CN107656296A - Satellite navigation array acceptor carrier phase deviation compensation method - Google Patents
Satellite navigation array acceptor carrier phase deviation compensation method Download PDFInfo
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- CN107656296A CN107656296A CN201710653694.2A CN201710653694A CN107656296A CN 107656296 A CN107656296 A CN 107656296A CN 201710653694 A CN201710653694 A CN 201710653694A CN 107656296 A CN107656296 A CN 107656296A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of satellite navigation array acceptor carrier phase deviation compensation method, comprise the following steps：The N roads radiofrequency signal of antenna array receiver is converted into N roads zero intermediate frequency data signal, estimate the autocorrelation matrix of N roads zero intermediate frequency data signal, calculate the initial weight vectors of aerial array, estimate the carrier phase deviation that ARRAY PROCESSING introduces, phase compensation is carried out to initial weight vectors, and carries out airspace filter and handles to obtain final array output.This method can utilize ARRAY PROCESSING to suppress interference, improve robustness of the receiving device under complex electromagnetic environment, and and can reduces the carrier phase deviation that array anti-interference process introduces, and improves the measurement accuracy of receiving device.
Description
Technical field
The invention belongs to technical field of satellite navigation, and in particular to a kind of satellite navigation array acceptor carrier phase deviation
Compensation method.
Background technology
Satellite navigation system is a kind of space base radio navigation system, and it can be that ground, aerial, even middle low orbit are defended
Star user provides three-dimensional position and temporal information, has the advantages that covering is wide, high-precision, round-the-clock.At present, satellite navigation is wide
General to be applied to military and civilian field, at civilian aspect, satellite navigation has been used for being to include the users such as pedestrian, automobile, aircraft to carry
For location navigation, provided for measurement property applications such as earthquake prediction, marine exploration, the earth mapping, engineering survey and agricultural managements
Service.In military domain, satellite navigation can assist in the weapons such as opportunity of combat, naval vessels, guided missile and carry out precision strike, play weapon dress
The role of standby performance " multiplier ".
On the other hand, because satellite distance ground is very remote, satellite-signal ten that satellite navigation receiving equipment receives
Point faint, also lower 20-30dB than noise, this causes satellite-signal to be highly susceptible to the various intentionally and unintentionally shadows of interference signal
Ring.Interference signal can cause the measurement accuracy of satellite navigation receiving equipment to decline, or even completely can not normal work.Based on antenna
The spatial domain anti-interference method of array is current maximally effective interference protection measure, and relative to time domain and solution in frequency domain, it is suppressing
There is unique advantage in terms of broadband interference.Therefore satellite navigation receiving equipment especially military equipment high-end at present is adopted mostly
Suppress to disturb with antenna array technology.
Satellite navigation array acceptor possesses extremely strong antijamming capability, can especially disturb ring in complex electromagnetic environment
Normal work under border.When satellite-signal is when coming to known to information, array acceptor can form null in interference radiating way and suppress
Interference, and can form wave beam enhancing signal in satellite direction.Generally, because satellite-signal is very faint, satellite-signal
Be difficult to obtain to information, array acceptor is formed by adaptive nulling and suppresses interference, but can not be formed in satellite direction
Wave beam.Although adaptive nulling, which is formed, possesses prominent interference rejection capability, satellite-signal distortion is will also result in simultaneously, is introduced
Carrier phase deviation.Carrier phase deviation can cause receiver measurement accuracy to deteriorate, or even make carrier tracking loop losing lock, it is impossible to full
Sufficient high-precision applications demand.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of compensation of satellite navigation array acceptor carrier phase deviation
Method.
The present invention solve the above problems use technical scheme it is as follows：
A kind of satellite navigation array acceptor carrier phase deviation compensation method, comprises the steps：
S1, by N members antenna array receiver to N roads radiofrequency signal carrying out respectively analog down, A/D conversion and numeral just
Down coversion is handed over to obtain N roads zero intermediate frequency data signal, wherein, N >=2；
S2, estimation N roads zero intermediate frequency data signal autocorrelation matrix Rxx；
S3, the initial weight vectors w for calculating aerial array：
Wherein,Represent autocorrelation matrix RxxInverse matrix, c=[1,0 ..., 0]TIt is 1 remaining member for first element
Element is 0 N-dimensional column vector；
S4, estimation space albefaction output vector cross-correlation matrix, and calculate its principal eigenvector vs；
The carrier phase deviation α that S5, estimation ARRAY PROCESSING introduce：
α=∠ wHvs
Wherein, vsFor cross-correlation matrix Z principal eigenvector, ∠ () represents to take phase operation to plural number；
S6, phase compensation is carried out to initial weight vectors, and carry out airspace filter and handle to obtain final array output.
Further, the autocorrelation matrix RxxCalculated using block algorithm for estimating,
Wherein, T0For block length；X (t)=[x1(t), x2..., x (t)N(t)]TFor the N roads zero intermediate frequency obtained in step S1
Data signal, xi(t) it is zero intermediate frequency data signal corresponding to array element i, i=1,2 ..., N；(·)HRepresent conjugate transposition.
The cross-correlation matrix Z is calculated using block algorithm for estimating,
Wherein, T0For block length；For the Spatial whitening output vector of N roads zero intermediate frequency data signal, x (t)=
[x1(t), x2..., x (t)N(t)]TFor the N roads zero intermediate frequency data signal obtained in step S1, xi(t) zero corresponding to array element i
Digital intermediate frequency signal, i=1,2 ..., N；(·)HConjugate transposition is represented, T is the cycle of satellite navigation people's code signal.
The beneficial effect of satellite navigation array acceptor carrier phase deviation compensation method provided by the invention is：This method
ARRAY PROCESSING can be utilized to suppress interference, improve robustness of the receiving device under complex electromagnetic environment；And can is believed using navigation
The periodicity of number people's code extracts signal space characteristic from noise, anti-interference so as to estimate and reduce array by compensating
The carrier phase deviation introduced is handled, improves the measurement accuracy of receiving device.
Brief description of the drawings
Fig. 1 is the principle flow chart of satellite navigation array acceptor carrier phase deviation compensation method of the present invention；
Fig. 2 is the array gain directional diagram obtained by the inventive method；
Fig. 3 is the carrier phase deviation comparison diagram by introducing when the present invention and conventional method progress anti-interference process.
Embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect are more clearly understood, below in conjunction with the accompanying drawings and implement
Example, the present invention will be described in further detail.It should be noted that specific embodiment described herein is only explaining this hair
It is bright, it is not intended to limit the present invention.
Satellite navigation array acceptor carrier phase deviation compensation method provided by the invention, as shown in figure 1, including following
Step：
Step S1, analog down, A/D conversion and numeral are carried out respectively to the N roads radiofrequency signal of N member antenna array receivers
Quadrature frequency conversion, generation N road zero intermediate frequency data signal xi(t), wherein, N >=2, i=1,2 ..., N.The step is satellite navigation
The common knowledge in field.
The autocorrelation matrix of step S2, estimation N road zero intermediate frequency data signal.
Autocorrelation matrix RxxIt is defined as：
Rxx=E [x (t) xH(t)]
Wherein, x (t)=[x1(t), x2..., x (t)N(t)]TIt is N for the zero intermediate frequency data signal obtained in step S1
Dimensional vector, xi(t) zero intermediate frequency data signal corresponding to array element i, i=1,2 ..., N are represented；Autocorrelation matrix RxxIt is a N
× N matrix, E [] represents to take average operation, () in formulaHRepresent conjugate transposition, ()TRepresent transposition.
Autocorrelation matrix RxxCan not directly it be asked for by definition, it can be calculated by known algorithm for estimating, typically be passed through
Block algorithm for estimating or Iterative Method are estimated.By taking block algorithm for estimating as an example, it is assumed that estimate that block length used is T0, then
Autocorrelation matrix can be estimated by following formula：
Step S3, calculate initial weight vectors.Inversion calculation is carried out to the step S2 autocorrelation matrixes for estimating to obtain, and pressed
Power-inversion algorithm calculates the initial weight vectors w of aerial array：
Wherein, w=[w1, w2..., wN]TIt is N-dimensional column vector for initial weight vectors, wiRepresent to weigh corresponding to array element i
Value, i=1,2 ..., N；Represent autocorrelation matrix RxxInverse matrix, c=[1,0 ..., 0]TFor first element be 1 its
Remaining element is 0 N-dimensional column vector.
Step S4, the carrier phase deviation introduced using the periodicity estimation ARRAY PROCESSING of people's code signal.
Spatial whitening processing is carried out to N roads zero intermediate frequency data signal first：
Wherein,It is a N-dimensional column vector for Spatial whitening output vector.
Then, estimation space albefaction output vectorCross-correlation matrix, and calculate its principal eigenvector.It is Spatial whitening
Output vectorCross-correlation matrix Z be：
Wherein, T is the cycle of satellite navigation people's code signal, such as is 1ms for GPS C/A codes T.By Spatial whitening place
After reason, disturb and be inhibited because its power is better than signal and noise, but now signal power, can not still less than noise power
Direct estimation goes out the carrier phase deviation of ARRAY PROCESSING introducing.People's code signal has the signal that T is periodically differed in time interval
Between have a strong correlation, and the noise between time interval difference T is uncorrelated, therefore can improve noise by cross correlation process
Than so as to successfully extract signal space characteristic.
Cross-correlation matrix Z can not directly be asked for by definition, typically be carried out by block algorithm for estimating or Iterative Method
Estimation, by taking block algorithm for estimating as an example, it is assumed that estimate that block length used is T0, then cross-correlation matrix can be estimated by following formula
Meter：
Further, the carrier phase deviation α that ARRAY PROCESSING introduces is estimated as the following formula：
α=∠ wHvs
Wherein, vsFor cross-correlation matrix Z principal eigenvector, principal eigenvector vsAll spatial characters of signal are contained,
Known method can be used to calculate；∠ () represents to take phase operation to plural number.
Step S5, phase compensation is carried out to initial weight vectors, and carry out airspace filter handle to obtain final array it is defeated
Go out.Weight vectors after phase compensation are represented by：
In formula,It is N-dimensional column vector for the weight vectors after phase compensation.J is imaginary part.
The process of airspace filter processing is represented by：
Wherein, y (t) is final array output signal.
Fig. 2 gives the array gain directional diagram obtained by the inventive method, and in the present embodiment, emulation experiment uses
Aerial array be four array element uniform circular arrays, circle battle array radius be half-wavelength.Satellite navigation receiving equipment is GPS, and
Started working from the 0.5s moment, a mono-tone interference, jamming-to-signal ratio 60dB are opened at the 1s moment, incident direction is the angle of pitch 5
Degree, 220 degree of azimuth.A Gauss broadband interference, jamming-to-signal ratio 60dB are then turned at the 1.3s moment, incident direction is pitching
10 degree of angle, 150 degree of azimuth.Two interference are closed respectively at 1.5s the and 1.8s moment, for simulating the change of interference scene.Figure
2 array gain directional diagram is to obtain at the 1.4s moment, and now two interference are in opening, figure it is seen that
The present invention has been respectively formed deeper null to suppress to disturb in two interference radiating way.
Fig. 3 compared for the carrier phase deviation by introducing when the present invention and conventional method progress anti-interference process, from figure
It can be seen that when with conventional process, the carrier phase deviation of satellite-signal is not zero, and with the change of interference scene
(as interference is turned on and off) and violent saltus step, and when being handled with the inventive method, the carrier phase deviation of satellite-signal is maximum
No more than 3 degree, and the change to interference scene is insensitive.
Embodiments of the present invention are explained in detail above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Mode, in one skilled in the relevant art's possessed knowledge, the various change that present inventive concept is made is not departed from,
Still fall in protection scope of the present invention.
Claims (3)
1. a kind of satellite navigation array acceptor carrier phase deviation compensation method, it is characterised in that comprise the following steps：
S1, by N members antenna array receiver to N roads radiofrequency signal carry out respectively analog down, A/D conversion and digital quadrature under
Frequency conversion obtains N roads zero intermediate frequency data signal, wherein, N >=2；
S2, estimation N roads zero intermediate frequency data signal autocorrelation matrix Rxx；
S3, the initial weight vectors w for calculating aerial array：
<mrow>
<mi>w</mi>
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<mi>x</mi>
<mi>x</mi>
</mrow>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mi>c</mi>
</mrow>
Wherein,Represent autocorrelation matrix RxxInverse matrix, c=[1,0 ..., 0]TIt is that 1 remaining element is 0 for first element
N-dimensional column vector；
S4, estimation space albefaction output vector cross-correlation matrix, and calculate its principal eigenvector vs；
The carrier phase deviation α that S5, estimation ARRAY PROCESSING introduce：
α=∠ wHvs
Wherein, vsFor cross-correlation matrix Z principal eigenvector, ∠ () represents to take phase operation to plural number；
S6, phase compensation is carried out to initial weight vectors, and carry out airspace filter and handle to obtain final array output.
2. satellite navigation array acceptor carrier phase deviation compensation method as claimed in claim 1, it is characterised in that described
Autocorrelation matrix RxxCalculated using block algorithm for estimating,
<mrow>
<msub>
<mi>R</mi>
<mrow>
<mi>x</mi>
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</mrow>
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<mn>1</mn>
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<mi>T</mi>
<mn>0</mn>
</msub>
</mfrac>
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<mo>&Integral;</mo>
<mi>t</mi>
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<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
Wherein, T0For block length；X (t)=[x1(t), x2..., x (t)N(t)]TFor the N roads zero intermediate frequency numeral obtained in step S1
Signal, xi(t) it is zero intermediate frequency data signal corresponding to array element i, i=1,2 ..., N；(·)HRepresent conjugate transposition.
3. satellite navigation array acceptor carrier phase deviation compensation method as claimed in claim 1, it is characterised in that described
Cross-correlation matrix Z is calculated using block algorithm for estimating,
<mrow>
<mi>Z</mi>
<mo>=</mo>
<mfrac>
<mn>1</mn>
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Wherein, T0For block length；For the Spatial whitening output vector of N roads zero intermediate frequency data signal, x (t)=[x1
(t), x2..., x (t)N(t)]TFor the N roads zero intermediate frequency data signal obtained in step S1, xi(t) in zero corresponding to array element i
Frequency data signal, i=1,2 ..., N；(·)HConjugate transposition is represented, T is the cycle of satellite navigation people's code signal.
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Cited By (3)
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| CN112240957A (en) * | 2020-10-23 | 2021-01-19 | 北京云恒科技研究院有限公司 | Antenna amplitude and phase characteristic correction method in satellite navigation interference direction finding |
| CN113835107A (en) * | 2021-09-22 | 2021-12-24 | 深圳大学 | Signal processing method and device of array satellite navigation receiver and intelligent terminal |
| CN117452442A (en) * | 2023-12-21 | 2024-01-26 | 中国人民解放军国防科技大学 | High-precision satellite navigation anti-interference method based on space-frequency self-adaptive processing |
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Cited By (6)
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| CN112240957A (en) * | 2020-10-23 | 2021-01-19 | 北京云恒科技研究院有限公司 | Antenna amplitude and phase characteristic correction method in satellite navigation interference direction finding |
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| CN113835107B (en) * | 2021-09-22 | 2023-09-29 | 深圳大学 | Signal processing method and device of array satellite navigation receiver and intelligent terminal |
| CN117452442A (en) * | 2023-12-21 | 2024-01-26 | 中国人民解放军国防科技大学 | High-precision satellite navigation anti-interference method based on space-frequency self-adaptive processing |
| CN117452442B (en) * | 2023-12-21 | 2024-04-05 | 中国人民解放军国防科技大学 | High-precision satellite navigation anti-interference method based on space-frequency self-adaptive processing |
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