CN107907891B - Space-frequency anti-interference method in satellite navigation application system and application system - Google Patents
Space-frequency anti-interference method in satellite navigation application system and application system Download PDFInfo
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- CN107907891B CN107907891B CN201711134806.XA CN201711134806A CN107907891B CN 107907891 B CN107907891 B CN 107907891B CN 201711134806 A CN201711134806 A CN 201711134806A CN 107907891 B CN107907891 B CN 107907891B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
The invention relates to a space frequency anti-interference method and an application system in a satellite navigation application system.A narrow-band filtering module is added behind an anti-interference filtering processing module of each frequency point and in front of an inverse Fourier transform module, so that the problem that the anti-multi-narrow-band interference in the conventional space frequency anti-interference algorithm cannot be filtered out is solved; the whole process of the invention can be integrated in FPGA to be realized, which is beneficial to the miniaturization design of the device; the method is suitable for satellite navigation equipment in military fields such as missiles, bombs, airplanes and ships and has strong practicability.
Description
Technical Field
The invention relates to a space-frequency anti-interference method and an application system in a satellite navigation application system, and belongs to the technical field of satellite navigation.
Background
Satellite technology plays an increasingly important role in modern life, but because satellite navigation signals are extremely weak (-130dBm), equipment is very easy to be interfered by various nature or man-made factors and cannot work, and therefore the anti-interference capability of a satellite navigation system needs to be improved by introducing an array antenna anti-interference technology.
The interference types include narrow band, broadband, frequency sweep and pulse signals, the interference number includes single interference and multi-interference, filtering is generally performed in a space-time/frequency domain combined mode in order to improve the performance of resisting broadband interference and multi-interference, a common algorithm is a space-time combined anti-interference algorithm and a space-frequency combined anti-interference algorithm, and the space-time combined anti-interference algorithm is large in calculation amount and difficult to realize in actual engineering, so that the space-frequency combined anti-interference algorithm is used most in actual.
The space-frequency adaptive navigation anti-interference algorithm provided in the literature, namely the space-frequency adaptive processing algorithm for inhibiting the GPS radio frequency interference, has the advantages that the time freedom is greatly improved under the condition of being capable of receiving hardware resources, and the broadband interference and multi-interference resisting capability can be improved, so that the space-frequency adaptive navigation anti-interference algorithm is widely applied. The general space-frequency anti-interference algorithm generally comprises six steps of sampling/caching, windowing, DFT, anti-interference filtering processing of each frequency point, IDFT and anti-windowing processing, however, the method has the problem that multiple narrow-band interference cannot be filtered in practice.
Disclosure of Invention
The invention aims to solve the technical problem of providing an air frequency anti-interference method in a satellite navigation application system, which can effectively eliminate the problem that multi-narrow-band interference resistance cannot be filtered.
The invention adopts the following technical scheme for solving the technical problems: the invention designs an air frequency anti-interference method in a satellite navigation application system, which is used for realizing air frequency anti-interference processing aiming at an intermediate frequency analog signal which is received by an array antenna and output by a radio frequency module; the method comprises the following steps:
a, sampling an intermediate frequency analog signal, and processing to obtain digital signal data of each channel, which respectively correspond to each communication channel and have the same data length with each other;
b, respectively aiming at each channel digital signal data, carrying out windowing processing on each data in the channel digital signal data based on the data length of the channel digital signal data, and updating each channel digital signal data;
c, respectively carrying out Fourier transform operation on each channel digital signal data after windowing processing and each window data in the channel digital signal data, and updating each channel digital signal data;
d, respectively carrying out frequency point anti-interference filtering processing on each frequency point data in the channel digital signal data aiming at each channel digital signal data after being processed and updated by Fourier transform operation, and updating each channel digital signal data;
step E, respectively carrying out narrowband filtering processing and updating on each channel digital signal data after being subjected to the frequency point anti-interference filtering processing and updating, based on a narrowband filtering threshold value, and then updating each channel digital signal data;
f, respectively carrying out inverse Fourier transform operation on each window data in the channel digital signal data aiming at each channel digital signal data which is updated by narrow-band filtering processing, and updating each channel digital signal data;
and G, respectively carrying out reverse window adding processing on each window data in the channel digital signal data aiming at each channel digital signal data after being processed and updated by the inverse Fourier transform operation, and updating each channel digital signal data.
As a preferred technical scheme of the invention: in the step A, analog-to-digital sampling is performed on the intermediate-frequency analog signal.
As a preferred technical scheme of the invention: in the step a, after sampling the intermediate frequency analog signal, digital quadrature difference processing is performed to obtain digital signal data of each channel respectively corresponding to each communication channel and having the same data length.
As a preferred technical scheme of the invention: in the step E, for each channel digital signal data updated by the frequency point anti-interference filtering, and for each frequency point data in the channel digital signal data, first, the sum of squares of each frequency point data is obtained
N is 1, …, N represents the data length in the channel digital signal data, y (N) represents the nth frequency point data in the channel digital signal data; then, based on the data length N in the channel digital signal data, calculating
And as a result, the narrowband filtering threshold M corresponding to the channel digital signal data is obtained, and then the narrowband filtering threshold M corresponding to each channel digital signal data after being updated by the frequency point anti-interference filtering processing is obtained.
As a preferred technical scheme of the invention: in the step E, for each channel digital signal data updated by the frequency point anti-interference filtering processing, and for each frequency point data y (n) in the channel digital signal data, based on the narrow-band filtering threshold M corresponding to the channel digital signal data, if y is y2(n) is greater than M, then zero setting operation is performed for y (n); if y2And (n) is not more than M, then the operation is not performed for y (n), and thus, the narrowband filtering processing updating is performed for each frequency point data in the channel digital signal data, and further, each channel digital signal data is updated.
Compared with the prior art, the air frequency anti-interference method in the satellite navigation application system has the following technical effects by adopting the technical scheme: according to the air frequency anti-interference method in the satellite navigation application system, the problem that multiple narrow-band interference resistance cannot be filtered out in the existing air frequency anti-interference algorithm can be solved by adding the narrow-band filtering step to the anti-interference filtered data; the whole process designed by the invention can be integrated in the FPGA, thereby being beneficial to the miniaturization design of the device; the method is suitable for satellite navigation equipment in military fields such as missiles, bombs, airplanes and ships and has strong practicability.
Correspondingly, the technical problem to be solved by the invention is to provide an application system of a space-frequency anti-interference method in a satellite navigation application system, which can effectively eliminate the problem that multi-narrow-band interference resistance cannot be filtered.
The invention adopts the following technical scheme for solving the technical problems: the invention designs an application system of a space-frequency anti-interference method in a satellite navigation application system, which is used for realizing space-frequency anti-interference processing aiming at intermediate-frequency analog signals which are received by an array antenna and output by a radio frequency module; the system comprises a sampling processing module, a windowing processing module, a Fourier transform module, an anti-interference filtering processing module of each frequency point, a narrow-band filtering module, an inverse Fourier transform module and an inverse windowing processing module;
the sampling processing module is used for sampling the intermediate frequency analog signal and processing the intermediate frequency analog signal to obtain digital signal data of each channel, which respectively correspond to each communication channel and have the same data length;
the windowing processing module is used for respectively carrying out windowing processing on each data in the channel digital signal data according to the data length of the channel digital signal data and updating each channel digital signal data;
the Fourier transform module is used for respectively carrying out Fourier transform operation on each channel digital signal data which is processed and updated by the windowing processing module and each window data in the channel digital signal data, and updating each channel digital signal data;
each frequency point anti-interference filtering processing module is used for respectively carrying out frequency point anti-interference filtering processing on each channel digital signal data after being processed and updated by the Fourier transform module and each frequency point data in the channel digital signal data, and updating each channel digital signal data;
the narrow-band filtering module is used for respectively carrying out narrow-band filtering processing updating on each frequency point data in the channel digital signal data according to each channel digital signal data processed and updated by each frequency point anti-interference filtering processing module based on a narrow-band filtering threshold value so as to update each channel digital signal data;
the inverse Fourier transform module is used for respectively carrying out inverse Fourier transform operation on each channel digital signal data which is processed and updated by the narrow-band filtering module and each window data in the channel digital signal data, and updating each channel digital signal data;
and the reverse windowing processing module is used for respectively carrying out reverse windowing processing on each channel digital signal data after being processed and updated by the inverse Fourier transform module and each window data in the channel digital signal data, and updating each channel digital signal data.
As a preferred technical scheme of the invention: the sampling processing module comprises an analog-digital sampling module, and the analog-digital sampling module is used for sampling the intermediate-frequency analog signals.
As a preferred technical scheme of the invention: the sampling processing module also comprises a digital orthogonal difference processing module, and after sampling is carried out on the frequency analog signals, the digital orthogonal difference processing module is adopted to carry out processing to obtain digital signal data of each channel, which respectively correspond to each communication channel and have the same data length.
Compared with the prior art, the application system of the space-frequency anti-interference method in the satellite navigation application system has the following technical effects by adopting the technical scheme: according to the application system of the space-frequency anti-interference method in the satellite navigation application system, the narrow-band filtering module is added behind the anti-interference filtering processing module of each frequency point and in front of the inverse Fourier transform module, so that the problem that the anti-multi-narrow-band interference in the conventional space-frequency anti-interference algorithm cannot be filtered can be solved; the whole process of the invention can be integrated in FPGA to be realized, which is beneficial to the miniaturization design of the device; the method is suitable for satellite navigation equipment in military fields such as missiles, bombs, airplanes and ships and has strong practicability.
Drawings
FIG. 1 is a block diagram of a conventional space-frequency anti-interference algorithm;
FIG. 2 is a schematic diagram of a space-frequency anti-interference method in a satellite navigation application system according to the present invention;
FIG. 3 is a schematic diagram illustrating narrow band filtering threshold calculation without interference in the design of the present invention;
FIG. 4 is a schematic flow chart of steps E to G of the present invention;
FIG. 5 is a frequency spectrum diagram after filtering by a conventional space-frequency anti-interference algorithm;
FIG. 6 is a diagram of the prior art after filtering by the space-frequency anti-interference algorithm;
FIG. 7 is a graph of the filtered spectrum of the space-frequency anti-interference algorithm of the present invention;
FIG. 8 is a diagram of the filtered acquisition of the space-frequency anti-interference algorithm of the present invention.
Detailed Description
The following description will explain embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1, a block diagram of an existing space-frequency anti-interference algorithm is given, in which a space-frequency anti-interference processing algorithm is behind a radio frequency front end, a signal received by an array antenna outputs an intermediate-frequency analog signal through a radio frequency module, a digital signal is obtained through AD sampling, and then the anti-interference algorithm is processed to perform anti-interference processing. The method mainly comprises six steps of sampling/caching, windowing processing, DFT, anti-interference filtering processing of each frequency point, IDFT and inverse windowing processing, but no step of narrow-band filtering exists between the anti-interference filtering processing of each frequency point and the IDFT.
As shown in fig. 2, the present invention designs a space-frequency anti-interference method and an application system in a satellite navigation application system, which are used for implementing space-frequency anti-interference processing on an intermediate-frequency analog signal received by an array antenna and output by a radio frequency module; in practical application, the application system comprises a sampling processing module, a windowing processing module, a Fourier transform module, each frequency point anti-interference filtering processing module, a narrow-band filtering module, an inverse Fourier transform module and an inverse windowing processing module; the specific implementation process comprises the following steps:
a, sampling the intermediate frequency analog signal by a sampling processing module, and processing to obtain digital signal data of each channel which respectively corresponds to each communication channel and has the same data length; the sampling processing module comprises an analog-digital sampling module and a digital orthogonal difference processing module, the analog-digital sampling module is used for sampling the intermediate-frequency analog signals, and after sampling, the digital orthogonal difference processing module is used for processing the intermediate-frequency analog signals to obtain digital signal data of each channel, which respectively correspond to each communication channel and have the same data length with each other.
And B, respectively carrying out windowing processing on each data in the channel digital signal data by the windowing processing module according to the digital signal data of each channel based on the data length of the channel digital signal data, and updating the digital signal data of each channel.
And C, respectively carrying out Fourier transform operation on each channel digital signal data processed and updated by the windowing processing module and each window data in the channel digital signal data by the Fourier transform module, and updating each channel digital signal data.
And D, performing frequency point anti-interference filtering processing on each channel digital signal data processed and updated by the Fourier transform module by each frequency point anti-interference filtering processing module, and updating each channel digital signal data by each frequency point data in the channel digital signal data.
And E, respectively carrying out narrowband filtering processing updating on each frequency point data in the channel digital signal data by the narrowband filtering module aiming at each channel digital signal data processed and updated by each frequency point anti-interference filtering processing module based on a narrowband filtering threshold value, and then updating each channel digital signal data.
In the step E, as shown in fig. 3, for each channel digital signal data updated by the frequency point anti-interference filtering, for each frequency point data in the channel digital signal data, first, the sum of squares of each frequency point data is obtained
N is 1, …, N represents the data length in the channel digital signal data, y (N) represents the nth frequency point data in the channel digital signal data; then, based on the data length N in the channel digital signal data, calculating
As a result, the narrow-band filtering threshold M corresponding to the channel digital signal data is obtained; then, as shown in fig. 4, for each frequency point data y (n) in the channel digital signal data, based on the narrow-band filtering threshold M corresponding to the channel digital signal data, if y is y2(n) is greater than M, then zero setting operation is performed for y (n); if y2(n) is not greater than M, then do not operate for y (n), and so on forAnd carrying out narrow-band filtering processing and updating on each frequency point data in the channel digital signal data so as to update each channel digital signal data.
And F, respectively carrying out inverse Fourier transform operation on each window data in the channel digital signal data aiming at each channel digital signal data processed and updated by the narrow-band filtering module by the inverse Fourier transform module, and updating each channel digital signal data.
And G, respectively carrying out reverse windowing on each channel digital signal data after being processed and updated by the reverse windowing processing module according to the operation of the inverse Fourier transform module and each window data in the channel digital signal data, and updating each channel digital signal data.
The space-frequency anti-interference method and the application system in the satellite navigation application system are applied to specific practical situations, as shown in fig. 5, a spectrogram obtained by filtering multiple narrow-band interferences by the existing space-frequency anti-interference algorithm is given, and the narrow-band interferences at the central frequency point are obviously not filtered out in the spectrogram, so that the anti-interference effect is poor; as shown in fig. 6, a diagram of capturing a satellite after filtering multiple narrowband interferences by using an existing space-frequency anti-interference algorithm is given, and it can be seen that the satellite is not successfully captured; as shown in fig. 7, a frequency spectrum diagram of the space-frequency anti-interference algorithm after filtering multiple narrow-band interferences is given, and it is obvious that there is an obvious depression at the center frequency point in the diagram, which indicates that the zero-setting operation is performed on the point greater than the threshold value, and the interferences are filtered; as shown in fig. 8, a diagram of satellite acquisition after the space-frequency anti-interference algorithm filters multiple narrowband interference is shown, and it can be seen that satellite acquisition is successful.
According to the space-frequency anti-interference method and the application system in the satellite navigation application system, the narrow-band filtering module is added behind the anti-interference filtering processing module of each frequency point and in front of the inverse Fourier transform module, so that the problem that the anti-multi-narrow-band interference cannot be filtered in the existing space-frequency anti-interference algorithm can be solved; the whole process of the invention can be integrated in FPGA to be realized, which is beneficial to the miniaturization design of the device; the method is suitable for satellite navigation equipment in military fields such as missiles, bombs, airplanes and ships and has strong practicability.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (7)
1. An air frequency anti-interference method in a satellite navigation application system is used for realizing air frequency anti-interference processing aiming at an intermediate frequency analog signal which is received by an array antenna and output by a radio frequency module; the method is characterized by comprising the following steps:
a, sampling an intermediate frequency analog signal, and processing to obtain digital signal data of each channel, which respectively correspond to each communication channel and have the same data length with each other;
b, respectively aiming at each channel digital signal data, carrying out windowing processing on each data in the channel digital signal data based on the data length of the channel digital signal data, and updating each channel digital signal data;
c, respectively carrying out Fourier transform operation on each channel digital signal data after windowing processing and each window data in the channel digital signal data, and updating each channel digital signal data;
d, respectively carrying out frequency point anti-interference filtering processing on each frequency point data in the channel digital signal data aiming at each channel digital signal data after being processed and updated by Fourier transform operation, and updating each channel digital signal data;
step E, aiming at each channel digital signal data after being updated by the frequency point anti-interference filtering processing, and aiming at each frequency point data in the channel digital signal data, firstly obtaining the sum of squares of each frequency point data
N represents the data length in the channel digital signal data, y (N) represents the channel digital signal dataNth frequency point data; then, based on the data length N in the channel digital signal data, calculating
As a result, the channel digital signal data is used as a corresponding narrow-band filtering threshold value M, and then the corresponding narrow-band filtering threshold values M of the digital signal data of each channel after being updated by the frequency point anti-interference filtering processing are respectively obtained; based on a narrow-band filtering threshold value, carrying out narrow-band filtering processing updating on each frequency point data in the channel digital signal data so as to update each channel digital signal data;
f, respectively carrying out inverse Fourier transform operation on each window data in the channel digital signal data aiming at each channel digital signal data which is updated by narrow-band filtering processing, and updating each channel digital signal data;
and G, respectively carrying out reverse window adding processing on each window data in the channel digital signal data aiming at each channel digital signal data after being processed and updated by the inverse Fourier transform operation, and updating each channel digital signal data.
2. An air frequency interference rejection method in a satellite navigation application system according to claim 1,
in the step A, analog-to-digital sampling is performed on the intermediate-frequency analog signal.
3. An air frequency interference rejection method in a satellite navigation application system according to claim 2,
in the step a, after sampling the intermediate frequency analog signal, digital quadrature difference processing is performed to obtain digital signal data of each channel respectively corresponding to each communication channel and having the same data length.
4. An air frequency anti-interference method in a satellite navigation application system according to claim 1, characterized in that: in the step E, the number of each channel updated by the frequency point anti-interference filtering processing is respectively aimed atWord signal data, aiming at each frequency point data y (n) in channel digital signal data, based on the narrow-band filtering threshold value M corresponding to the channel digital signal data, if y2(n) is greater than M, then zero setting operation is performed for y (n); if y2And (n) is not more than M, then the operation is not performed for y (n), and thus, the narrowband filtering processing updating is performed for each frequency point data in the channel digital signal data, and further, each channel digital signal data is updated.
5. An application system based on the space-frequency anti-interference method in the satellite navigation application system according to claim 3, wherein the application system is used for realizing space-frequency anti-interference processing on the intermediate-frequency analog signals which are received by the array antenna and output by the radio frequency module; the device comprises a sampling processing module, a windowing processing module, a Fourier transform module, an anti-interference filtering processing module of each frequency point, an inverse Fourier transform module and an inverse windowing processing module;
the sampling processing module is used for sampling the intermediate frequency analog signal and processing the intermediate frequency analog signal to obtain digital signal data of each channel, which respectively correspond to each communication channel and have the same data length;
the windowing processing module is used for respectively carrying out windowing processing on each data in the channel digital signal data according to the data length of the channel digital signal data and updating each channel digital signal data;
the Fourier transform module is used for respectively carrying out Fourier transform operation on each channel digital signal data which is processed and updated by the windowing processing module and each window data in the channel digital signal data, and updating each channel digital signal data;
each frequency point anti-interference filtering processing module is used for respectively carrying out frequency point anti-interference filtering processing on each channel digital signal data after being processed and updated by the Fourier transform module and each frequency point data in the channel digital signal data, and updating each channel digital signal data; it is characterized in that the preparation method is characterized in that,
the system also comprises a narrow-band filtering module which is used for resisting interference respectively aiming at each frequency pointThe filter processing module processes the updated digital signal data of each channel, and for each frequency point data in the digital signal data of the channel, the sum of squares of each frequency point data is obtained firstly
N represents the data length in the channel digital signal data, and y (N) represents the nth frequency point data in the channel digital signal data; then, based on the data length N in the channel digital signal data, calculating
As a result, the channel digital signal data is used as a corresponding narrow-band filtering threshold value M, and then the corresponding narrow-band filtering threshold values M of the digital signal data of each channel after being updated by the frequency point anti-interference filtering processing are respectively obtained; based on a narrow-band filtering threshold value, carrying out narrow-band filtering processing updating on each frequency point data in the channel digital signal data so as to update each channel digital signal data;
the inverse Fourier transform module is used for respectively carrying out inverse Fourier transform operation on each channel digital signal data which is processed and updated by the narrow-band filtering module and each window data in the channel digital signal data, and updating each channel digital signal data;
and the reverse windowing processing module is used for respectively carrying out reverse windowing processing on each channel digital signal data after being processed and updated by the inverse Fourier transform module and each window data in the channel digital signal data, and updating each channel digital signal data.
6. The application system of the space-frequency anti-jamming method in the satellite navigation application system according to claim 5, wherein: the sampling processing module comprises an analog-digital sampling module, and the analog-digital sampling module is used for sampling the intermediate-frequency analog signals.
7. The application system of the space-frequency anti-interference method in the satellite navigation application system according to claim 5 or 6, wherein: the sampling processing module also comprises a digital orthogonal difference processing module, and after sampling is carried out on the frequency analog signals, the digital orthogonal difference processing module is adopted to carry out processing to obtain digital signal data of each channel, which respectively correspond to each communication channel and have the same data length.
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