CN109507698A - The anti-interference steering vector automatic correction system of satellite navigation - Google Patents
The anti-interference steering vector automatic correction system of satellite navigation Download PDFInfo
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- CN109507698A CN109507698A CN201811134559.8A CN201811134559A CN109507698A CN 109507698 A CN109507698 A CN 109507698A CN 201811134559 A CN201811134559 A CN 201811134559A CN 109507698 A CN109507698 A CN 109507698A
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a kind of anti-interference steering vector automatic correction systems of satellite navigation, it does not need setting external calibration source using the present invention scene of steering vector can be realized to automatically correct, the technical scheme is that: the received road N array antenna radiofrequency signal is down-converted to the road N digital intermediate frequency signal column vector by multichannel down coversion radio-frequency module, and it is classified as two-way, it is sent into DBF processing module all the way and is weighted processing, another way is sent into steering vector correction process module.When steering vector correction process module, which sends Corrective control to satellite navigation digital receiver and DBF processing module, to be instructed, satellite navigation digital receiver and DBF processing module cooperation steering vector correction process module carry out steering vector correction process, the local reference signal of the kth satellite of reconstruct and the road N digital intermediate frequency signal are subjected to coherently despreading processing, the array steering vector error complex vector of kth satellite direction is calculated and corrects goal orientation vector.
Description
Technical field
The present invention relates to satellite navigation anti-jamming signal process fields, the in particular to anti-interference steering vector of satellite navigation certainly
Dynamic correction system.
Background technique
In Global Satellite Navigation System (GNSS), navigation signal arrival ground is extremely faint, such as big-dipper satellite transmitting
Navigation signal reach the minimum of receiver antenna output end and guarantee that level is -163dBW.Due to the faint property of navigation signal, connect
The electromagnetic signal that receipts machine receives easily met in its communication process it is various actively or passively interfere, it is clever so as to cause receiving
Sensitivity decline can not even position, and seriously affect the performance of navigation system performance, therefore satellite navigation Anti-Jamming Technique receives
The extensive concern of people.
At present other than filtering out part out-of-band interference using frequency domain filtering technology, it is anti-to generally use array antenna airspace filter
Perturbation technique improves the interference free performance of satellite navigation receiver.During airspace filter anti-interference process, by being poised for battle
The digital beam forming technology (DBF) that array antenna receives signal weighting processing can control the directional diagram of array antenna in real time,
So that array aerial direction figure generates high-gain wave beam in navigation satellite signal direction, and null is formed in interference radiating way, thus
Multiple wave beams for being directed toward navigation satellite are formed, it is final to realize satellite navigation signals anti-interference process.
Existing time domain jamproof system and it is empty when, the united multidimensional jamproof system in null tone domain, although to a certain degree
On improve the output performance of satellite navigation receiver, but still face the theory of some profound levels and using problem.Due to airspace
The realization of adaptive beam-forming algorithm is based on correct steering vector, and the system has good dry under ideal conditions
Rejection is disturbed, but in practical engineering applications since the steering vector there are deviation will have a direct impact on the effect of Wave beam forming,
Even desired signal is curbed.The various amplitude and phase errors that are usually present in systems in practice and due to array antenna
Processing technology level limitation causes sensor position uncertainties, and inaccurate steering vector caused by these errors will make jamproof
Performance sharply declines or even can not effectively inhibit to interfere, while inaccurate steering vector can bring the wave path-difference of beam position to draw
The phase difference risen, is there is deviation by this in the carrier phase for measuring satellite navigation receiver, this will be to satellite navigation precision positioning
Propose challenge.
Currently, common sensor array calibration system includes that directly measurement interpolation method, active correction method and self-correcting are executed, directly
Connecing measurement interpolation method is by passing through the direct discrete survey to array steering vector in dark indoor different direction setting signal source
What amount, interpolation and storage were realized, but the systematic cost is big, simultaneously because the difference of actual electromagnetic environment and darkroom electromagnetic environment
It is different, so that the steering vector that measurement obtains often has differences with the steering vector under the true use environment of array antenna, still
It needs to carry out in-site measurement and correction.Active correction rule is often actually using in scene, by the way that orientation essence is arranged in space
Really the steering vector error parameter of array antenna is estimated in known assisted calibration source offline, but this method needs shift to an earlier date
Set up assisted calibration source, once and the azimuth information in assisted calibration source there is deviation, can bring about biggish error, therefore its
Project Realization is relatively difficult.Self-correcting rule is using the spacing wave source being an actually-received to the steering vector error of array antenna
Parameter and arrival bearing carry out online joint estimation, and correction accuracy is higher, but due between error parameter and direction parameter
The array structure of coupling and certain morbid state, the global convergence of parameter Estimation often not can guarantee, be easy to converge to Local Minimum
Value, and multi-parameter Combined estimator increases a large amount of operand.
Domestic and international some scholars have proposed many effective amplitude and phase error correction systems, it is believed that between each channel
Amplitude phase error differs only by a complex constant, need to only correct in centre frequency.Therefore, for satellite navigation system, one
As using a point frequency amplitude and phase error correction, since point-frequency signal steering vector contains the factor of amplitude phase error, when not carrying out width phase
When error correction, relatively large deviation is had occurred in null position and beam position, and after carrying out amplitude and phase error correction, beam position and
Direction of arrival (DOA) estimation can guarantee higher pointing accuracy.
What Qiao Chenglin in 2014 et al. was proposed in robust ada- ptive beamformer algorithm of the document based on steering vector real time calibration
Steering vector real time calibration algorithm, the principle of noise subspace is orthogonal to according to true desired signal, establishes cost function realization
The real time correction of steering vector, but the system clearly not applys to satellite navigation signals, because of satellite navigation letter in practice
It number is submerged in noise, steering vector cannot be calibrated according to subspace projection theory completely.2017 Nian Liyang et al. are mentioned
The calibration system of navigation satellite array antenna received system out, each calibration time slot can only calibrate the guiding arrow an of satellite
Amount, cannot calibrate the steering vector of multi-satellite, and when replacing calibration satellite, need to control satellite navigation number and connect simultaneously
It receives machine-cut and changes the new satellite-signal of tracking.Therefore, it is necessary to a kind of anti-interference steering vectors of satellite navigation to correct system, improve guiding
The estimated accuracy and efficiency of vector make it be more in line with the true use environment of array antenna.In addition, the guiding after will be corrected
Vector is applied to satellite navigation airspace filtering anti-interference process and also ensures that satellite navigation antijam receiver carrier phase is contour
The measurement accuracy of precision observation value.
Summary of the invention
Present invention aims to overcome that in place of above-mentioned the deficiencies in the prior art, provides and a kind of do not needing external calibration source
In the case of, quick steering vector can be carried out at the actual use scene of satellite navigation antijam receiver automatically correct, it is real
Now high-precision, the anti-interference steering vector automatic correction system of satellite navigation of high efficiency and a variety of array errors of recoverable, with solution
Certainly mismatch or offset issue existing for array steering vector in practical engineering application Satellite navigation anti-interference process.
To achieve the above object, the anti-interference steering vector automatic correction system of satellite navigation provided by the invention, comprising: more
Road down coversion radio-frequency module, DBF processing module, satellite navigation digital receiver and steering vector correction process module, feature
Be: the received road N array antenna radiofrequency signal is down-converted to the road N digital intermediate frequency signal column arrow by multichannel down coversion radio-frequency module
It measures x (t), and is classified as two-way, be sent into DBF processing module all the way and be weighted processing, the reference obtained after weighting is handled
Array element receives the q tracking channel that signal column vector y (t) is respectively fed to satellite navigation digital receiver, and another way is sent into guiding
Vector correction processing module, when steering vector correction process module is sent to satellite navigation digital receiver and DBF processing module
When Corrective control instructs, satellite navigation digital receiver and DBF processing module cooperation steering vector correction process module are led
It is handled to vector correction；Satellite navigation digital receiver is joined according to the kth satellite facing arrays antenna under antenna coordinate system
The sight line vector of array element phase center is examined, incident orientation angle ψ of the kth satellite under antenna coordinate system is calculatedkWith pitch angle αk；
After waiting the tracking of satellite navigation digital receiver tracking channel to stablize, satellite navigation digital receiver reconstructs the sheet of kth satellite
Ground reference signal is simultaneously sent to steering vector correction process module, by the local reference signal of the kth satellite of reconstruct and the road N intermediate frequency
Digital signal carries out coherently despreading processing, obtains kth satellite-signal column arrow of the array antenna 1~N array element Jing Guo reconstruction processing
Measure xk(t)；Steering vector correction process module acquires M snapshot data of kth satellite and kth satellite Jing Guo reconstruction processing
Incident direction angle (the ψ of facing arrays antenna reference array element phase centerk,αk) data, it is mended using signal subspace and signal in orthogonal
The characteristic of orthogonal space constructs cost function and calculates the array steering vector error complex vector of kth satellite direction, corrects mesh
Mark steering vector and output calibration result.
Compared with the prior art, the invention has the following beneficial effects:
(1) correction accuracy is high.The present invention is connect using multichannel down coversion radio-frequency module, DBF processing module, satellite navigation number
Receipts machine and steering vector correction process module are realized and carry out high-precision at the actual use scene of satellite navigation antijam receiver
Steering vector automatically correct.Steering vector correction is carried out at actual use scene, so that it is more in line with array antenna true
Real use environment, and the present invention also ensures the estimated accuracy of higher steering vector；In addition, the guiding after will be corrected
Vector is applied to satellite navigation airspace filtering anti-interference process and also ensures that satellite navigation antijam receiver carrier phase is contour
The measurement accuracy of precision observation value.
(2) it corrects high-efficient.The present invention acquires the satellite number Jing Guo reconstruction processing using steering vector correction process module
According to, satellite aximuth and pitch angle data, satellite navigation signals despreading reconstruct and signal subspace and signal in orthogonal short covering are utilized
Between orthogonal characteristic, quickly computing array steering vector error complex vector and goal orientation vector can be corrected.Correction course can
Multi-satellite is corrected simultaneously using more correction channels, and correction efficiency greatly improves.
(3) system is simple and a variety of array errors of recoverable for correction.The present invention does not need setting external calibration source can be real
The scene of existing steering vector automatically corrects, and without interrupting satellite navigation digital receiver normal work, utilizes satellite navigation number
The additional tracking channel of word receiver provides the on-line correction that steering vector can be realized in local reference signal.In addition, correction system
System can correct array element amplitude phase error, location error, directional diagram error etc., ensure that the beam position essence of Beam-former synthesis
Degree.
Detailed description of the invention
Fig. 1 is the correction principle schematic diagram of the anti-interference steering vector automatic correction system of satellite navigation of the invention.
Fig. 2 is the steering vector correction process inside modules structure chart of Fig. 1.
Fig. 3 is steering vector correction work flow chart of the invention.
Of the invention is described in detail below with reference to embodiment and attached drawing, although the present embodiment adds by taking planar array as an example
To discuss, but the invention is applicable to General Cell.
Specific embodiment
Refering to fig. 1.In the embodiment described below, the anti-interference steering vector automatic correction system of satellite navigation, mainly
Including multichannel down coversion radio-frequency module, DBF processing module, satellite navigation digital receiver and steering vector correction process module.
The received road N array antenna radiofrequency signal is down-converted to the road N digital intermediate frequency signal column vector x by multichannel down coversion radio-frequency module
(t), and it is classified as two-way, is sent into DBF processing module all the way and is weighted processing, the reference array element obtained after weighting is handled
The q tracking channel that signal column vector y (t) is respectively fed to satellite navigation digital receiver is received, another way is sent into steering vector
Correction process module, when steering vector correction process module sends correction to satellite navigation digital receiver and DBF processing module
When control instruction, satellite navigation digital receiver and DBF processing module cooperation steering vector correction process module carry out guiding arrow
Measure correction process；Satellite navigation digital receiver is according to the kth satellite facing arrays antenna reference battle array under antenna coordinate system
The sight line vector of first phase center calculates incident orientation angle ψ of the kth satellite under antenna coordinate system at this timekWith pitch angle αk；
After waiting the tracking of satellite navigation digital receiver tracking channel to stablize, satellite navigation digital receiver reconstructs the sheet of kth satellite
Ground reference signal sk(t) and it is sent to steering vector correction process module；Steering vector correction process module defends the kth of reconstruct
The local reference signal s of stark(t) coherently despreading processing is carried out with N road digital intermediate frequency signal x (t), so that array antenna received arrives
Kth satellite-signal obtain spreading gain, obtain the kth satellite-signal by reconstruction processing of array antenna 1~N array element
Column vector xk(t)；Steering vector correction process module acquires M snapshot data of kth satellite and kth Jing Guo reconstruction processing
Incident direction angle (the ψ of satellite facing arrays antenna reference array element phase centerk,αk) data, just using signal subspace and signal
The characteristic for handing over complementary space orthogonal constructs cost function and calculates the array steering vector error complex vector of kth satellite direction, school
Positive goal steering vector, later by the steering vector after correctionIt is output in DBF processing module.It is with array antenna 1
It, will be with reference to power square after DBF processing module receives the Corrective control instruction of steering vector correction process module for reference array element
Battle array is set as wref=[wref_1 wref_2 … wref_q], processing then is weighted to the road N digital intermediate frequency signal, is referred to
Array element receives signal column vectorAnd y (t)=[y1(t) y2(t) … yq(t)]T, and after weighting is handled
Obtained reference array element receives the q tracking channel that signal column vector y (t) is respectively fed to satellite navigation digital receiver, in which:
wref_1=wref_2=...=wref_q=[1 0 ... 0]T, and wref_iFor the column vector of N × 1,1≤i≤q, T indicate transposition, H table
Show and takes conjugate transposition.
Satellite navigation digital receiver includes q tracking channel being correspondingly connected with DBF processing module, logical with q tracking
The local reference signal reconstructed module of road connection and navigation message parsing and PVT resolve module and visible satellite azimuth and
Pitch angle computing module.After satellite navigation digital receiver receives the Corrective control instruction of steering vector correction process module, q
A tracking channel starts tracking satellite, wherein there is 1~L tracking channel tenacious tracking satellite, wherein L≤q；Tracking channel will be steady
Surely 1~L the satellite tracking data tracked is sent into navigation message parsing and PVT resolves module and carries out navigation message parsing and three-dimensional
Position, Velocity and Time information PVT is resolved, and obtains the position of satellite ephemeris, satellite position and reference array element；Navigation message parsing
Module is resolved with PVT, and visible satellite azimuth and pitch angle computing module, knot are sent into the position of satellite position and reference array element
Externally input antenna attitude angle is closed, the incidence side of kth satellite facing arrays antenna reference array element phase center is calculated
To angle (ψk,αk) and export to steering vector correction process module；After satellite navigation digital receiver positions successfully, setting tracking
Channel is fixed respectively to track 1~L satellite, after waiting receiver tracking channels track to stablize, local reference signal reconstructed module
By satellite number k, the local reference signal s of L satellite is reconstructed according to 1~L satellite tracking datak(t), it will will reconstruct later
The local reference signal of L satellite be sent to steering vector correction process module.Wherein: sk(t) subscript k indicates satellite number
And 1≤k≤L.
Satellite navigation digital receiver is under antenna coordinate system, and using antenna array center as origin, X-axis and Y-axis are in front
On, Z axis is directed toward day to X-axis, Y-axis and Z axis constitute right-handed system, and antenna coordinate system origin and carrier right angle is enabled to sit perpendicular to front
Mark system origin is overlapped, and three axis of antenna coordinate system and three overlapping of axles of carrier rectangular coordinate system, then carrier rectangular coordinate system to antenna
Coordinate system no longer needs to carry out coordinate conversion, can directly carry out the azimuth in antenna coordinate system, pitch angle calculates.Satellite navigation
Digital receiver respectively obtains the current kth satellite at ECEF coordinate system ECEF by satellite ephemeris and PVT calculating and sits
Mark (xk,yk,zk) and reference array element phase center coordinate (x, y, z), and worked as according to measurement or using inertial navigation system
The attitude angle of preceding array antenna, attitude angle mainly include course angle θ, pitch angle φ and roll angleAnd calculate antenna coordinate
It is the sight line vector of lower kth satelliteThe incident orientation angle of kth satelliteWith
Pitch angleObtain the current kth satellite facing arrays antenna reference array element phase under antenna coordinate system
Centrical incident direction angle (ψk,αk)。
Wherein:It indicates from ECEF coordinate system to the coordinate conversion matrix of antenna coordinate system,In e indicate ECEF coordinate
System,In b indicate antenna coordinate system, (bx, by, bz) is respectively sight line vector BLOSCoordinate components under antenna coordinate system.
In the present embodiment, after satellite navigation digital receiver tenacious tracking signal, kth satellite is obtained by tracking channel
The pseudo-random code phases of t moment are delayedWith carrier intermediate frequencyWhen the t reconstructed through local reference signal reconstructed module
Carve the local reference signal of kth satellite:For the signal of reconstruct in 1ms, reconstruction signal is negligible
Navigation message.
Wherein:Indicate that t moment kth satellite is delayed in codeUnder pseudo-random sequence,Indicate t moment
Kth satellite is in carrier intermediate frequencyUnder complex carrier signal signal.
Steering vector correction process module acquires M snapshot data x of kth satellite Jing Guo reconstruction processingk(t) and kth
Incident direction angle (the ψ of satellite facing arrays antenna reference array element phase centerk,αk) data, utilize signal subspace and signal
The orthogonal characteristic of the orthogonal complement space constructs cost function and calculates the array steering vector error complex vector of kth satellite direction,
Goal orientation vector is corrected, later by the steering vector after correctionIt is output in DBF processing module；Replace next
Satellite k=k+1, until having handled L satellite.More specifically, the array steering vector error of the satellite direction is multiple
Vector calculates and goal orientation vector correction is mainly utilizing satellite navigation signals despreading reconstruct and signal subspace and signal just
The orthogonal characteristic of complementary space is handed over to realize.
Refering to Fig. 2.In the embodiment described below, steering vector correction process module includes: connection multichannel down coversion
The satellite-signal reconstructed module and goal orientation vector correction module of radio-frequency module, steering vector correction process module send correction
After control instruction, the received road 1~N array antenna radiofrequency signal is down-converted to the road 1~N intermediate frequency by multichannel down coversion radio-frequency module
X (t) is then sent into the local of the kth satellite of satellite-signal reconstructed module and reconstruct and referred to by digital signal column vector x (t)
Signal sk(t) coherently despreading processing is carried out, the kth satellite-signal that array antenna 1~N array element passes through reconstructed module processing is obtainedWherein:Expression takes conjugation, and * indicates related operation.
Goal orientation vector correction module carries out covariance to M snapshot data of kth satellite Jing Guo reconstruction processing and estimates
Meter, estimates its N × N-dimensional covariance matrixThen rightCarry out Eigenvalues Decompositionλ is arranged as by eigenvalue λ is descending1≥λ2≥…≥λN, obtain the diagonal matrix D=of characteristic value
diag([λ1,λ2,…λN]) and eigenvectors matrix V=[v1,v2,…vN], according to the number of satellite p Jing Guo reconstruction processing, benefit
Signal in orthogonal complementary space is constructed with feature vector, eigenvectors matrix V is divided to for two parts corresponding with characteristic value, a part
It is signal subspace V corresponding with big characteristic values=[v1,v2,…vp], another part is noise corresponding with small characteristic value
SPACE Vn=[vp+1,vp+2,…vN], obtain signal in orthogonal complementary space projection operator Pn, i.e.,
Wherein: covariance matrix is represented byH expression takes conjugate transposition, and eig () indicates characteristic value point
Solution, diag () are indicated vector diagonalization.
Goal orientation vector correction module is using the signal subspace characteristic orthogonal with signal in orthogonal complementary space, when correcting the
When k satellite-signal, error complex vector G=[1 g is introduced2 … gN]T, construct cost functionSeek cost functionMinimum value, i.e., solution Ω (ψk,αk) minimal eigenvalue, look for
Its corresponding feature vector is the error complex vector estimated value of array steering vector outThe error of array steering vector is answered
Vector estimated valueCompensate theoretical guide vector or steering vector that darkroom measurement obtains in, correct goal orientation vector, most
It is obtained under true environment eventually in (ψk,αk) direction array be oriented to column vector
Wherein:Cost function is sought in expressionMinimum value, a (ψk,αk) indicate in (ψk,αk) direction array
Guide row vector theory value, ⊙ indicate Hadamard product, and T indicates transposition, and H expression takes conjugate transposition, Ω (ψk,αk)=FH(ψk,
αk)PnF(ψk,αk), F (ψk,αk)=diag [a (ψk,αk)], diag () is indicated vector diagonalization.
Refering to Fig. 3.In the steering vector correction work process of the present embodiment, multichannel down coversion radio-frequency module receiving array
The road N radiofrequency signal is down-converted to the column vector x (t) of the road N digital intermediate frequency signal by the array data of antenna, and setting is with reference to power square
Battle array wref, processing is weighted to N road digital intermediate frequency signal x (t) and obtains reference array element reception signalIt will weighting
The reference array element obtained after processing receives the q tracking channel that signal y (t) is respectively fed to satellite navigation digital receiver, satellite
Navigation digital receiver judges whether to position successfully, and no, return rejudges, and is, carries out ephemeris parsing and PVT is resolved, obtain
Position, satellite ephemeris and the externally input array antenna attitude angle of reference array element, calculate at this time L visible satellite in day
Azimuth and pitch angle under line coordinates system；According to the satellite ephemeris and satellite tracking data of acquisition, satellite navigation number is set
The tracking channel of receiver is fixed respectively to track 1~L satellite, judges whether tracking is stable, and no, return rejudges, and is then
According to the satellite ephemeris and satellite tracking data of acquisition, local reference signal reconstructed module reconstructs the local with reference to letter of L satellite
Number sk(t)；Steering vector correction process module is by the local reference signal s of the kth satellite of reconstructk(t) with the road N intermediate frequency digital
Signal column vector x (t) carries out coherently despreading processing, obtains handling by satellite-signal reconstructed module for array antenna 1~N array element
Kth satellite-signal column vectorAnd 1≤k≤L；Then, M snap x of kth satellite is acquiredk(t) number
According to, calculate the array steering vector error complex vector and correction goal orientation vector of kth satellite direction, i.e., it is empty using signal subspace
Between the characteristic orthogonal with signal in orthogonal complementary space, the true steering vector containing array error is thrown to signal in orthogonal complementary space
Shadow constructs cost function and seeks the array steering vector error complex vector of the direction, the error of array steering vector is sweared again
In the steering vector that amount compensation is obtained to theoretical guide vector or darkroom measurement, goal orientation vector is corrected, is finally obtained true
In (ψ under real environmentk,αk) direction array be oriented to column vectorThen next satellite k=k+1 is replaced, judges satellite
Whether number k is greater than L satellite, i.e. whether k > L meets, no, returns to reconstruction processing kth satellite-signal xk(t), that is, it carries out down
The goal orientation vector correction of one satellite direction is to terminate this array antenna guiding until having handled L satellite
Vector correction work.Realize the steering vector correction of L satellite, can be using the strategy of circulation each satellite of correction, it can also
To correct the strategy of L satellite simultaneously using more correction channels, implementation depends entirely on the processing capacity of hardware platform.
In the steering vector correction work process of the present embodiment, the array steering vector error of kth satellite direction is multiple
Vector calculates and the specific steps of goal orientation vector correction include:
M snapshot data is carried out covariance estimation by step 1. goal orientation vector correction module, and carries out covariance square
Battle array Eigenvalues Decomposition:
(1.1) goal orientation vector correction module is using M snapshot data x of kth satellite Jing Guo reconstruction processingk(t),
Estimate its N × N-dimensional covariance matrixThat is:Wherein: H expression takes conjugate transposition；
(1.2) goal orientation vector correction module is to covariance matrixCarry out Eigenvalues DecompositionIt will
Eigenvalue λ is descending to be arranged as λ1≥λ2≥…≥λN, obtain diagonal matrix the D=diag ([λ of characteristic value1,λ2,…λN]) and
Eigenvectors matrix V=[v1,v2,…vN], in which: eig () indicates that Eigenvalues Decomposition, diag () indicate that vector is diagonal
Change, covariance matrix is represented by
Step 2. goal orientation vector correction module is constructed according to the number of satellite Jing Guo reconstruction processing using feature vector
Signal in orthogonal complementary space:
Eigenvectors matrix is divided into two parts corresponding with characteristic value by goal orientation vector correction module, and a part is
Signal subspace V corresponding with big characteristic values=[v1,v2,…vp], another part is that noise corresponding with small characteristic value is empty
Between Vn=[vp+1,vp+2,…vN], signal in orthogonal complementary space projection operator available in this wayWherein: p table
Show the number of satellite by reconstruction processing for correction.
The step 3. goal orientation vector correction module characteristic orthogonal with signal in orthogonal complementary space using signal subspace, will
True steering vector containing array error is projected to signal in orthogonal complementary space, is constructed cost function and is sought the array of the direction
Steering vector error complex vector:
(3.1) array steering vector error model is established:
Assuming that each array element works independently, error complex vector G=[1 g is introduced2 … gN]T, can indicate array element directional diagram
Error, array element Ro-vibrational population and sensor position uncertainties etc. then obtain the array steering vector under true environment are as follows:
Wherein: ψ indicates the azimuth of satellite, and α indicates the pitch angle of satellite,It indicates under true environment at (ψ, α)
The array in direction is oriented to column vector, and a (ψ, α) indicates the array guide row vector theory value in the direction (ψ, α), and ⊙ is indicated
Hadamard product, B=diag (G), diag () indicate that, by vector diagonalization, T indicates transposition.
(3.2) it constructs cost function and seeks the array steering vector error complex vector of the direction:
Goal orientation vector correction module is using the signal subspace characteristic orthogonal with signal in orthogonal complementary space, when correcting the
When k satellite-signal, cost function is constructed
Wherein:Cost function is sought in expressionMinimum value, | |2Vector field homoemorphism is sought in expression, and H expression takes altogether
Yoke transposition, Ω (ψk,αk)=FH(ψk,αk)PnF(ψk,αk), F (ψk,αk)=diag [a (ψk,αk)], diag () is indicated vector
Diagonalization.
Goal orientation vector correction module seeks cost functionMinimum value, i.e., solution Ω (ψk,αk) minimal characteristic
Value, finds out the error complex vector estimated value that its corresponding feature vector is array steering vector
Step 4. goal orientation vector correction module is by the error complex vector estimated value of array steering vectorCompensate theory
In the steering vector that steering vector or darkroom measurement obtain, correct goal orientation vector, finally obtain under true environment
(ψk,αk) direction array be oriented to column vector
In conclusion above in conjunction with attached drawing, the embodiment of the present invention is explained in detail, and L as mentioned is defended
The steering vector of star corrects, and using the strategy of circulation each satellite of correction in specific embodiment, can also use more schools
Positive channel corrects the strategy of L satellite simultaneously, and implementation depends entirely on the processing capacity of hardware platform.Therefore, this hair
Bright it is not limited to the above embodiment, within the knowledge of those skilled in the art, does not depart from present inventive concept
The various change made, still falls in the scope of the present invention.
Claims (10)
1. a kind of anti-interference steering vector automatic correction system of satellite navigation, comprising: multichannel down coversion radio-frequency module, DBF processing
Module, satellite navigation digital receiver and steering vector correction process module, it is characterised in that: multichannel down coversion radio-frequency module will
The received road N array antenna radiofrequency signal down-converts to N road digital intermediate frequency signal column vector x (t), and is classified as two-way, and one
Road is sent into DBF processing module and is weighted processing, and the reference array element obtained after weighting is handled receives signal column vector y (t) point
Not Song Ru satellite navigation digital receiver q tracking channel, another way be sent into steering vector correction process module, when guiding swear
When amount correction process module sends Corrective control instruction to satellite navigation digital receiver and DBF processing module, satellite navigation number
Word receiver and DBF processing module cooperation steering vector correction process module carry out steering vector correction process；Satellite navigation number
Word receiver according to the sight line vector of the kth satellite facing arrays antenna reference array element phase center under antenna coordinate system,
Calculate incident orientation angle ψ of the kth satellite under antenna coordinate systemkWith pitch angle αk；Wait the tracking of satellite navigation digital receiver
After channels track is stablized, the local reference signal of satellite navigation digital receiver reconstruct kth satellite is simultaneously sent to steering vector school
The local reference signal of the kth satellite of reconstruct and the road N digital intermediate frequency signal are carried out coherently despreading processing by positive processing module,
Obtain kth satellite-signal column vector x of the array antenna 1~N array element Jing Guo reconstruction processingk(t)；Steering vector correction process mould
In the M snapshot data of kth satellite and kth satellite facing arrays antenna reference array element phase of block acquisition Jing Guo reconstruction processing
Incident direction angle (the ψ of the heartk,αk) data, utilize the signal subspace characteristic orthogonal with signal in orthogonal complementary space, construction cost letter
Count and calculate the array steering vector error complex vector of kth satellite direction, correction goal orientation vector and output calibration result.
2. the anti-interference steering vector automatic correction system of satellite navigation as described in claim 1, it is characterised in that: DBF processing
After module receives the Corrective control instruction of steering vector correction process module, w will be set as with reference to weight matrixref=[wref_1
wref_2 … wref_q], processing then is weighted to the road N digital intermediate frequency signal, reference array element is obtained and receives signal column vectorAnd y (t)=[y1(t) y2(t) … yq(t)]T, and the reference array element obtained after weighting is handled receives
Signal column vector y (t) is respectively fed to q tracking channel of satellite navigation digital receiver, in which: wref_1=wref_2=...=
wref_q=[1 0 ... 0]T, and wref_iFor the column vector of N × 1,1≤i≤q, T indicate transposition, and H expression takes conjugate transposition.
3. the anti-interference steering vector automatic correction system of satellite navigation as described in claim 1, it is characterised in that: satellite navigation
Digital receiver includes q tracking channel being correspondingly connected with DBF processing module, the local reference connecting with q tracking channel
Signal reconstruction module and navigation message parsing and PVT resolve module and visible satellite azimuth and pitch angle computing module；When
Satellite navigation digital receiver receive steering vector correction process module Corrective control instruction after, q tracking channel start with
Track satellite, tracking channel by 1~L satellite tracking data of tenacious tracking be sent into navigation message parsing and PVT resolve module into
The parsing of row navigation message and three-dimensional position, speed and temporal information PVT are resolved, and are obtained satellite ephemeris, satellite position and are referred to battle array
The position of member, in which: L is the number of satellite and L≤q of tenacious tracking.
4. the anti-interference steering vector automatic correction system of satellite navigation as claimed in claim 3, it is characterised in that: navigation message
Parsing and PVT resolve module and visible satellite azimuth and pitch angle calculating mould are sent into the position of satellite position and reference array element
Entering for kth satellite facing arrays antenna reference array element phase center is calculated in conjunction with externally input antenna attitude angle in block
Penetrate deflection (ψk,αk), and export to steering vector correction process module.
5. the anti-interference steering vector automatic correction system of satellite navigation as claimed in claim 4, it is characterised in that: satellite navigation
Digital receiver is respectively obtained at ECEF coordinate system ECEF by satellite ephemeris and PVT calculating, and current kth satellite is sat
Mark (xk,yk,zk) and reference array element phase center coordinate (x, y, z), and worked as according to measurement or using inertial navigation system
The attitude angle of preceding array antenna, and calculate the sight line vector of kth satellite under antenna coordinate systemThe incident orientation angle of kth satelliteAnd pitch angleWherein:It indicates from ECEF coordinate system to the coordinate conversion matrix of antenna coordinate system,In e
Indicate ECEF coordinate system,In b indicate antenna coordinate system, (bx, by, bz) is respectively sight line vector BLOSIn antenna coordinate system
Under coordinate components.
6. the anti-interference steering vector automatic correction system of satellite navigation as claimed in claim 3, it is characterised in that: satellite navigation
After digital receiver positions successfully, setting tracking channel fixed tracking 1~L satellite respectively, wait receiver tracking channel with
After track is stablized, local reference signal reconstructed module presses satellite number k, reconstructs L satellite according to 1~L satellite tracking data
Local reference signal sk(t), the local reference signal of L satellite of reconstruct is sent to steering vector correction process module later,
Wherein: 1≤k≤L.
7. the anti-interference steering vector automatic correction system of satellite navigation as claimed in claim 6, it is characterised in that: satellite navigation
After digital receiver tenacious tracking signal, it is delayed by the pseudo-random code phases that tracking channel obtains kth satellite t momentWith
Carrier intermediate frequencyThe local reference signal of the t moment kth satellite reconstructed through local reference signal reconstructed module:The signal of reconstruct is in 1ms, in which:Indicate that t moment kth satellite is delayed in codeUnder pseudo-random sequence,Indicate t moment kth satellite in carrier intermediate frequencyUnder complex carrier signal signal.
8. the anti-interference steering vector automatic correction system of satellite navigation as described in claim 1, it is characterised in that: steering vector
Correction process module includes: to connect the satellite-signal reconstructed module and goal orientation vector correction mould of multichannel down coversion radio-frequency module
The received road 1~N array antenna radiofrequency signal is down-converted to the road 1~N digital intermediate frequency signal by block, multichannel down coversion radio-frequency module
After column vector x (t), it is sent into the local reference signal s of the kth satellite of satellite-signal reconstructed module and reconstructk(t) it carries out related
Despreading processing obtains the kth satellite-signal that array antenna 1~N array element passes through reconstructed module processingSo
Afterwards by xk(t) it is sent into goal orientation vector correction module, acquires M snapshot data of kth satellite and kth Jing Guo reconstruction processing
Incident direction angle (the ψ of satellite facing arrays antenna reference array element phase centerk,αk) data, utilize signal subspace and signal
The orthogonal characteristic of the orthogonal complement space constructs cost function and calculates the array steering vector error complex vector of kth satellite direction,
Correction goal orientation vector simultaneously obtains after correcting result, the steering vector to after DBF processing module output calibrationMore
A satellite k=k+1 is changed, until having handled L satellite, in which:Expression takes conjugation, and * indicates related operation.
9. the anti-interference steering vector automatic correction system of satellite navigation as claimed in claim 8, it is characterised in that: goal orientation
Vector correction module carries out covariance estimation to M snapshot data of kth satellite Jing Guo reconstruction processing, estimates its N × N-dimensional
Covariance matrixAnd covariance matrix is represented byThen rightCarry out feature
Value is decomposedλ is arranged as by eigenvalue λ is descending1≥λ2≥…≥λN, obtain the diagonal matrix of characteristic value
D=diag([λ1,λ2,…λN]) and eigenvectors matrix V=[v1,v2,…vN], according to the number of satellite p Jing Guo reconstruction processing,
Signal in orthogonal complementary space is constructed using feature vector, it is two parts corresponding with characteristic value that eigenvectors matrix V, which is divided to, one
Dividing is signal subspace V corresponding with big characteristic values=[v1,v2,…vp], another part is noise corresponding with small characteristic value
Subspace Vn=[vp+1,vp+2,…vN], obtain signal in orthogonal complementary space projection operatorWherein: H expression takes conjugation
Transposition, eig () indicate that Eigenvalues Decomposition, diag () are indicated vector diagonalization.
10. the anti-interference steering vector of satellite navigation as claimed in claim 9 corrects system, it is characterised in that: goal orientation arrow
The correction module characteristic orthogonal with signal in orthogonal complementary space using signal subspace is measured to introduce when correcting kth satellite-signal
Error complex vector G=[1 g2 … gN]T, construct cost functionSeek cost function
Minimum value, i.e., solution Ω (ψk,αk) minimal eigenvalue, find out the mistake that its corresponding feature vector is array steering vector
Poor complex vector estimated valueBy the error complex vector estimated value of array steering vectorCompensate theoretical guide vector or darkroom
It measures in obtained steering vector, corrects goal orientation vector, finally obtain under true environment in (ψk,αk) array in direction leads
To column vectorWherein:Cost function is sought in expressionMinimum value, a (ψk,αk) table
Show in (ψk,αk) direction array guide row vector theory value, ⊙ indicate Hadamard product, T indicate transposition, H expression take conjugation turn
It sets, Ω (ψk,αk)=FH(ψk,αk)PnF(ψk,αk), F (ψk,αk)=diag [a (ψk,αk)], diag () indicates that vector is diagonal
Change.
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