein,For block signal, it is represented byI (n) is real part, and q (n) is void
Portion；M is number of beams corresponding to satellite navigation signals；B (n) is blocking matrix；X (n) is baseband signal, be represented by x (n)=
X_i (n)+x_q (n), i (n) are real part, and q (n) is imaginary part；N is the array number for the antenna for receiving satellite navigation signals.
In one of the embodiments, the step of blocking matrix being constructed according to direction vector, i.e. step S140, including：
(a) number of beams corresponding to satellite navigation signals, is obtained, and the dimension of direction vector is determined according to number of beams.
Wherein, direction vector can use a (n) to represent, the dimension of direction vector can be expressed as M × 1, and M is satellite navigation signals pair
The number of beams answered, direction vector a (n), a (n)=[a can be expressed as1(n),a2(n),...,aM(n)]T.In formula, ai(n)=
re{ai(n)}+j·im{ai(n) },It is imaginary unit, re { } is to take real part operator, and im { } is to take imaginary-part operator, i=
1,2,…,M。
(b), according to the dimension of direction vector, the dimension of blocking matrix is determined.In a specific embodiment, blocking matrix
B (n) dimension can be defined as (M-1) × M.
(c), it is the dimension of the row vector linear independence i.e. condition of full rank and blocking matrix according to blocking matrix, construction obstruction
Matrix.In a wherein specific embodiment, the expression formula of blocking matrix can be：
Wherein, matrix element bi(n)=re { bi(n)}+j·im{bi}, (n) i=1,2 ..., M-1.
It should be noted that being according to orthogonality relation B (n) a (n)=0 in step (c), it is calculated in matrix B (n)
Each matrix element, so as to try to achieve blocking matrix：
Wherein, | | expression takes modulus of complex number Long operation, and a (n) is direction vector.
Referring to Fig. 2, in one of the embodiments, receiving satellite navigation signals, and satellite navigation signals are carried out pre-
The step of processing obtains baseband signal, i.e. step S110, including：
S211：Satellite navigation signals are received, and satellite navigation signals are amplified and filtering obtains filter and amplification signal.
Preferably, more array-element antenna array received satellite navigation signals can be passed through.Specifically, more array-element antenna arrays can
Thinking includes more array-element antenna arrays of LNA (Low Noise Amplifier, low-noise amplifier).Amplifier can be passed through
Satellite navigation signals are amplified, are filtered by wave filter, finally give filter and amplification signal.
S213：Simulated frequency conversion is carried out to filter and amplification signal, generates analog intermediate frequency signal.
Simulated frequency conversion can be carried out to filter and amplification signal by radio frequency path, then generating intermediate frequency by wave filter simulates
Signal.Wherein, simulated frequency conversion can by single-conversion mode, multiple conversion system, high intermediate frequency mode and Low Medium Frequency mode etc.,
The various ways such as zero intermediate frequency mode are realized.
S215：Analog intermediate frequency signal is sampled and digitized, obtains digitized digital intermediate frequency signal.
Wherein, analog intermediate frequency signal is sampled and digitized, can be accomplished in several ways, such as directly use ADC
(Analog to Digital Converter, A-D converter) chip carries out the scheme of radio frequency sampling, with common ADC+FPGA
The scheme of (Field-Programmable Gate Array, field programmable gate array) chip, with common ADC+ASIC
The scheme of (Application Specific Integrated Circuits, application specific integrated circuit) chip, there is direct use
The scheme that asic chip is realized.
S217：Orthogonal frequency conversion and digital filtering are carried out to digital intermediate frequency signal, obtain baseband signal.
Digital intermediate frequency signal can be carried out by DDC (Digital Down Converter, Digital Down Convert) orthogonal
Frequency conversion and digital filtering, complete conversion of the digital intermediate frequency signal to digital baseband signal.
Referring to Fig. 3, in one of the embodiments, using direction vector and block signal as anti-interference input signal,
Carry out space-time AF panel processing, obtain it is anti-interference after output signal the step of after, i.e. after step S350, in addition to：
S360：Digital Up Convert is carried out to output signal, produces digital medium-frequency signal.
Specifically, can complete to output signals to number by DUC (Digital Up Converter, Digital Up Convert)
The conversion of word intermediate-freuqncy signal.Digital medium-frequency signal is the digital intermediate frequency signal after anti-interference process.
S370：Digital medium-frequency signal is sent to receiver, defended as receiver according to corresponding to being completed digital medium-frequency signal
Star navigation signal selects star to handle.
Receiver complete select star handle include a variety of selection modes to satellite navigation signals.Led as basis receives satellite
The parameters such as carrier-to-noise ratio (CNR), geometrical factor (DOP) value, ephemeris and the text Satellite health status of boat signal, to what is received
Digital medium-frequency signal in each wave beam is contrasted, and selects optimal signal as final output.
In a wherein specific embodiment, DAC (Digital-to-Analog Converter, digital-to-analogue turn can be passed through
Parallel operation), analog if signal is exported, analog if signal is the analog intermediate frequency signal after anti-interference process.So that receive
Machine easily receives the analog if signal of analog signal form.Further, original defend can also be become again by up-conversion
Star navigation signal, realize the purpose that satellite navigation signals are remained while filtering out of interference signal.
Referring to Fig. 4, in one of the embodiments, Beam synthesis signal and block signal are believed as anti-interference input
Number, carry out space-time AF panel processing, obtain it is anti-interference after output signal the step of, including：
S451：Obtain anti-interference weights.
Anti-interference weights can be it is default or according to preparatory condition be iterated renewal after.
S453：Block signal is weighted using anti-interference weights, obtains interference estimate.
The determination formula of interference estimate can be expressed as：
Wherein, W is anti-interference weight matrix, ()HRepresent conjugate transposition；It is M for block signal matrix
The matrix of M block signal composition corresponding to the satellite navigation signals of individual wave beam.
S455：Beam synthesis signal and interference estimate are done into difference operation, obtain it is anti-interference after output signal.
The determination formula of output signal can be expressed as：
Wherein, output signal can be expressed as：E (n)=e_i (n)+e_q (n), i (n) is real part, and q (n) is imaginary part；d
(n) it is Beam synthesis signal；For interference estimate.
Further, the step of obtaining anti-interference weights, i.e. step S415, including：Obtain each ripple of satellite navigation signals
The initial value of anti-interference weights corresponding to beam, and renewal is even more iterated until the absolute value of output signal is put down according to renewal
Side is minimum.
In a wherein specific embodiment, more new formula can be：
Wherein, w (n+1) is next anti-interference weights, and w (n) is current anti-interference weights；For block signal；μ is
One default positive step parameter, for adjusting the renewal rate of anti-interference weights；||(.)||2Represent 2 norm computings；E (n) is
Output signal.Need, the initial value of anti-interference weights could be arranged to 0, or set based on experience value.
In another specific embodiment, more new formula can be：
Wherein, Rx=E { x (n) xH(n) }, rxd=E { x (n) d*(n)}；E () expressions take average computing, and x (n) is that base band is believed
Number, ()HConjugate transposition computing is represented, d (n) is Beam synthesis signal, d*(n) complex conjugate of Beam synthesis signal is represented.
Referring to Fig. 5, the present invention also provides a kind of satellite navigation signals processing unit, including：
Signal receiving processing module 510, for receiving satellite navigation signals, and to satellite navigation signals pre-process
To baseband signal；
Direction vector determining module 520, determine that direction is sweared for obtaining satellite position information, and according to satellite position information
Amount；
Beam signal determining module 530, for base band signal weighted, obtaining the ripple with directive property using direction vector
Beam composite signal；
Block signal determining module 540, for constructing blocking matrix according to direction vector, and using blocking matrix to base band
Signal weighting, obtain block signal；
Output signal determining module 550, for using Beam synthesis signal and block signal as anti-interference input signal, entering
Row space-time AF panel processing, obtain it is anti-interference after output signal.
Above-mentioned satellite navigation signals processing unit, satellite navigation signals are being received, satellite navigation signals are being pre-processed
Baseband signal is obtained, and gets attitude of carrier information and satellite position information, is believed according to attitude of carrier information and satellite position
After breath determines direction vector, direction vector can be used to obtain having the Beam synthesis of directive property to believe to base band signal weighted
Number, so as to which wave beam accurately satellite corresponding to sensing will be strengthened；And then blocking matrix is constructed according to Beam synthesis signal,
Block signal is obtained to base band signal weighted using blocking matrix, then using direction vector and block signal as anti-interference input
Signal, space-time AF panel processing is carried out, in this way, can come in interference to formation null, therefore compare existing adaptive nulling
Anti-Jamming Technique, there is higher interference free performance.
In a wherein embodiment, direction vector determining module 520, for obtaining attitude of carrier information and satellite position letter
Breath, and direction vector is determined according to attitude of carrier information and satellite position information.
Referring to Fig. 6, in one of the embodiments, signal receiving processing module 510, including：
Navigation signal receiving unit 611, it is amplified and filters for receiving satellite navigation signals, and to satellite navigation signals
Ripple obtains filter and amplification signal；
Analog intermediate frequency generation unit 613, for carrying out simulated frequency conversion to filter and amplification signal, generate analog intermediate frequency signal；
Digital intermediate frequency generation unit 615, for being sampled and being digitized to analog intermediate frequency signal, obtain it is digitized in
Frequency data signal；
Baseband signal determining unit 617, for carrying out orthogonal frequency conversion and digital filtering to digital intermediate frequency signal, obtain base band
Signal.
Referring to Fig. 7, in a wherein embodiment, in addition to：
Digital Up Convert module 760, for carrying out Digital Up Convert to output signal, produce digital medium-frequency signal；
Data signal sending module 770, for digital medium-frequency signal to be sent to receiver, by receiver according in numeral
Satellite navigation signals selects star to handle corresponding to the completion of frequency signal.
In a wherein embodiment, using direction vector to base band signal weighted, the Beam synthesis with directive property is obtained
The formula of signal is：
Wherein, d (n) is Beam synthesis signal, and M is number of beams corresponding to satellite navigation signals；A (n) is direction vector,
(.)HRepresent conjugate transposition computing；X (n) is baseband signal, and N is the array number for the antenna for receiving satellite navigation signals；
In a wherein embodiment, according to using blocking matrix, to base band signal weighted, the formula for obtaining block signal is：
Wherein,For block signal, M is number of beams corresponding to satellite navigation signals；B (n) is blocking matrix；x(n)
For baseband signal, N is the array number for the antenna for receiving satellite navigation signals.
Referring to Fig. 8, in a wherein embodiment, output signal determining module 550, including：
Weights acquiring unit 851 is disturbed, for obtaining anti-interference weights；
Interference Estimation determining unit 853, for being weighted using anti-interference weights to block signal, obtain interference estimate；
Output signal determining unit 855, for Beam synthesis signal and interference estimate to be done into difference operation, obtain anti-interference
Output signal afterwards.
In a wherein embodiment, interference weights acquiring unit 851, each wave beam for obtaining satellite navigation signals corresponds to
Anti-interference weights initial value, and according to renewal be even more be iterated renewal until output signal absolute value square most
It is small.More new formula is：
Wherein, w (n+1) is next anti-interference weights, and w (n) is current anti-interference weights；For block signal；μ is
One default positive step parameter, for adjusting the renewal rate of anti-interference weights；E () represents to take average computing；|(.)|2Represent
Take absolute value square operation, | | () | |2Represent 2 norm computings；E (n) is output signal.
In a wherein specific embodiment, referring to Fig. 9, in signal receiving processing module 510, navigation signal receiving unit
611 pass through more array-element antenna array received satellite navigation signals including N number of array element；Analog intermediate frequency generation unit 613 is by penetrating
Frequency path carries out simulated frequency conversion to filter and amplification signal, then generates analog intermediate frequency signal by wave filter；Digital intermediate frequency generates
Unit 615 carries out simulated frequency conversion by A/D (analog-to-digital conversion) to filter and amplification signal, generates analog intermediate frequency signal；Baseband signal
Determining unit 617 carries out positive alternation by DDC (Digital Down Converter, Digital Down Convert) to digital intermediate frequency signal
Frequency and digital filtering, complete conversion of the digital intermediate frequency signal to digital baseband signal.Direction vector determining module 520, by used
Lead and obtain attitude of carrier information, acquisition satellite position information is led by defending, and then believed according to attitude of carrier information and satellite position
Breath determines direction vector；Beam signal determining module 530, using direction vector to base band signal weighted, obtain with directive property
Beam synthesis signal；Block signal determining module 540, blocking matrix is constructed according to direction vector, and use blocking matrix pair
It is base band signal weighted, obtain block signal；Output signal determining module 550, using Beam synthesis signal and block signal as anti-
Exogenous disturbances signal, carries out space-time AF panel processing, i.e. space-time anti-interference process, obtain it is anti-interference after output signal.Number
Word up-converter module 760, the conversion to outputting signals to digital medium-frequency signal is completed by DUC, produces digital medium-frequency signal；Number
Word signal transmitting module 770, mould can be exported by DAC (Digital-to-Analog Converter, digital analog converter)
Intend intermediate-freuqncy signal, analog if signal is sent to receiver, so that receiver easily receives analog signal form
Analog intermediate frequency signal after anti-interference process.Further, original satellite navigation signals can also be become again by up-conversion, it is real
The purpose that satellite navigation signals are remained while filtering out of existing interference signal.Can be complete according to digital medium-frequency signal by receiver
Star is selected to handle into corresponding satellite navigation signals.
The present invention also provides a kind of computer equipment, including memory, processor and from being stored on the memory simultaneously
The computer program that can be run on the processor, above-mentioned satellite is realized described in the computing device during computer program
The step of navigation signal processing method.
A kind of computer-readable storage medium, computer program is stored with the computer-readable storage medium, it is characterised in that institute
When stating computer program and being executed by processor, the step of realizing above-mentioned satellite navigation signals processing method.
Because said apparatus, computer equipment and computer-readable storage medium are mutually corresponding with the above method, for device, meter
Details technical characteristic corresponding with method in machine equipment and computer-readable storage medium is calculated, therefore not to repeat here.
Above example only expresses the several embodiments of the present invention, and its description is more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, multiple modification and improvement can also be made, these belong to the protection model of the present invention
Enclose.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. satellite navigation signals processing method, it is characterised in that including：Satellite navigation signals are received, and the satellite navigation signals are pre-processed to obtain baseband signal；Satellite position information is obtained, and direction vector is determined according to the satellite position information；Using the direction vector to described base band signal weighted, the Beam synthesis signal with directive property is obtained；Blocking matrix is constructed according to the direction vector, and hindered using the blocking matrix to described base band signal weighted Fill in signal；Using the Beam synthesis signal and the block signal as anti-interference input signal, space-time AF panel processing is carried out, Obtain it is anti-interference after output signal.
- 2. satellite navigation signals processing method according to claim 1, it is characterised in that the acquisition satellite position letter The step of ceasing, and direction vector determined according to the satellite position information, including：Attitude of carrier information and satellite position information are obtained, and it is true according to the attitude of carrier information and the satellite position information Determine direction vector.
- 3. satellite navigation signals processing method according to claim 1, it is characterised in that the reception satellite navigation letter Number, and the step of pre-processed to obtain baseband signal to the satellite navigation signals, including：Satellite navigation signals are received, and the satellite navigation signals are amplified and filtering obtains filter and amplification signal；Simulated frequency conversion is carried out to the filter and amplification signal, generates analog intermediate frequency signal；The analog intermediate frequency signal is sampled and digitized, obtains digitized digital intermediate frequency signal；Orthogonal frequency conversion and digital filtering are carried out to the digital intermediate frequency signal, obtain baseband signal.
- 4. satellite navigation signals processing method according to claim 1, it is characterised in that it is described by the direction vector and The block signal carries out space-time AF panel processing as anti-interference input signal, obtain it is anti-interference after output signal After step, in addition to：Digital Up Convert is carried out to the output signal, produces digital medium-frequency signal；The digital medium-frequency signal is sent to receiver, as the receiver according to corresponding to being completed the digital medium-frequency signal The satellite navigation signals select star to handle.
- 5. satellite navigation signals processing method according to claim 1, it is characterised in that described to use the direction vector To described base band signal weighted, the formula for the Beam synthesis signal for obtaining having directive property is：<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>...</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mi>M</mi> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msubsup> <mi>a</mi> <mn>1</mn> <mi>H</mi> </msubsup> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msubsup> <mi>a</mi> <mn>2</mn> <mi>H</mi> </msubsup> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>...</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <msubsup> <mi>a</mi> <mi>M</mi> <mi>H</mi> </msubsup> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>...</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mi>N</mi> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>Wherein, d (n) is the Beam synthesis signal, and M is number of beams corresponding to the satellite navigation signals；A (n) is described Direction vector, ()HRepresent conjugate transposition computing；X (n) is the baseband signal, and N is the day for receiving the satellite navigation signals The array number of line；It is described according to it is described using the blocking matrix to described base band signal weighted, the formula for obtaining block signal is：<mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mover> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>...</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <msub> <mi>x</mi> <mi>M</mi> </msub> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mi>B</mi> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>...</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mi>N</mi> </msub> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>Wherein,For the block signal, M is number of beams corresponding to the satellite navigation signals；B (n) is the obstruction square Battle array；X (n) is the baseband signal, and N is the array number for the antenna for receiving the satellite navigation signals.
- 6. satellite navigation signals processing method according to claim 1, it is characterised in that described to believe the Beam synthesis Number and the block signal as anti-interference input signal, carry out space-time AF panel processing, obtain it is anti-interference after output letter Number the step of, including：Obtain anti-interference weights；The block signal is weighted using anti-interference weights, obtains interference estimate；The Beam synthesis signal and the interference estimate are done into difference operation, obtain it is anti-interference after output signal.
- 7. satellite navigation signals processing method according to claim 6, it is characterised in that the anti-interference weights of acquisition Step, including：The initial value of anti-interference weights corresponding to each wave beam of the satellite navigation signals is obtained, and is even more to be changed according to renewal Generation renewal is until square minimum of the absolute value of the output signal；The more new formula is：<mrow> <mi>w</mi> <mrow> <mo>(</mo> <mi>n</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>=</mo> <mi>w</mi> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mi>&mu;</mi> <mrow> <mo>|</mo> <mo>|</mo> <mover> <mi>x</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>|</mo> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mfrac> <mo>&lsqb;</mo> <mi>e</mi> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mover> <mi>x</mi> <mo>^</mo> </mover> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>&rsqb;</mo> <mo>;</mo> </mrow>Wherein, w (n+1) is next anti-interference weights, and w (n) is current anti-interference weights；For the block signal；μ is One default positive step parameter, for adjusting the renewal rate of anti-interference weights；E () represents to take average computing；|(.)|2Represent Take absolute value square operation, | | () | |2Represent 2 norm computings；E (n) is the output signal.
- A kind of 8. satellite navigation signals processing unit, it is characterised in that including：Signal receiving processing module, for receiving satellite navigation signals, and satellite navigation signals are pre-processed to obtain base band Signal；Direction vector determining module, direction vector is determined for obtaining satellite position information, and according to the satellite position information；Beam signal determining module, for described base band signal weighted, obtaining that there is directive property using the direction vector Beam synthesis signal；Block signal determining module, for constructing blocking matrix according to the direction vector, and using the blocking matrix to institute State base band signal weighted, obtain block signal；Output signal determining module, for using the Beam synthesis signal and the block signal as anti-interference input signal, Carry out space-time AF panel processing, obtain it is anti-interference after output signal.
- 9. a kind of computer equipment, including memory, processor and from being stored on the memory and can be in the processor The computer program of upper operation, it is characterised in that realize that claim 1-7 appoints described in the computing device during computer program Meaning one described in satellite navigation signals processing method the step of.
- 10. a kind of computer-readable storage medium, computer program is stored with the computer-readable storage medium, it is characterised in that institute When stating computer program and being executed by processor, the satellite navigation signals processing method described in claim 1-7 any one is realized The step of.
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