CN112415549B - Automatic calibration method and device for satellite navigation external field anti-interference test - Google Patents
Automatic calibration method and device for satellite navigation external field anti-interference test Download PDFInfo
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- CN112415549B CN112415549B CN202110093707.1A CN202110093707A CN112415549B CN 112415549 B CN112415549 B CN 112415549B CN 202110093707 A CN202110093707 A CN 202110093707A CN 112415549 B CN112415549 B CN 112415549B
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- 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
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Abstract
The invention relates to an automatic calibration method and device for satellite navigation external field anti-interference test, and belongs to the technical field of satellite navigation. The device comprises a calibration antenna, a frequency spectrograph and at least two interference sources, and further comprises a movable calibration platform, wherein the calibration antenna, the frequency spectrograph and an automatic calibration device are all installed on the movable calibration platform, and the automatic calibration device is respectively connected with the calibration antenna and the frequency spectrograph. The method has the advantages that the method is in real-time communication with each interference source in a wireless mode, interference source positions and interference parameters are obtained, the self azimuth angle information and the antenna directional diagram are combined at each calibration point, the interference incoming direction and the interference space attenuation are automatically calculated, finally, the interference power of the interference source is automatically calculated and set according to the J/S requirement of a test scene, all interference frequency points are calibrated at the same time by each track point, and the method has the advantages of parallel calibration, automatic calculation, high efficiency and time saving.
Description
Technical Field
The invention relates to an automatic calibration method and device for satellite navigation external field anti-interference test, and belongs to the technical field of satellite navigation.
Background
The outfield anti-interference test is a common means for testing the anti-interference capability of the satellite navigation terminal, and the common technology and method are that a plurality of interference sources are erected in the outfield and the satellite navigation terminal is placed on a vehicle for the sports car test. The method has the defects that power calibration needs to be carried out on track points of the sports car in an outfield anti-interference test, the traditional method is that calibration and recording are carried out manually point by point along the track of the sports car by using a calibration antenna and a spectrometer, then the interference source transmitting power is calculated and controlled according to calibration data, the efficiency is very low, the calibration data cannot be directly used for the anti-interference test, the interference source transmitting power cannot be automatically adjusted when scenes are switched, and the problems of large calculated amount, long consumed time and low efficiency are caused.
Disclosure of Invention
The invention provides a satellite navigation outfield anti-interference test automatic calibration method and device aiming at the requirements of outfield anti-interference automatic calibration.
The technical scheme of the invention is that the system comprises an automatic calibration device, a calibration antenna, a frequency spectrograph, a calibration platform and one or more interference sources;
the calibration antenna, the frequency spectrograph and the automatic calibration device are all arranged on the calibration platform, and the automatic calibration device is respectively connected with the calibration antenna and the frequency spectrograph;
the automatic calibration device reads the position coordinates of each interference source through the wireless communication module and sets a transmitting frequency point and transmitting power on one hand, and on the other hand, acquires the self-positioning coordinates and the azimuth angle in real time along the calibration track and calculates the interference to read the power measured value of the frequency spectrograph at the calibration frequency point; then, combining the directional diagram and azimuth angle information of the calibration antenna, and calculating and calibrating the space link attenuation according to the difference between the emission power of the interference source and the power measurement value of the spectrometer; and finally, calculating the transmitting power of the interference source according to the requirement of the interference-signal ratio J/S test index of the anti-interference test scene, and controlling the interference source to transmit the corresponding interference power through the wireless communication interface. Furthermore, the position of the interference source, the calibration track and different interference source spatial link attenuation values corresponding to each track point are displayed on the outfield map, so that the use by a user is facilitated.
The automatic calibration device mainly comprises a general processing module, a satellite navigation positioning module, a compass module, a wireless communication module, a network module, an operation and display module, a battery and a power supply management module;
the satellite navigation positioning module, the compass module, the wireless communication module, the network module and the operation and display module are all connected with the general processing module, wherein the general processing module completes data processing, calculation and control; the satellite navigation positioning module provides position positioning coordinates of the automatic calibration device;
the compass module provides an azimuth angle of the automatic calibration device; the wireless communication module completes communication between the automatic calibration device and each interference source; the network module completes communication between the automatic calibration module and the spectrometer; the operation and display module provides an input operation and a graphical display interface;
the battery and power management module is electrically connected with the general processing module, the satellite navigation positioning module, the compass module, the wireless communication module, the network module and the operation and display module and supplies power for the automatic calibration device.
The automatic calibration method for the outfield anti-interference test comprises the following specific steps:
step 1, a calibration antenna is fixedly installed on a movable calibration platform, the north direction of the calibration antenna is overlapped with the true north direction, an automatic calibration device and a spectrometer are placed in the calibration platform, and the calibration platform moves to a first calibration track point;
step 2, the automatic calibration device reads the position coordinates of each interference source through a wireless communication interface and displays the position of each interference source on an outfield map;
step 3, setting the emission frequency points and the emission power of each interference source by the automatic calibration device through a wireless communication interface, wherein the emission frequency points of different interference sources are distributed at equal intervals in a navigation signal frequency band, and the interference sources emit single carrier signals;
step 4, reading the power measurement value of each emission frequency point on the frequency spectrograph by the automatic calibration device, and reading the azimuth angle measurement value and the positioning coordinate of the calibration platform;
step 5, calculating each interference incoming direction according to the positioning coordinates of the automatic calibration device and each interference source position coordinate, calculating and calibrating spatial link attenuation according to the difference between the interference source transmitting power and the spectrometer power measurement value by combining the calibration antenna directional diagram and azimuth angle information, and displaying different interference source spatial link attenuation values corresponding to the calibration track point on an external field map;
set the azimuth angle of the automatic calibration device as
The azimuth angle of the interference source is
Elevation angle of
Calibrating the antenna pattern as
The interference source emission power EIRP value is
The spectrometer measured value is
Then the spatial attenuation value corresponding to the interference source
Comprises the following steps:
=
+
-
；
step 6, moving the calibration platform to the next calibration track point, and repeating the steps 4 to 5;
step 7, repeating the step 6 until all the calibrated trace points are traversed;
step 8, calculating the transmitting power of the interference source according to the J/S test index of the anti-interference test scene, and controlling the interference source to transmit the corresponding interference power through the wireless communication interface;
the J/S test index of the anti-interference test scene is set as
Is provided with
A source of interference, the satellite signal power being S, the second calculated in step 5
Spatial attenuation of an interference source of
Then the interference source transmits power
Comprises the following steps:
。
the method has the advantages that the automatic calibration device can be in real-time communication with each interference source in a wireless mode to obtain the position and the interference parameters of the interference source, the self azimuth angle information and the antenna directional diagram of each calibration point are combined to automatically calculate the attenuation of the interference incoming direction and the interference space, finally, the interference power of the interference source is automatically calculated and set according to the J/S requirement of a test scene, and each track point can simultaneously calibrate all interference frequency points, so that the method has the advantages of parallel calibration, automatic calculation, high efficiency and time saving.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a system for automated calibration.
Fig. 2 is a block diagram of the automatic calibration device.
Fig. 3 automated calibration process.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings 1 to 3 in conjunction with specific embodiments.
The invention comprises an automatic calibration device, a calibration antenna, a frequency spectrograph, a calibration platform and an interference source,
the calibration antenna, the frequency spectrograph and the automatic calibration device are all arranged on the calibration platform, and the automatic calibration device is respectively connected with the calibration antenna and the frequency spectrograph; as shown in fig. 1; wherein the interference source is one or more.
The automatic calibration device reads the position coordinates of each interference source through the wireless communication module and sets a transmitting frequency point and transmitting power on one hand, and on the other hand, acquires the self-positioning coordinates and the azimuth angle in real time along the calibration track and calculates the interference to read the power measured value of the frequency spectrograph at the calibration frequency point; then, combining the directional diagram and azimuth angle information of the calibration antenna, and calculating and calibrating the space link attenuation according to the difference between the emission power of the interference source and the power measurement value of the spectrometer; and finally, calculating the transmitting power of the interference source according to the requirement of the interference-signal ratio J/S test index of the anti-interference test scene, and controlling the interference source to transmit the corresponding interference power through the wireless communication interface. And displaying the position of the interference source, the calibration track and different interference source spatial link attenuation values corresponding to each track point on the outfield map, thereby facilitating the use of users.
The automatic calibration device mainly comprises a general processing module, a satellite navigation positioning module, a compass module, a wireless communication module, a network module, an operation and display module, a battery and a power supply management module; as shown in fig. 1, the satellite navigation positioning module, the compass module, the wireless communication module, the network module, and the operation and display module are all connected with the general processing module, wherein the general processing module completes data processing, calculation, and control; the satellite navigation positioning module provides position positioning coordinates of the automatic calibration device; the compass module provides an azimuth angle of the automatic calibration device; the wireless communication module completes communication between the automatic calibration device and each interference source; the network module completes communication between the automatic calibration module and the spectrometer; the operation and display module provides an input operation and a graphical display interface; the battery and power management module is electrically connected with the general processing module, the satellite navigation positioning module, the compass module, the wireless communication module, the network module and the operation and display module and supplies power for the automatic calibration device.
The automatic calibration device can be a tablet personal computer or a notebook computer embedded with a satellite navigation positioning module, a compass module and a wireless communication module. The wireless communication mode can be 433MHzLORA communication, WIFI wireless communication, 4G communication and 5G communication; the self azimuth angle information and the antenna directional diagram are combined at each calibration point, the interference incoming direction and the interference space attenuation are automatically calculated, finally, the interference power of an interference source is automatically calculated and set according to the J/S requirement of a test scene, and each track point can simultaneously calibrate all interference frequency points, so that the method has the advantages of parallel calibration and automatic calculation, the operation efficiency is greatly improved, and the operation time is saved; therefore, the technical problem that the high updating rate and the real-time performance are influenced by huge calculation amount in a complex 3D scene with a plurality of receivers and a plurality of navigation satellites in the conventional navigation multipath simulation mode is solved. The technical problem that the high updating rate and the real-time performance are influenced by huge calculation amount in a complex 3D scene with a plurality of receivers and a plurality of navigation satellites in the conventional navigation multipath simulation mode is cooperatively solved; this is not possible with the prior art by simple bonding.
The automatic calibration method comprises the following specific steps:
step 1, a calibration antenna is fixedly installed on a movable calibration platform (the calibration platform can be a vehicle or a hand-push type mobile platform), the north direction of the calibration antenna is overlapped with the true north direction, an automatic calibration device and a spectrum instrument are placed in the calibration platform, and the calibration platform moves to a first calibration track point;
specifically, the calibration antenna may be a satellite navigation antenna different from the interference frequency point, or may be in a multi-array antenna array form, so as to avoid that a calibration signal emitted by an interference source affects a navigation signal of the calibration antenna, which results in that a positioning module inside the automatic calibration device cannot perform positioning.
Step 2, the automatic calibration device reads the position coordinates of each interference source through a wireless communication interface, and displays the position of each interference source on an external field map (the external field map is a function of software running on the automatic calibration device);
step 3, setting the emission frequency points and the emission power of each interference source by the automatic calibration device through a wireless communication interface, wherein the emission frequency points of different interference sources are distributed at equal intervals in a navigation signal frequency band, and the interference sources emit single carrier signals;
specifically, if a plurality of satellite navigation signal frequency points are tested and calibrated, each interference source simultaneously transmits a plurality of interference frequencies, each interference frequency point corresponds to one navigation signal frequency point, and the interference frequencies of different interference sources corresponding to the same navigation signal frequency point are distributed at equal intervals in the navigation signal frequency band.
A specific example, 4 interference sources need to be calibrated for beidou B1, B3 frequency points and GPS L1 frequency points, each interference source transmits three single carrier interference signals, three single carrier frequencies respectively fall in a beidou B1 signal frequency band (1561 ± 2 MHz), a B3 signal frequency band (1268.52 ± 10 MHz) and a GPS L1 signal frequency band (1575.42 ± 1 MHz), single carrier frequencies transmitted by 4 interference sources in the B1 frequency band are distributed at equal intervals in the 1561 ± 2MHz, the intervals can be taken from 100KHz to 1MHz, single carrier frequencies transmitted by 4 interference sources in the L1 frequency band are distributed at equal intervals in the 1575.42 ± 1MHz, the intervals can be taken from 100KHz to 500KHz, single carrier frequencies transmitted by 4 interference sources in the B3 frequency band are distributed at equal intervals in the 1268.52 ± 10MHz, and the intervals can be taken from 100KHz to 5 MHz.
Step 4, reading the power measured value of each transmitting frequency point on the frequency spectrograph by the automatic calibration device, and reading the azimuth angle measured value and the self-positioning coordinate of the calibration platform;
step 5, calculating each interference incoming direction according to the positioning coordinates of the automatic calibration device and each interference source position coordinate, calculating and calibrating spatial link attenuation according to the difference between the interference source transmitting power and the spectrometer power measurement value by combining the calibration antenna directional diagram and azimuth angle information, and displaying different interference source spatial link attenuation values corresponding to the calibration track point on an external field map;
specifically, it is a mature algorithm to calculate interference according to coordinates, and it is not expanded here, and only a method to calculate spatial attenuation is given here: assuming an azimuth angle of the automatic calibration device of
The azimuth angle of the interference source is
Elevation angle of
Calibrating the antenna pattern as
The interference source emission power EIRP value is
(in dBm) spectrometer measurements of
(unit dBm), the spatial attenuation value corresponding to the interference source
(unit: dB) is:
step 6, moving the calibration platform to the next calibration track point, and repeating the steps 4 to 5;
step 7, repeating the step 6 until all the calibrated trace points are traversed;
and 8, calculating the transmitting power of the interference source according to the J/S test index of the anti-interference test scene, and controlling the interference source to transmit the corresponding interference power through the wireless communication interface.
Specifically, assume that the J/S test index of the anti-interference test scenario is
，
The interference source, the satellite signal power is S (unit: dBm), the second calculated in step 5
Spatial attenuation of an interference source of
Then the interference source transmits power
(unit: dBm) should be:
generally, the Beidou signal S is taken to be-130 dBm, and the GPS signal S is taken to be-127 dBm.
In summary, the automatic calibration device provided by the invention can communicate with each interference source in real time in a wireless manner to obtain the position of the interference source and interference parameters, automatically calculate the attenuation of the interference to the interference space at each calibration point by combining the azimuth information of the calibration point and the antenna directional diagram, and finally automatically calculate and set the interference power of the interference source according to the J/S requirement of the test scene, and each track point can simultaneously calibrate all interference frequency points, so that the automatic calibration device has the advantages of parallel calibration, automatic calculation, high efficiency and time saving.
Claims (3)
1. The automatic calibration method for the satellite navigation external field anti-interference test is characterized by comprising the following steps: the system comprises an automatic calibration device, a calibration antenna, a frequency spectrograph, a calibration platform and an interference source; the calibration antenna, the frequency spectrograph and the automatic calibration device are all arranged on the calibration platform, and the automatic calibration device is respectively connected with the calibration antenna and the frequency spectrograph;
the automatic calibration device reads the position coordinates of each interference source through the wireless communication module and sets a transmitting frequency point and transmitting power on one hand, and on the other hand, acquires the self-positioning coordinates and the azimuth angle in real time along the calibration track and calculates the interference to read the power measured value of the frequency spectrograph at the calibration frequency point; then, combining the directional diagram and azimuth angle information of the calibration antenna, and calculating and calibrating the space link attenuation according to the difference between the emission power of the interference source and the power measurement value of the spectrometer; and finally, calculating the transmitting power of the interference source according to the requirement of the interference-signal ratio J/S test index of the anti-interference test scene, and controlling the interference source to transmit the corresponding interference power through the wireless communication interface.
2. The automatic calibration method for the satellite navigation external field anti-interference test according to claim 1, characterized by comprising the following steps:
step 1, a calibration antenna is fixedly installed on a movable calibration platform, the north direction of the calibration antenna is overlapped with the true north direction, an automatic calibration device and a spectrometer are placed in the calibration platform, and the calibration platform moves to a first calibration track point;
step 2, the automatic calibration device reads the position coordinates of each interference source through a wireless communication interface and displays the position of each interference source on an outfield map;
step 3, setting the emission frequency points and the emission power of each interference source by the automatic calibration device through a wireless communication interface, wherein the emission frequency points of different interference sources are distributed at equal intervals in a navigation signal frequency band, and the interference sources emit single carrier signals;
step 4, reading the power measurement value of each emission frequency point on the frequency spectrograph by the automatic calibration device, and reading the azimuth angle measurement value and the positioning coordinate of the calibration platform;
step 5, calculating each interference incoming direction according to the positioning coordinates of the automatic calibration device and each interference source position coordinate, calculating and calibrating spatial link attenuation according to the difference between the interference source transmitting power and the spectrometer power measurement value by combining the calibration antenna directional diagram and azimuth angle information, and displaying different interference source spatial link attenuation values corresponding to the calibration track point on an external field map;
set the azimuth angle of the automatic calibration device as
The azimuth angle of the interference source is
Elevation angle of
Calibrating the antenna pattern as
The interference source emission power EIRP value is
The spectrometer measured value is
Then the spatial attenuation value corresponding to the interference source
Comprises the following steps:
step 6, moving the calibration platform to the next calibration track point, and repeating the steps 4 to 5;
step 7, repeating the step 6 until all the calibrated trace points are traversed;
step 8, calculating the transmitting power of the interference source according to the J/S test index of the anti-interference test scene, and controlling the interference source to transmit the corresponding interference power through the wireless communication interface;
the J/S test index of the anti-interference test scene is set as
Is provided with
A source of interference, the satellite signal power being S, the second calculated in step 5
Spatial attenuation of an interference source of
Then the interference source transmits power
Comprises the following steps:
。
3. the automatic calibration method for the satellite navigation external field anti-interference test according to claim 1, characterized by further comprising the following devices: the system mainly comprises a general processing module, a satellite navigation positioning module, a compass module, a wireless communication module, a network module, an operation and display module, a battery and a power supply management module;
the satellite navigation positioning module, the compass module, the wireless communication module, the network module and the operation and display module are all connected with the general processing module, wherein the general processing module completes data processing, calculation and control; the satellite navigation positioning module provides position positioning coordinates of the automatic calibration device;
the compass module provides an azimuth angle of the automatic calibration device; the wireless communication module completes communication between the automatic calibration device and each interference source; the network module completes communication between the automatic calibration module and the spectrometer; the operation and display module provides an input operation and a graphical display interface;
the battery and power management module is electrically connected with the general processing module, the satellite navigation positioning module, the compass module, the wireless communication module, the network module and the operation and display module and supplies power for the automatic calibration device.
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| CN205992057U (en) * | 2016-08-17 | 2017-03-01 | 黄昌柏 | Beidou satellite navigation anti-interference test system |
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