CN109507698B - Automatic correction system for anti-interference guide vector of satellite navigation - Google Patents
Automatic correction system for anti-interference guide vector of satellite navigation Download PDFInfo
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Abstract
The invention discloses an automatic correction system for anti-interference guide vectors of satellite navigation, which can realize the on-site automatic correction of the guide vectors without arranging an external calibration source and is realized by the following technical scheme: the multi-channel down-conversion radio frequency module down-converts the received N-channel array antenna radio frequency signals into N-channel intermediate frequency digital signal column vectors, and divides the N-channel intermediate frequency digital signal column vectors into two channels, wherein one channel is sent to the DBF processing module for weighting processing, and the other channel is sent to the guide vector correction processing module. When the guide vector correction processing module sends a correction control instruction to the satellite navigation digital receiver and the DBF processing module, the satellite navigation digital receiver and the DBF processing module cooperate with the guide vector correction processing module to perform guide vector correction processing, perform related de-spreading processing on the reconstructed local reference signal of the kth satellite and N paths of intermediate frequency digital signals, calculate to obtain an array guide vector error complex vector in the direction of the kth satellite, and correct a target guide vector.
Description
Technical Field
The invention relates to the field of satellite navigation anti-interference signal processing, in particular to a satellite navigation anti-interference guide vector automatic correction system.
Background
In a Global Navigation Satellite System (GNSS), the arrival of the navigation signal at the ground is extremely weak, for example, the minimum guaranteed level of the navigation signal transmitted by the beidou satellite to the output end of the antenna of the receiver is-163 dBW. Due to the weakness of navigation signals, electromagnetic signals received by a receiver are extremely susceptible to various active or passive interferences in the propagation process of the electromagnetic signals, so that the sensitivity of the receiver is reduced, even positioning cannot be performed, and the performance of a navigation system is seriously influenced, so that the satellite navigation anti-interference technology is widely concerned by people.
At present, except for adopting a frequency domain filtering technology to filter partial out-of-band interference, an array antenna spatial filtering anti-interference technology is generally adopted to improve the anti-interference performance of a satellite navigation receiver. In the process of spatial filtering anti-interference processing, a directional diagram of the array antenna can be controlled in real time through a digital beam forming technology (DBF) for weighting the received signals of the array antenna, so that the directional diagram of the array antenna generates high-gain beams in the direction of the signals of the navigation satellite and forms nulls in the interference direction, thereby forming a plurality of beams pointing to the navigation satellite, and finally realizing the anti-interference processing of the satellite navigation signals.
Although the output performance of a satellite navigation receiver is improved to a certain extent, the existing time domain anti-interference system and a space-time and space-frequency domain combined multi-dimensional anti-interference system still face some deep theoretical and application problems. Because the implementation of the spatial domain adaptive beamforming algorithm is based on the correct steering vector, the system has good interference suppression performance under ideal conditions, but in practical engineering application, the effect of beamforming can be directly influenced due to the presence of the biased steering vector, and even a desired signal is suppressed. Various amplitude and phase errors frequently existing in an actual system and array element position errors caused by the limitation of the processing technology level of an array antenna, the performance of anti-interference is sharply reduced even interference cannot be effectively inhibited due to inaccurate guide vectors caused by the errors, and meanwhile, the phase difference caused by the wave path difference of beam pointing is brought by the inaccurate guide vectors, so that the carrier phase measured by a satellite navigation receiver is deviated, and the satellite navigation precision positioning is challenged.
At present, a commonly used array antenna calibration system comprises a direct measurement interpolation method, an active calibration method and an auto-calibration method, wherein the direct measurement interpolation method is realized by setting signal sources in different directions in a darkroom and by directly and discretely measuring, interpolating and storing array guide vectors, but the system is high in cost, and meanwhile due to the difference between the actual electromagnetic environment and the darkroom electromagnetic environment, the guide vectors obtained by measurement are often different from the guide vectors in the actual use environment of the array antenna, and the field measurement and calibration are still needed. The active calibration method is usually used for off-line estimation of the steering vector error parameters of the array antenna by arranging an auxiliary calibration source with an accurately known azimuth in space in an actual use scene, but the method needs to erect the auxiliary calibration source in advance, and once the azimuth information of the auxiliary calibration source has deviation, a large error is brought, so that the engineering implementation is difficult. The self-correcting method uses the actually received space signal source to carry out online joint estimation on the steering vector error parameter and the incoming wave direction of the array antenna, the correction precision is high, but due to the coupling between the error parameter and the azimuth parameter and the array structure of some ill conditions, the global convergence of parameter estimation is often not guaranteed, the local minimum value is easily converged, and a large amount of calculation is increased by multi-parameter joint estimation.
Some scholars at home and abroad already put forward a plurality of effective amplitude and phase error correction systems, and the amplitude and phase errors among all channels only differ by a complex constant and only need to be corrected on the central frequency. Therefore, for a satellite navigation system, spot frequency amplitude and phase error correction is generally adopted, because a spot frequency signal steering vector contains the factor of amplitude and phase error, when amplitude and phase error correction is not performed, a null position and beam pointing direction have large deviation, and after amplitude and phase error correction is performed, beam pointing direction and direction of arrival (DOA) estimation can ensure high pointing accuracy.
In 2014, the real-time calibration algorithm of the guide vector, which is proposed in the steady beam forming algorithm based on the real-time calibration of the guide vector in the literature, by the Jolly forest and the like, the cost function is established to realize the real-time calibration of the guide vector according to the principle that a real expected signal is orthogonal to a noise subspace, but the system is obviously not suitable for satellite navigation signals, because the actual satellite navigation signals are completely submerged in noise, and the guide vector cannot be calibrated according to a subspace projection theory. In 2017, in a calibration system of a navigation satellite array antenna receiving system proposed by lieyang et al, each calibration time slot can only calibrate the guide vector of one satellite, and cannot calibrate the guide vectors of multiple satellites simultaneously, and when the calibration satellites are replaced, a satellite navigation digital receiver needs to be controlled to switch and track new satellite signals. Therefore, an anti-interference guide vector correction system for satellite navigation is needed, which improves the estimation accuracy and efficiency of the guide vector and makes the guide vector more conform to the real use environment of the array antenna. In addition, the corrected guide vector is applied to the satellite navigation airspace filtering anti-interference processing, and the measurement accuracy of high-accuracy observed values such as carrier phases of the satellite navigation anti-interference receiver can be guaranteed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the satellite navigation anti-interference guide vector automatic correction system which can be used for quickly and automatically correcting the guide vector on the actual use site of the satellite navigation anti-interference receiver without an external calibration source, realizes high precision and high efficiency, and can correct various array errors, so as to solve the problem of mismatching or deviation of the array guide vector in satellite navigation anti-interference processing in actual engineering application.
In order to achieve the above object, the present invention provides an automatic calibration system for anti-interference guiding vectors of satellite navigation, comprising: multichannel down conversion radio frequency module, DBF processing module, satellite navigation digital receiver and direction vector correction processing module, its characterized in that: the multi-channel down-conversion radio frequency module down-converts the received N-channel array antenna radio frequency signals into N-channel intermediate frequency digital signal column vectors x (t) and divides the N-channel intermediate frequency digital signal column vectors into two channels, and one channel is sent toThe DBF processing module is used for carrying out weighting processing, the reference array element received signal column vectors y (t) obtained after weighting processing are respectively sent to q tracking channels of the satellite navigation digital receiver, the other path of the reference array element received signal column vectors is sent to the guide vector correction processing module, and when the guide vector correction processing module sends a correction control instruction to the satellite navigation digital receiver and the DBF processing module, the satellite navigation digital receiver and the DBF processing module are matched with the guide vector correction processing module to carry out guide vector correction processing; the satellite navigation digital receiver calculates an incident azimuth psi of the kth satellite in the antenna coordinate system according to a sight line vector of the kth satellite relative to the phase center of the array antenna reference array element in the antenna coordinate systemkAnd a pitch angle alphak(ii) a After the tracking of the tracking channel of the satellite navigation digital receiver is stable, the satellite navigation digital receiver reconstructs the local reference signal of the kth satellite and sends the local reference signal to the guide vector correction processing module, the reconstructed local reference signal of the kth satellite and N paths of intermediate frequency digital signals are subjected to related de-spreading processing, and the kth satellite signal column vector x of which the array antenna 1-N array elements are subjected to reconstruction processing is obtainedk(t); the guiding vector correction processing module acquires M snapshot data of a k-th satellite subjected to reconstruction processing and an incident direction angle (psi) of the k-th satellite relative to the phase center of the array antenna reference array elementk,αk) And data, constructing a cost function and calculating an array steering vector error complex vector in the direction of the kth satellite by using the orthogonal characteristic of a signal subspace and a signal orthogonal complementary space, correcting a target steering vector and outputting a correction result.
Compared with the prior art, the invention has the following beneficial effects:
(1) the correction precision is high. The invention adopts a multi-channel down-conversion radio frequency module, a DBF processing module, a satellite navigation digital receiver and a guide vector correction processing module to realize high-precision guide vector automatic correction on the actual use site of the satellite navigation anti-interference receiver. The method and the device can correct the guide vector in the actual use field, so that the method and the device are more consistent with the real use environment of the array antenna, and the estimation precision of the guide vector can be ensured to be higher; in addition, the corrected guide vector is applied to the satellite navigation airspace filtering anti-interference processing, and the measurement accuracy of high-accuracy observed values such as carrier phases of the satellite navigation anti-interference receiver can be guaranteed.
(2) The correction efficiency is high. The invention adopts the guide vector correction processing module to acquire the reconstructed satellite data, the satellite azimuth angle and the pitch angle data, and can quickly calculate the error complex vector of the array guide vector and correct the target guide vector by utilizing the characteristics of despreading and reconstruction of satellite navigation signals and orthogonality of signal subspace and signal orthogonal complement space. In the correction process, multiple correction channels can be adopted to correct multiple satellites simultaneously, and the correction efficiency is greatly improved.
(3) The correction system is simple and can correct a variety of array errors. The method can realize the on-site automatic correction of the guide vector without setting an external calibration source, does not need to interrupt the normal work of the satellite navigation digital receiver, and can realize the on-line correction of the guide vector by utilizing the additional tracking channel of the satellite navigation digital receiver to provide the local reference signal. In addition, the correction system can correct array element amplitude phase errors, position errors, directional diagram errors and the like, and the beam pointing accuracy synthesized by the beam former is guaranteed.
Drawings
Fig. 1 is a schematic diagram of a correction principle of the satellite navigation anti-interference guide vector automatic correction system of the present invention.
Fig. 2 is a diagram of an internal structure of a guide vector correction processing block of fig. 1.
FIG. 3 is a flow chart of the steering vector correction operation of the present invention.
The present invention will be described in detail with reference to the following embodiments and drawings, and although the present embodiment is discussed by way of example of a planar array, the present invention is applicable to any array.
Detailed Description
See fig. 1. In the embodiments described below, the satellite navigation anti-interference guide vector automatic correction system mainly includes a multi-channel down-conversion radio frequency module, a DBF processing module, a satellite navigation digital receiver, and a guide vector correction processing module. The multi-channel down-conversion radio frequency module down-converts the received N-channel array antenna radio frequency signals into N-channel intermediate frequency digital signal column vectors x (t)) The method comprises the following steps that a satellite navigation digital receiver and a DBF processing module are divided into two paths, one path is sent to the DBF processing module for weighting processing, reference array element receiving signal column vectors y (t) obtained after weighting processing are respectively sent to q tracking channels of the satellite navigation digital receiver, the other path is sent to a guide vector correction processing module, and when the guide vector correction processing module sends correction control instructions to the satellite navigation digital receiver and the DBF processing module, the satellite navigation digital receiver and the DBF processing module are matched with the guide vector correction processing module to carry out guide vector correction processing; the satellite navigation digital receiver calculates the incident azimuth psi of the kth satellite in the antenna coordinate system according to the sight line vector of the kth satellite relative to the phase center of the array antenna reference array element in the antenna coordinate systemkAnd a pitch angle alphak(ii) a After the tracking channel of the satellite navigation digital receiver is stably tracked, the satellite navigation digital receiver reconstructs the local reference signal s of the kth satellitek(t) and sending the signal to a guide vector correction processing module; the guiding vector correction processing module reconstructs the local reference signal s of the k-th satellitek(t) carrying out related despreading processing on the N paths of intermediate frequency digital signals x (t) so that the kth satellite signal received by the array antenna obtains spread spectrum gain, and a column vector x of the kth satellite signal subjected to reconstruction processing of 1-N array elements of the array antenna is obtainedk(t); the guiding vector correction processing module acquires M snapshot data of a k-th satellite subjected to reconstruction processing and an incident direction angle (psi) of the k-th satellite relative to the phase center of the array antenna reference array elementk,αk) Data, constructing a cost function by utilizing the orthogonal characteristic of a signal subspace and a signal orthogonal complementary space, calculating an array steering vector error complex vector in the k satellite direction, correcting a target steering vector, and then correcting the corrected steering vector
And outputting the data to the DBF processing module. Taking the array antenna 1 as a reference array element as an example, after the DBF processing module receives a correction control instruction of the steering vector correction processing module, the reference weight matrix is set to wref＝[wref_1 wref_2 … wref_q]Then to N intermediate frequency digital signalsWeighting to obtain reference array element received signal column vector
And y (t) ═ y1(t) y2(t) … yq(t)]TAnd respectively sending the column vectors y (t) of the reference array element received signals obtained after weighting processing into q tracking channels of the satellite navigation digital receiver, wherein: w is aref_1＝wref_2＝…＝wref_q＝[1 0 … 0]TAnd w isref_iIs a column vector of Nx 1, i is more than or equal to 1 and less than or equal to q, T represents transposition, and H represents taking conjugate transposition.
The satellite navigation digital receiver comprises q tracking channels correspondingly connected with the DBF processing module, a local reference signal reconstruction module, a navigation message analysis and PVT calculation module and a visible satellite azimuth angle and pitch angle calculation module, wherein the local reference signal reconstruction module and the navigation message analysis and PVT calculation module are connected with the q tracking channels. After the satellite navigation digital receiver receives a correction control instruction of the guide vector correction processing module, q tracking channels start to track the satellite, wherein the number 1-L tracking channels stably track the satellite, and L is less than or equal to q; the tracking channel transmits the stably tracked satellite tracking data of No. 1-L to a navigation message analysis and PVT calculation module to perform navigation message analysis and three-dimensional position, speed and time information PVT calculation so as to obtain a satellite ephemeris, a satellite position and a position of a reference array element; the navigation message analysis and PVT calculation module sends the satellite position and the position of the reference array element to the visible satellite azimuth angle and pitch angle calculation module, and the incident direction angle (psi) of the kth satellite relative to the phase center of the array antenna reference array element is calculated by combining the externally input antenna attitude anglek,αk) And output to the guide vector correction processing module; after the satellite navigation digital receiver is successfully positioned, tracking channels are set to respectively and fixedly track 1-L satellites, after the tracking channel of the receiver is stably tracked, a local reference signal reconstruction module reconstructs local reference signals s of L satellites according to the satellite number k and the satellite tracking data of 1-L satellitesk(t), the reconstructed local reference signals of the L satellites are then sent to a steering vector correction processing module. Wherein: skSubscript k of (t) denotes a satelliteAnd k is more than or equal to 1 and less than or equal to L.
The satellite navigation digital receiver takes the center of an antenna array surface as an original point under an antenna coordinate system, an X axis and a Y axis are arranged on the array surface, the Z axis is perpendicular to the array surface and points to the sky direction, the X axis, the Y axis and the Z axis form a right-hand system, the original point of the antenna coordinate system is made to coincide with the original point of a carrier rectangular coordinate system, the three axes of the antenna coordinate system coincide with the three axes of the carrier rectangular coordinate system, coordinate conversion from the carrier rectangular coordinate system to the antenna coordinate system is not needed, and calculation of an azimuth angle and a pitch angle in the antenna coordinate system can be directly carried out. The satellite navigation digital receiver respectively obtains the current k-th satellite coordinate (x) under the earth-centered earth-fixed coordinate system ECEF through satellite ephemeris and PVT calculationk,yk,zk) And reference array element phase center coordinates (x, y, z), and obtaining the current attitude angle of the array antenna according to measurement or by adopting an inertial navigation system, wherein the attitude angle mainly comprises a course angle theta, a pitch angle phi and a roll angle
And calculating the sight line vector of the kth satellite under the antenna coordinate system
Incident azimuth angle of kth satellite
And a pitch angle
Obtaining the incident direction angle (psi) of the current k-th satellite relative to the phase center of the array antenna reference array element under the antenna coordinate systemk,αk)。
Wherein:
a coordinate transformation matrix representing the coordinate system from the ECEF coordinate system to the antenna coordinate system,
e in (a) represents the ECEF coordinate system,
b in (a) represents an antenna coordinate system, and (bx, by, bz) are sight line vectors BLOSCoordinate components in the antenna coordinate system.
In this embodiment, after the satellite navigation digital receiver stabilizes the tracking signal, the pseudo random code phase delay of the kth satellite at time t is obtained through the tracking channel
And carrier intermediate frequency
Obtaining a reconstructed local reference signal of the kth satellite at the t moment through a local reference signal reconstruction module:
the reconstructed signal is within 1ms, and the reconstructed signal can omit navigation messages.
Wherein:
indicating the code delay of the kth satellite at the time t
The following pseudo-random sequence of the sequence,
indicating the carrier intermediate frequency of the kth satellite at the moment t
The lower complex carrier signal.
The guiding vector correction processing module acquires M snapshot data x of the kth satellite subjected to reconstruction processingk(t) and the angle of incidence (psi) of the kth satellite with respect to the phase center of the reference array element of the array antennak,αk) Data, constructing a cost function and calculating an array of the kth satellite direction by utilizing the orthogonal characteristic of a signal subspace and a signal orthogonal complementary spaceCorrecting the target guide vector by the error complex vector of the column guide vector, and then correcting the corrected guide vector
Outputting the data to a DBF processing module; and changing the next satellite k to k +1 until L satellites are processed. More specifically, the computation of the array steering vector error complex vector and the correction of the target steering vector in the satellite direction are mainly realized by utilizing the de-spreading reconstruction of the satellite navigation signals and the characteristic that the signal subspace is orthogonal to the signal orthogonal complement space.
See fig. 2. In the embodiments described below, the steering vector correction processing module includes: the multi-path down-conversion radio frequency module is used for down-converting received 1-N paths of array antenna radio frequency signals into 1-N paths of intermediate frequency digital signal column vectors x (t) after the guide vector correction processing module sends a correction control instruction, and then the x (t) is sent to the satellite signal reconstruction module and a reconstructed local reference signal s of a kth satellitek(t) carrying out relevant de-spread processing to obtain the kth satellite signal processed by the reconstruction module of the array elements 1-N of the array antenna
Wherein:
the representation takes the conjugate, and the representation represents the correlation operation.
The target guide vector correction module carries out covariance estimation on the M snapshot data of the k satellite subjected to reconstruction processing, and estimates an NxN-dimensional covariance matrix of the K satellite
Then to
Performing eigenvalue decomposition
Arranging the characteristic value lambda from large to small as lambda1≥λ2≥…≥λNThe diagonal matrix D of eigenvalues is found to be diag ([ λ [ ])1,λ2,…λN]) And the eigenvector matrix V ═ V1,v2,…vN]According to the number p of the reconstructed satellites, constructing a signal orthogonal complement space by using the eigenvectors, and dividing an eigenvector matrix V into two parts corresponding to the eigenvalues, wherein one part is a signal subspace V corresponding to a large eigenvalues＝[v1,v2,…vp]The other part is a noise subspace V corresponding to small eigenvaluesn＝[vp+1,vp+2,…vN]To obtain a signal orthogonal complement space projection operator PnI.e. by
Wherein: the covariance matrix can be expressed as
H denotes taking the conjugate transpose, eig (-) denotes eigenvalue decomposition, and diag (-) denotes diagonalizing the vector.
The target guide vector correction module utilizes the characteristic that a signal subspace is orthogonal to a signal orthogonal complementary space, and when a k-th satellite signal is corrected, an error complex vector G is introduced to be [ 1G ]2 … gN]TConstructing a cost function
Determining a cost function
I.e. solving for omega (ψ)k,αk) Finding out the corresponding eigenvector as the error complex vector estimated value of the array steering vector
Complex vector error estimation of array steering vectors
Compensating the target guide vector into a theoretical guide vector or a guide vector obtained by darkroom measurement, correcting the target guide vector, and finally obtaining the target guide vector under the real environmentk,αk) Array-directed column vector of directions
Wherein:
representation solving cost function
A (ψ) is a minimum value ofk,αk) Is shown in (psi)k,αk) Array steering column vector theoretical value of orientation, < > indicates Hadamard product, T indicates transpose, H indicates taking conjugate transpose, Ω (ψ)k,αk)＝FH(ψk,αk)PnF(ψk,αk)，F(ψk,αk)＝diag[a(ψk,αk)]And diag (·) denotes that the vector is diagonalized.
See fig. 3. In the working flow of the guide vector correction in this embodiment, the multi-channel down-conversion rf module receives array data of the array antenna, down-converts N channels of rf signals into column vectors x (t) of N channels of intermediate frequency digital signals, and sets a reference weight matrix wrefWeighting N paths of intermediate frequency digital signals x (t) to obtain reference array element receiving signals
Respectively sending the reference array element receiving signals y (t) obtained after weighting into q tracking channels of a satellite navigation digital receiver, judging whether the positioning is successful by the satellite navigation digital receiver, returning to judge again, if so, performing ephemeris analysis and PVT (virtual reality) calculation to obtain the position of the reference array element, the satellite ephemeris and the attitude angle of an externally input array antenna, and calculating the sky angle of L visible satellites at the momentAzimuth angle and pitch angle under the line coordinate system; setting tracking channels of a satellite navigation digital receiver to respectively and fixedly track No. 1-L satellites according to the obtained satellite ephemeris and satellite tracking data, judging whether the tracking is stable, returning to judge again, if so, reconstructing local reference signals s of L satellites by a local reference signal reconstruction module according to the obtained satellite ephemeris and satellite tracking datak(t); the guiding vector correction processing module reconstructs the local reference signal s of the k-th satellitek(t) carrying out related despreading processing on the vector x (t) of the N paths of intermediate frequency digital signal columns to obtain the k-th satellite signal column vector of the array antenna 1-N array elements processed by the satellite signal reconstruction module
And k is more than or equal to 1 and less than or equal to L; then, M snapshots x of the kth satellite are collectedk(t) calculating an array guide vector error complex vector and a corrected target guide vector in the direction of the kth satellite, namely projecting a real guide vector containing an array error to a signal orthogonal complementary space by utilizing the characteristic that a signal subspace is orthogonal to the signal orthogonal complementary space, constructing a cost function, calculating the array guide vector error complex vector in the direction, compensating the error complex vector of the array guide vector to a theoretical guide vector or a guide vector obtained by darkroom measurement, correcting the target guide vector, and finally obtaining the (psi) in a real environmentk,αk) Array-directed column vector of directions
Then the next satellite k is changed to k +1, whether the satellite number k is larger than L satellites or not is judged, namely, whether k is larger than L or not is met, and if not, the k satellite signal x is returned to be reconstructed and processedkAnd (t), performing target guide vector correction in the direction of the next satellite until L satellites are processed, and if so, ending the guide vector correction work of the array antenna. The method for realizing the guide vector correction of the L satellites can adopt a strategy of circularly correcting each satellite or a strategy of simultaneously correcting the L satellites by adopting multiple correction channels, and the realization mode completely depends on the processing capacity of a hardware platform.
In the working flow of the steering vector correction of this embodiment, the specific steps of the complex vector calculation of the array steering vector error and the target steering vector correction in the k-th satellite direction include:
(1.1) the target guide vector correction module adopts M snapshot data x of the kth satellite subjected to reconstruction processingk(t) estimating the N × N dimensional covariance matrix thereof
Namely:
wherein: h represents taking conjugate transpose;
(1.2) target steering vector correction Module vs. covariance matrix
Performing eigenvalue decomposition
Arranging the characteristic value lambda from large to small as lambda1≥λ2≥…≥λNThe diagonal matrix D of eigenvalues is found to be diag ([ λ [ ])1,λ2,…λN]) And the eigenvector matrix V ═ V1,v2,…vN]Wherein: eig (-) denotes eigenvalue decomposition, diag (-) denotes vector diagonalization, and covariance matrix can be expressed as
And 2, constructing a signal orthogonal complement space by using the characteristic vector according to the number of the reconstructed satellites by a target guide vector correction module:
the target steering vector correction module divides the eigenvector matrix into two parts corresponding to the eigenvalues, one part being the signal subspace V corresponding to the large eigenvalues＝[v1,v2,…vp]The other part is a noise subspace V corresponding to small eigenvaluesn＝[vp+1,vp+2,…vN]Thus, a signal orthogonal complement space projection operator can be obtained
Wherein: p represents the number of reconstructed satellites used for correction.
And 3, the target guide vector correction module projects the real guide vector containing the array error to the signal orthogonal complement space by utilizing the orthogonal characteristic of the signal subspace and the signal orthogonal complement space, constructs a cost function and solves the complex vector of the array guide vector error in the direction:
(3.1) establishing an array steering vector error model:
assuming that each array element works independently, introducing an error complex vector G which is [ 1G ]2 … gN]TAnd the method can express array element directional diagram errors, array element channel amplitude and phase errors, array element position errors and the like, and the obtained array steering vectors under the real environment are as follows:
wherein: ψ denotes an azimuth angle of the satellite, α denotes a pitch angle of the satellite,
denotes an array steering column vector in the (ψ, α) direction in a real environment, a (ψ, α) denotes an array steering column vector theoretical value in the (ψ, α) direction, which denotes a Hadamard product, B ═ diag (g), diag (-) denotes that the vector is diagonalized, and T denotes a transposition.
(3.2) constructing a cost function and solving an array steering vector error complex vector in the direction:
the target guide vector correction module utilizes the orthogonal characteristic of a signal subspace and a signal orthogonal complementary space to construct a cost function when correcting a k satellite signal
Wherein:
representation solving cost function
(ii) a minimum value of2Denotes the modulus of the vector being found, H denotes the conjugate transpose, Ω (ψ)k,αk)＝FH(ψk,αk)PnF(ψk,αk)，F(ψk,αk)＝diag[a(ψk,αk)]And diag (·) denotes that the vector is diagonalized.
Target-oriented vector correction module solving cost function
I.e. solving for omega (ψ)k,αk) Finding out the corresponding eigenvector as the error complex vector estimated value of the array steering vector
Step 4, the target guide vector correction module makes the error complex vector estimated value of the array guide vector
Compensating the target guide vector into a theoretical guide vector or a guide vector obtained by darkroom measurement, correcting the target guide vector, and finally obtaining the target guide vector under the real environmentk,αk) Array-directed column vector of directions
In summary, the above detailed description of the embodiments of the present invention is provided with reference to the drawings, and as for the above guidance vector correction of L satellites, a strategy of cyclically correcting each satellite is adopted in the embodiments, and a strategy of simultaneously correcting L satellites by using multiple correction channels may also be adopted, and the implementation manner of the strategies depends completely on the processing capability of the hardware platform. Therefore, the present invention is not limited to the above-described embodiments, and various changes made without departing from the concept of the present invention within the knowledge of those skilled in the art can be made within the scope of the present invention.
Claims (10)
1. An anti-interference guide vector automatic correction system for satellite navigation, comprising: multichannel down conversion radio frequency module, DBF processing module, satellite navigation digital receiver and direction vector correction processing module, its characterized in that: the multi-path down-conversion radio frequency module down-converts received N-path array antenna radio frequency signals into N-path intermediate frequency digital signal column vectors x (t) and divides the N-path intermediate frequency digital signal column vectors x (t) into two paths, one path is sent to the DBF processing module for weighting processing, reference array element received signal column vectors y (t) obtained after weighting processing are respectively sent to q tracking channels of the satellite navigation digital receiver, the other path is sent to the guide vector correction processing module, and when the guide vector correction processing module sends correction control instructions to the satellite navigation digital receiver and the DBF processing module, the satellite navigation digital receiver and the DBF processing module are matched with the guide vector correction processing module to carry out guide vector correction processing; the satellite navigation digital receiver calculates an incident azimuth psi of the kth satellite in the antenna coordinate system according to a sight line vector of the kth satellite relative to the phase center of the array antenna reference array element in the antenna coordinate systemkAnd a pitch angle alphak(ii) a After the tracking of the tracking channel of the satellite navigation digital receiver is stable, the satellite navigation digital receiver reconstructs the local reference signal of the kth satellite and sends the local reference signal to the guide vector correction processing module, the reconstructed local reference signal of the kth satellite and N paths of intermediate frequency digital signals are subjected to related de-spreading processing, and the kth satellite signal column vector x of which the array antenna 1-N array elements are subjected to reconstruction processing is obtainedk(t); the guide vector correction processing module collects the dataM pieces of snapshot data of the k-th satellite subjected to reconstruction processing and an incident direction angle (psi) of the k-th satellite relative to the phase center of the array antenna reference array elementk,αk) And data, constructing a cost function and calculating an array steering vector error complex vector in the direction of the kth satellite by using the orthogonal characteristic of a signal subspace and a signal orthogonal complementary space, correcting a target steering vector and outputting a correction result.
2. The system according to claim 1, wherein the system for automatically correcting the anti-jamming steering vector for satellite navigation comprises: after the DBF processing module receives a correction control instruction of the guide vector correction processing module, the reference weight matrix is set to be wref＝[wref_1wref_2 … wref_q]Then weighting the N paths of intermediate frequency digital signals to obtain a reference array element received signal column vector
And y (t) ═ y1(t) y2(t) … yq(t)]TAnd respectively sending the column vectors y (t) of the reference array element received signals obtained after weighting processing into q tracking channels of the satellite navigation digital receiver, wherein: w is aref_1＝wref_2＝…＝wref_q＝[1 0 … 0]TAnd w isref_iIs a column vector of Nx 1, i is more than or equal to 1 and less than or equal to q, T represents transposition, and H represents taking conjugate transposition.
3. The system according to claim 1, wherein the system for automatically correcting the anti-jamming steering vector for satellite navigation comprises: the satellite navigation digital receiver comprises q tracking channels correspondingly connected with the DBF processing module, a local reference signal reconstruction module, a navigation message analysis and PVT calculation module and a visible satellite azimuth angle and pitch angle calculation module, wherein the local reference signal reconstruction module and the navigation message analysis and PVT calculation module are connected with the q tracking channels; after the satellite navigation digital receiver receives a correction control instruction of the guide vector correction processing module, q tracking channels start to track the satellite, the tracking channels send stably tracked satellite tracking data of numbers 1-L to a navigation message analysis and PVT solution module to perform navigation message analysis and three-dimensional position, speed and time information PVT solution, and the positions of a satellite ephemeris, a satellite position and a reference array element are obtained, wherein: l is the number of stably tracked satellites and is less than or equal to q.
4. The system according to claim 3, wherein the system further comprises: the navigation message analysis and PVT calculation module sends the satellite position and the position of the reference array element to the visible satellite azimuth angle and pitch angle calculation module, and the incident direction angle (psi) of the kth satellite relative to the phase center of the array antenna reference array element is calculated by combining the externally input antenna attitude anglek,αk) And output to the guide vector correction processing module.
5. The system according to claim 4, wherein the system for automatically correcting the anti-jamming steering vector of satellite navigation comprises: the satellite navigation digital receiver respectively obtains the current k-th satellite coordinate (x) under the earth-centered earth-fixed coordinate system ECEF through satellite ephemeris and PVT calculationk,yk,zk) And the phase center coordinates (x, y, z) of the reference array element, the current attitude angle of the array antenna is obtained according to measurement or by adopting an inertial navigation system, and the sight line vector of the kth satellite under an antenna coordinate system is calculated
Incident azimuth angle of kth satellite
And a pitch angle
Wherein:
a coordinate transformation matrix representing the coordinate system from the ECEF coordinate system to the antenna coordinate system,
e in (a) represents the ECEF coordinate system,
b in (a) represents an antenna coordinate system, and (bx, by, bz) are sight line vectors BLOSCoordinate components in the antenna coordinate system.
6. The system according to claim 3, wherein the system further comprises: after the satellite navigation digital receiver is successfully positioned, tracking channels are set to respectively and fixedly track 1-L satellites, after the tracking channel of the receiver is stably tracked, a local reference signal reconstruction module reconstructs local reference signals s of L satellites according to the satellite number k and the satellite tracking data of 1-L satellitesk(t) then sending the reconstructed local reference signals of the L satellites to a steering vector correction processing module, wherein: k is more than or equal to 1 and less than or equal to L.
7. The system according to claim 6, wherein the system for automatically correcting the anti-jamming steering vector for satellite navigation comprises: after the satellite navigation digital receiver stabilizes the tracking signal, the pseudo-random code phase delay of the kth satellite at the time t is obtained through the tracking channel
And carrier intermediate frequency
Obtaining a reconstructed local reference signal of the kth satellite at the t moment through a local reference signal reconstruction module:
the reconstructed signal is within 1ms, where:
indicating the code delay of the kth satellite at the time t
The following pseudo-random sequence of the sequence,
indicating the carrier intermediate frequency of the kth satellite at the moment t
The lower complex carrier signal.
8. The system according to claim 1, wherein the system for automatically correcting the anti-jamming steering vector for satellite navigation comprises: the guide vector correction processing module comprises: the multi-channel down-conversion radio frequency module is used for sending the received 1-N array antenna radio frequency signals to the satellite signal reconstruction module and the reconstructed local reference signal s of the kth satellite after down-converting the received 1-N array antenna radio frequency signals into 1-N intermediate frequency digital signal column vectors x (t)k(t) carrying out relevant de-spread processing to obtain the kth satellite signal processed by the reconstruction module of the array elements 1-N of the array antenna
Then x is putk(t) sending the data into a target guide vector correction module, and acquiring reconstructed M snapshot data of the kth satellite and an incident direction angle (psi) of the kth satellite relative to a reference array element phase center of the array antennak,αk) And data, constructing a cost function and calculating an array steering vector error complex vector in the direction of the kth satellite by utilizing the orthogonal characteristic of a signal subspace and a signal orthogonal complementary space, correcting a target steering vector and obtaining a correction result, and outputting the corrected steering vector to a DBF (direct binary function) processing module
And changing the next satellite k to k +1 until L satellites are processed, wherein:
the representation takes the conjugate, and the representation represents the correlation operation.
9. The system according to claim 8, wherein the system further comprises: the target guide vector correction module carries out covariance estimation on the M snapshot data of the k satellite subjected to reconstruction processing, and estimates an NxN-dimensional covariance matrix of the K satellite
And the covariance matrix can be expressed as
Then to
Performing eigenvalue decomposition
Arranging the characteristic value lambda from large to small as lambda1≥λ2≥…≥λNObtaining a diagonal matrix D ═ di of eigenvaluesag([λ1,λ2,…λN]) And the eigenvector matrix V ═ V1,v2,…vN]According to the number p of the reconstructed satellites, constructing a signal orthogonal complement space by using the eigenvectors, and dividing an eigenvector matrix V into two parts corresponding to the eigenvalues, wherein one part is a signal subspace V corresponding to a large eigenvalues＝[v1,v2,…vp]The other part is a noise subspace V corresponding to small eigenvaluesn＝[vp+1,vp+2,…vN]To obtain a signal orthogonal complement space projection operator
Wherein: h denotes taking the conjugate transpose, eig (-) denotes eigenvalue decomposition, and diag (-) denotes diagonalizing the vector.
10. The system according to claim 9, wherein the system further comprises: the target guide vector correction module utilizes the characteristic that a signal subspace is orthogonal to a signal orthogonal complementary space, and when a k-th satellite signal is corrected, an error complex vector G is introduced to be [ 1G ]2 … gN]TConstructing a cost function
Determining a cost function
I.e. solving for omega (ψ)k,αk) Finding out the corresponding eigenvector as the error complex vector estimated value of the array steering vector
Complex vector error estimation of array steering vectors
Compensating the target guide vector into a theoretical guide vector or a guide vector obtained by darkroom measurement, correcting the target guide vector, and finally obtaining the target guide vector under the real environmentk,αk) Array-directed column vector of directions
Wherein:
representation solving cost function
A (ψ) is a minimum value ofk,αk) Is shown in (psi)k,αk) Array steering column vector theoretical value of orientation, < > indicates Hadamard product, T indicates transpose, H indicates taking conjugate transpose, Ω (ψ)k,αk)＝FH(ψk,αk)PnF(ψk,αk)，F(ψk,αk)＝diag[a(ψk,αk)]And diag (·) denotes that the vector is diagonalized.
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