CN113917502A - Array satellite signal recovery method, device, equipment and storage medium - Google Patents
Array satellite signal recovery method, device, equipment and storage medium Download PDFInfo
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
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Abstract
The invention relates to the technical field of signal processing, in particular to an array satellite signal recovery method, device, equipment and storage medium. The invention constructs the steering vector matrix of the antenna, and each element value of the steering vector matrix is defined by the scanning angle of the antenna, each array satellite signal to be recovered has a corresponding antenna scanning angle corresponding to the antenna scanning angle, thus the quantity of the array satellite signals to be recovered can be obtained according to the matrix corresponding to the product of the steering vector matrix and the vector of the array satellite signals to be recovered and the number of non-zero elements in the matrix. On the basis of obtaining the quantity of the array satellite signals to be recovered, the phase information corresponding to the array satellite signals to be recovered can be recovered by combining the established array signal model. The method can acquire the number of the array satellite signals to be recovered and recover the phase of the signals.
Description
Technical Field
The invention relates to the technical field of signal processing, in particular to an array satellite signal recovery method, device, equipment and storage medium.
Background
The traditional satellite navigation receiver receives signals in a single antenna omni-directional mode, and the gains of the antenna in all angle directions are the same. There are a number of well-established methods for detecting, acquiring and tracking signals from single antenna satellite navigation receivers. For a satellite navigation receiver with an additional array antenna, the traditional satellite signal detection and acquisition method usually processes signals for a single radio frequency channel, and does not well utilize the space domain characteristics of satellite signals. In the field of array radar signal processing, a plurality of space-time domain signal processing algorithms have been developed, and part of the algorithms can also be transplanted to the field of array satellite navigation receivers. The array satellite navigation receiver is different from an array radar receiver in that the array satellite navigation receiver not only needs to form a wave beam in the direction of an expected signal and form null in the interference direction, but also needs to ensure undistorted reception of a satellite signal, so that navigation information such as the current position and speed of the array satellite navigation receiver is solved.
Due to the limitation of volume or platform, the number of antennas installed on many satellite navigation receivers is limited, and therefore, there is a case where the number of satellite signals to be received is greater than the number of antennas installed on the satellite navigation receivers, which is referred to as an airspace undersampling case (under an airspace sparse condition, the number of signals includes the number of null data, and the null data, that is, data information corresponding to the signals, is zero). However, the existing algorithm for the condition of spatial domain non-under-sampling (the number of antennas is greater than or equal to the number of signals to be received) cannot calculate the number of effective signals under the condition of spatial domain under-sampling, so that the phase information of the signals cannot be recovered.
In summary, the prior art cannot recover the phase information of the signal under the spatial domain undersampling condition.
Thus, there is a need for improvements and enhancements in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides an array satellite signal recovery method, device, equipment and storage medium, which solve the problem that the phase information of signals under the condition of airspace under-sampling cannot be recovered in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides an array satellite signal recovery method, including:
acquiring a satellite signal vector amplitude corresponding to an array satellite signal to be recovered;
constructing a steering vector matrix corresponding to an antenna, wherein the antenna is used for receiving the array satellite signals to be recovered, element values corresponding to the steering vector matrix correspond to the scanning angle of the antenna, and the number of elements contained in the steering vector matrix is more than or equal to the number of signals corresponding to the array satellite signals to be recovered;
constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the steering vector matrix;
and recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model.
In one implementation, the constructing a steering vector matrix corresponding to an antenna, where the antenna is configured to receive the array satellite signal to be recovered, where element values corresponding to the steering vector matrix correspond to scanning angles of the antenna, and the number of elements included in the steering vector matrix is greater than or equal to the number of signals corresponding to the array satellite signal to be recovered, includes:
acquiring a signal wavelength corresponding to the array satellite signal to be recovered;
obtaining a guide vector value corresponding to the scanning angle according to the signal wavelength and the scanning angle;
and constructing the steering vector matrix by using the steering vector values as the element values.
In one implementation, the constructing an array signal model about the array satellite signals to be recovered according to the satellite signal vector magnitude and the steering vector matrix includes:
acquiring a noise signal of an environment where the antenna is located;
multiplying the steering vector matrix by the array satellite signal to be recovered to obtain a middle vector;
and adding the noise signal to the modulus value corresponding to the intermediate vector to be equal to the amplitude value of the satellite signal vector to obtain an array signal model.
In one implementation, the recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model includes:
calculating the difference value between the satellite signal vector amplitude value in the array signal model and the module value corresponding to the intermediate vector to obtain a difference value result;
calculating 2 norms of the module values corresponding to the difference results;
calculating the 1 norm of the array satellite signal to be recovered;
optimizing the array signal model according to the 2 norm of the module value corresponding to the difference result and the 1 norm of the array satellite signal to be recovered to obtain an optimized objective function;
and recovering the phase corresponding to the array satellite signal to be recovered by solving the optimized objective function.
In one implementation, the recovering the phase corresponding to the array satellite signal to be recovered by solving the optimized objective function includes:
according to the optimization objective function, obtaining a first calculation result which is contained in the optimization objective function and formed by multiplying a conjugate transpose matrix corresponding to the array satellite signals to be recovered by a conjugate transpose matrix corresponding to the steering vector matrix by the array satellite signals to be recovered;
according to the optimization objective function, obtaining a second calculation result which is contained in the optimization objective function and formed by multiplying a transposed matrix corresponding to the satellite signal vector amplitude by a module value of the intermediate vector;
multiplying a conjugate transpose matrix corresponding to the steering vector matrix by a semi-positive definite matrix inequality corresponding to the steering vector matrix to obtain a first calculation result which is less than or equal to a first target function;
obtaining a second calculation result which is less than or equal to a second target function according to the fact that the modulus value of the intermediate vector is greater than or equal to the real part of the intermediate vector;
according to the first objective function and the second objective function, relaxing the optimization objective function to obtain the relaxed optimization objective function;
and recovering the phase corresponding to the array satellite signal to be recovered by solving the optimized objective function after relaxation.
In one implementation, the recovering the phase corresponding to the array satellite signal to be recovered by solving the optimized objective function after relaxation includes:
simplifying the optimized objective function after relaxation to obtain a final objective function, wherein the final objective function is formed by subtracting 2 norms of vector parameters and 1 norm of the array satellite signals to be restored from the array satellite signals to be restored, and the vector parameters are formed by the array satellite signals to be restored, the steering vector matrix and the satellite signal vector amplitude;
and recovering the phase corresponding to the array satellite signal to be recovered through the final objective function.
In one implementation, further comprising correcting the recovered phase, the correcting the recovered phase comprising:
creating a sample database, wherein the sample database comprises a sample phase and a sample recovery phase corresponding to the sample phase, the sample phase is a phase corresponding to an acquired sample array satellite signal, and the sample recovery phase is a phase corresponding to the sample array satellite signal obtained through the array signal model;
constructing an error function about a phase difference parameter from the sample phase and the sample recovery phase;
obtaining a phase difference value corresponding to the phase difference parameter by solving the error function;
and correcting the recovered phase according to the phase difference value.
In a second aspect, an embodiment of the present invention further provides an apparatus for an array satellite signal recovery method, where the apparatus includes the following components:
the satellite signal vector amplitude acquisition module is used for acquiring a satellite signal vector amplitude corresponding to the array satellite signal to be recovered;
a steering vector matrix construction module, configured to construct a steering vector matrix corresponding to an antenna, where the antenna is configured to receive the array satellite signal to be recovered, an element value corresponding to the steering vector matrix corresponds to a scanning angle of the antenna, and the number of elements included in the steering vector matrix is greater than or equal to the number of signals corresponding to the array satellite signal to be recovered;
the array signal module construction module is used for constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the guide vector matrix;
and the phase recovery module is used for recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model.
In a third aspect, an embodiment of the present invention further provides a terminal device, where the terminal device includes a memory, a processor, and an array satellite signal recovery program that is stored in the memory and is executable on the processor, and when the processor executes the array satellite signal recovery program, the steps of the array satellite signal recovery method are implemented.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where an array satellite signal recovery program is stored on the computer-readable storage medium, and when the array satellite signal recovery program is executed by a processor, the method for recovering an array satellite signal described above is implemented.
Has the advantages that: the invention constructs the guiding vector matrix of the antenna, and each element value of the guiding vector matrix is defined by the scanning angle of the antenna, and the element quantity in the guiding vector matrix is larger than the signal quantity of the array satellite signal to be recovered, namely, each array satellite signal to be recovered has a corresponding antenna scanning angle corresponding to the antenna scanning angle, thus obtaining the quantity of the array satellite signal to be recovered according to the matrix corresponding to the product of the guiding vector matrix and the vector of the array satellite signal to be recovered and the quantity of the non-zero elements in the matrix. On the basis of obtaining the quantity of the array satellite signals to be recovered, the phase information corresponding to the array satellite signals to be recovered can be recovered by combining the established array signal model. In summary, the invention can acquire the number of the array satellite signals to be recovered and recover the phase of the signals.
Drawings
FIG. 1 is an overall flow chart of the present invention;
FIG. 2 is a schematic diagram of a space domain sparse satellite signal recovery method based on an array antenna according to the present invention;
FIG. 3 is a schematic diagram illustrating the principle of satellite signal recovery during spatial domain undersampling according to the present invention;
FIG. 4 is a schematic diagram of a simulation of the present invention;
fig. 5 is a schematic block diagram of an internal structure of a terminal device according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is clearly and completely described below by combining the embodiment and the attached drawings of the specification. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Research shows that the traditional satellite navigation receiver receives signals omnidirectionally by a single antenna, and the gains of the antenna in all angle directions are the same. There are a number of well-established methods for detecting, acquiring and tracking signals from single antenna satellite navigation receivers. For a satellite navigation receiver with an additional array antenna, the traditional satellite signal detection and acquisition method usually processes signals for a single radio frequency channel, and does not well utilize the space domain characteristics of satellite signals. In the field of array radar signal processing, a plurality of airspace signal processing algorithms have been developed, and part of algorithms can also be transplanted to the field of array satellite navigation receivers. The array satellite navigation receiver is different from an array radar receiver in that the array satellite navigation receiver not only needs to form a wave beam in the direction of an expected signal and form null in the interference direction, but also needs to ensure undistorted reception of a satellite signal, so that navigation information such as the current position and speed of the array satellite navigation receiver is solved. Due to the limitation of volume or platform, the number of antennas installed on many satellite navigation receivers is limited, and therefore, there is a case where the number of satellite signals to be received is greater than the number of antennas installed on the satellite navigation receivers, which is referred to as an airspace undersampling case (under an airspace sparse condition, the number of signals includes the number of null data, and the null data, that is, data information corresponding to the signals, is zero). However, the existing algorithm for the spatial domain non-under-sampling (the number of antennas is greater than or equal to the number of signals to be received) cannot recover the phase information of the signals because the number of effective signals under the spatial domain under-sampling cannot be calculated. The prior art cannot recover the phase information of the signal under the condition of spatial domain undersampling.
In order to solve the technical problems, the invention provides an array satellite signal recovery method, device, equipment and storage medium, which solve the problem that the phase information of signals under the condition of airspace under-sampling cannot be recovered in the prior art. In specific implementation, firstly, a satellite signal vector amplitude corresponding to an array satellite signal to be recovered is obtained; constructing a steering vector matrix corresponding to an antenna; constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the steering vector matrix; and recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model. The array signal model of the array satellite signal to be recovered is constructed through the guide vector matrix and the satellite signal vector amplitude, and the phase of the array satellite signal to be recovered can be obtained through solving the array signal model.
For example, there are 10 array satellite signals transmitted to the array satellite navigation receiver, i.e. the array satellite navigation receiver needs to receive the 10 array satellite signals. Wherein the 10 array satellite signals may have one or several null signals (null signals), i.e. the number of non-null signals (valid signals) is less than or equal to 10 (the number of valid signals is unknown), and the valid signals are the array satellite signals whose phase needs to be recovered according to the present invention. Since the number of antennas on the array satellite navigation receiver is less than 10, the prior art cannot find the number of effective signals, and the phase of the effective signals cannot be recovered. The invention divides the scanning interval of the antenna on the array satellite navigation receiver to obtain each scanning angle in the interval. For example, the scanning interval is 0-180 degrees, the scanning interval is divided into 10 equal intervals, each interval corresponds to 18 degrees, element values of a steering vector matrix are constructed through the angles, the array satellite navigation receiver can acquire the amplitude of an array satellite signal, an array signal model can be constructed through the amplitude of the array satellite signal, the array satellite signal and the steering vector matrix, a vector corresponding to the array satellite signal in the array signal model is multiplied by the steering vector matrix, and the number of nonzero elements in the matrix corresponding to the multiplication result is the number of the array satellite signals to be recovered. And the corresponding angle of the position of the non-zero element in the matrix can know which array satellite signal is the non-zero signal.
Exemplary method
The array satellite signal recovery method of the embodiment can be applied to terminal equipment, and the terminal equipment can be a terminal product with a signal processing function, such as a computer and the like. In this embodiment, as shown in fig. 1, the method for recovering an array satellite signal specifically includes the following steps:
and S100, acquiring a satellite signal vector amplitude corresponding to the array satellite signal to be recovered.
In this embodiment, y represents the magnitude of the satellite signal vector measured by the antenna on the array satellite navigation receiver, and is Mx1 real vector (Mx1 is the vector of M rows and 1 columns, where M is also the number of antennas).
S200, constructing a steering vector matrix corresponding to an antenna, wherein the antenna is used for receiving the array satellite signals to be recovered, element values corresponding to the steering vector matrix correspond to the scanning angle of the antenna, and the number of elements contained in the steering vector matrix is more than or equal to the number of signals corresponding to the array satellite signals to be recovered.
In this embodiment, a steering vector matrix a is constructed by combining the signal wavelength and the scanning angle of the array satellite signal to be recovered.
In this embodiment, let a = [ a (θ)1) a(θ2)…a(θi)…a(θK)]Wherein a (theta)i) Is an angle thetaiThe scanning angle interval theta of the array antenna is divided into K angles at equal intervals.
λ0For the signal wavelength of the array satellite signal to be recovered, e is the base of the natural logarithm, j is the imaginary symbol, (. DEG)TRepresenting a transpose operation, d is the distance between the two antennas. A (theta)i) It can be seen that the matrix a is an M × K dimensional matrix of the steering vectors of the incident satellite signals. In this embodiment, the number M of antennas is smaller than K, and K is greater than the number N of array satellite signals to be recovered, that is, each array satellite signal to be recovered has a corresponding scanning angle.
And S300, constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the steering vector matrix.
In this embodiment, a noise signal of an environment where the antenna is located is also considered when the array signal model is constructed, so that the array signal model constructed in this embodiment can recover the phase of the array satellite signal to be recovered even when the array signal model is applied to a noisy environment.
The step 300 includes the following steps S301, S302, S303:
s301, acquiring a noise signal of the environment where the antenna is located.
The noise signal n in this embodiment is real white gaussian noise, and is Mx1 dimensions.
And S302, multiplying the steering vector matrix by the array satellite signal to be recovered to obtain a middle vector.
The intermediate vector of this embodiment is Ax, where x is the array satellite signal to be recovered.
And S303, adding the noise signal to the modulus value corresponding to the intermediate vector to be equal to the amplitude value of the satellite signal vector to obtain an array signal model.
y＝|Ax|+n (2)
Equation (2) is the array signal model.
And S400, restoring the phase corresponding to the array satellite signal to be restored by solving the array signal model.
Step S400 includes steps S401, S402, S403, S404, S405, S406, S407, S408, S409, S4010, S4011 as follows:
s401, calculating the difference value between the satellite signal vector amplitude value in the array signal model and the module value corresponding to the intermediate vector to obtain a difference value result.
S402, calculating the 2 norm of the modulus corresponding to the difference result.
And S403, calculating the 1 norm of the array satellite signal to be recovered.
S404, optimizing the array signal model according to the 2 norm of the module value corresponding to the difference result and the 1 norm of the array satellite signal to be recovered to obtain an optimized objective function.
In this embodiment, the optimization objective function obtained in steps S401, S402, S403, and S404 is formula (3):
ax is the intermediate vector, λ represents the regularization factor, | · | | non-conducting phosphor2And | · | non-conducting phosphor1Respectively represent l2Norm (2 norm) and l1Norm (1 norm).
The formula (3) is a convex function, and the calculation complexity is high, so that it is difficult to recover the phase corresponding to x directly through the formula (3), and therefore, in this embodiment, the following steps S405 to S4010 are adopted to convert the formula (3) to reduce the calculation complexity, so as to conveniently solve the phase corresponding to x.
S405, according to the optimization objective function, obtaining a first calculation result contained in the optimization objective function and formed by multiplying the conjugate transpose matrix corresponding to the array satellite signal to be recovered by the conjugate transpose matrix corresponding to the steering vector matrix by the array satellite signal to be recovered.
This embodiment expands equation (3) to obtain equation (4):
in the above formula, (.)HDenotes a conjugate transpose operation, C1Is a constant independent of x, xHAHAx is the first calculation.
S406, according to the optimization objective function, obtaining a second calculation result which is included in the optimization objective function and formed by multiplying a transposed matrix corresponding to the satellite signal vector amplitude by a module value of the intermediate vector.
The second calculation result is 2yT|Ax|。
And S407, multiplying the conjugate transpose matrix corresponding to the steering vector matrix by the positive semi-definite matrix inequality corresponding to the steering vector matrix to obtain the first calculation result which is less than or equal to the first target function.
The expression of the first calculation result being equal to or less than the first objective function is inequality (5):
in the formula, I is a K multiplied by K dimensional unit matrix,
is an arbitrary K x 1-dimensional vector, C0And C2Are all variables independent of the variable x, Rc [. cndot.)]Representing operations taking real parts, i.e.
Is a plurality of
Real part of (C), and0the conditional formula (6) is required to be satisfied:
C0≥λmax(AHA) (6)
the inequality (5) is obtained based on inequality theory one, and the principle of inequality theory one is as follows:
if the matrixes A and B are N multiplied by N dimensional Hermite matrixes and A-B is a semi-positive definite matrix, namely A-B is more than or equal to 0, then any N multiplied by 1 dimensional vector is subjected to
With inequality (7) standing
In the formula (DEG)HDenotes the conjugate transpose, Re [. cndot.)]Indicating the operation of the real part.
S408, according to the fact that the modulus value of the intermediate vector is larger than or equal to the real part of the intermediate vector, the second objective function with the second calculation result smaller than or equal to is obtained.
Wherein, u denotes a Hadamard product (Hadamard product), and ang (·) denotes a phase angle.
S409, according to the first objective function and the second objective function, the optimization objective function is relaxed, and the relaxed optimization objective function is obtained.
In this embodiment, the optimization objective function after relaxation is shown in formula (9):
s4010, simplifying the optimized objective function after relaxation to obtain a final objective function, wherein the final objective function is formed by subtracting 2 norms of vector parameters from the array satellite signal to be restored and 1 norm of the array satellite signal to be restored, and the vector parameters are formed by the array satellite signal to be restored, the steering vector matrix and the satellite signal vector amplitude.
In step S4010, the detailed process of obtaining the final objective function by simplifying the optimized objective function after the relaxation is performed is as follows:
to express equation (9) conveniently, let
From the matrix operation of the complex numbers, one can obtain:
Re(gHAx)＝Re(xHAHg) (11)
substituting equation (10) and equation (11) into equation (9) yields:
further elaboration of equation (12) yields:
introducing a vector parameter b:
further elaboration of equation (13) yields:
according to the theory of complex matrix operations, it can be known that:
further simplification of equation (15) from equation (16) yields:
for the optimization problem mentioned above, b is due toHb is a constant term independent of variables and does not affect the solution of the objective function. Therefore, it can be ignored. The final objective function is therefore:
and S4011, recovering the phase corresponding to the array satellite signal to be recovered through the final objective function.
In this embodiment, a soft threshold method is used to solve the phase corresponding to x in the formula (18), that is, the phase is recovered, and the specific process is as follows:
for convenience of expression, let
Because | x | non-woven phosphor in formula (19)1Can not be directly derived, and | | | x | | non-woven phosphor1And can be expressed by equation (20):
in the above formula, xiIs the ith element in vector x (·)*Indicating a conjugate operation. Substituting equation (20) into equation (19) and relaxing equation (19) yields:
(x) solving for the conjugate gradient of the variable x and making it equal to a K1-dimensional 0 vector, i.e.:
in the formula
diag[·]Representing a diagonalization operation.
Simplifying equation (22) yields:
for the ith element x in the vector x, according to the above equationiAnd the ith element b in the vector biThe following relationships are present:
therefore, it is possible to obtain:
and
therefore, it is not only easy to use
In the above formula, the first and second carbon atoms are,
similarly, for vector x, it can be expressed as
In the above formula, 1k×1Is a K x1 dimensional vector with all 1 elements. Due to | xi| ≧ 0, therefore, when
The above formula does not hold, and x is considered to bei0. Thus, further refinement of the above equation can yield a solution to the soft threshold method
In the above formula, max {. cndot.) represents the maximum value.
Observe the expression of the above equation, vector parameter bRepresented by formula (14) containing known parameters
Therefore, consider
Is the value of the kth iteration, i.e.
Selecting proper initial value, and obtaining preliminary estimation solution according to iteration requirement
I.e. the result obtained by recovering the phase of the satellite signal of the array to be recovered.
And S500, correcting the recovered phase.
In the signal detection link, the navigation receiver measures signal amplitude information, so that the signal obtained according to the algorithm may have signal phase offset, and a solution obtained by estimation is required
And carrying out phase correction. In this embodiment, step S500 includes the following steps S501, S502, S503, and S504:
s501, a sample database is created, wherein the sample database comprises a sample phase and a sample recovery phase corresponding to the sample phase, the sample phase is a phase corresponding to an acquired sample array satellite signal, and the sample recovery phase is a phase corresponding to the sample array satellite signal obtained through the array signal model.
S502, constructing an error function z (phi) related to a phase difference parameter through the sample phase and the sample recovery phase:
x represents the actual sampled signal and x represents the actual sampled signal,
for the acquired sample array signals, represented by the signal obtained by the array signal model
And x.
And S503, obtaining a phase difference value corresponding to the phase difference parameter by solving the error function.
Taking the derivative for phi for equation (30):
order:
obtaining:
ejφnamely the phase difference value corresponding to the phase difference parameter.
S504, correcting the recovered phase according to the phase difference value.
Correcting the recovered phase to obtain the corrected phase
The following describes an overall process of the array satellite signal recovery method in this embodiment, taking phase recovery of an array satellite signal received by an array satellite navigation receiver as an example:
as shown in fig. 2, the array antenna enters the acquired signals into the space-domain sparse satellite signal processing part of this embodiment through respective radio frequency front ends, code correlators, mixers and coherent integration links.
As shown in fig. 3, the left part of the figure shows a steering vector matrix, and since M antennas are used, M rows are laterally shared. The longitudinal interval represents the scanning angle range of the array antenna, is divided into K angles at equal intervals, and each column corresponds to one guide vector. The right part in the figure represents incident satellite signals, and the total number of the incident satellite signals is K lines, wherein only certain N lines have data, namely N actual satellite signals, and other line data are 0, namely the angle of the target has space domain sparse characteristics in the scanning interval of the array antenna.
In this embodiment, M is 20, and Θ [ -15 °, 15 ° ]]In 1 of0Dividing theta at equal intervals, namely K is 30, assuming that 5 incident satellite signals exist, the incident angles are randomly distributed in the theta interval, the regularization factor lambda is 0.1, the noise adopts a Gaussian model, the signal-to-noise ratio is 25dB, and the parameter step C0 in the formula (9) is 2 lambdamax(AHA) In that respect The initial value of the signal is set to be a Gaussian complex K x 1-dimensional vector with a mean value of 0 and a variance of 1. Figure 4 shows the satellite signal estimate
The mean square error of (a) is simulated with the number of iterations. As can be seen from fig. 4, the satellite signal estimates increase with the number of iterations
Gradually decreases the mean square error. When the number of iterations approaches 200, the mean square error value converges to 0.9 × 10-4And has good estimation performance.
In summary, the invention constructs the steering vector matrix of the antenna, and each element value of the steering vector matrix is defined by the scanning angle of the antenna, and the element number in the steering vector matrix is larger than the signal number of the array satellite signal to be recovered, i.e. each array satellite signal to be recovered has a corresponding antenna scanning angle corresponding to it, so that the number of the array satellite signal to be recovered can be obtained according to the matrix corresponding to the product of the steering vector matrix and the vector of the array satellite signal to be recovered and the number of non-zero elements in the matrix. On the basis of obtaining the quantity of the array satellite signals to be recovered, the phase information corresponding to the array satellite signals to be recovered can be recovered by combining the established array signal model. In summary, the invention can acquire the number of the array satellite signals to be recovered and recover the phase of the signals.
Exemplary devices
The embodiment also provides a device of the array satellite signal recovery method, which comprises the following components:
the satellite signal vector amplitude acquisition module is used for acquiring a satellite signal vector amplitude corresponding to the array satellite signal to be recovered;
a steering vector matrix construction module, configured to construct a steering vector matrix corresponding to an antenna, where the antenna is configured to receive the array satellite signal to be recovered, an element value corresponding to the steering vector matrix corresponds to a scanning angle of the antenna, and the number of elements included in the steering vector matrix is greater than or equal to the number of signals corresponding to the array satellite signal to be recovered;
the array signal module construction module is used for constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the guide vector matrix;
a phase recovery module for recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model
Based on the above embodiments, the present invention further provides a terminal device, and a schematic block diagram thereof may be as shown in fig. 5. The terminal equipment comprises a processor, a memory, a network interface, a display screen and a temperature sensor which are connected through a system bus. Wherein the processor of the terminal device is configured to provide computing and control capabilities. The memory of the terminal equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the terminal device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement an array satellite signal recovery method. The display screen of the terminal equipment can be a liquid crystal display screen or an electronic ink display screen, and the temperature sensor of the terminal equipment is arranged in the terminal equipment in advance and used for detecting the operating temperature of the internal equipment.
It will be understood by those skilled in the art that the block diagram of fig. 5 is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation to the terminal device to which the solution of the present invention is applied, and a specific terminal device may include more or less components than those shown in the figure, or may combine some components, or have different arrangements of components.
In one embodiment, a terminal device is provided, where the terminal device includes a memory, a processor, and an array satellite signal recovery method program stored in the memory and executable on the processor, and when the processor executes the array satellite signal recovery method program, the following operation instructions are implemented:
acquiring a satellite signal vector amplitude corresponding to an array satellite signal to be recovered;
constructing a steering vector matrix corresponding to an antenna, wherein the antenna is used for receiving the array satellite signals to be recovered, element values corresponding to the steering vector matrix correspond to the scanning angle of the antenna, and the number of elements contained in the steering vector matrix is more than or equal to the number of signals corresponding to the array satellite signals to be recovered;
constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the steering vector matrix;
and recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In summary, the present invention discloses an array satellite signal recovery method, apparatus, device and storage medium, wherein the method comprises: acquiring a satellite signal vector amplitude corresponding to an array satellite signal to be recovered; constructing a steering vector matrix corresponding to an antenna, wherein the antenna is used for receiving the array satellite signals to be recovered, element values corresponding to the steering vector matrix correspond to the scanning angle of the antenna, and the number of elements contained in the steering vector matrix is more than or equal to the number of signals corresponding to the array satellite signals to be recovered; constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the steering vector matrix; and recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model. The array signal model of the array satellite signal to be recovered is constructed through the guide vector matrix and the satellite signal vector amplitude, and the phase of the array satellite signal to be recovered can be obtained through solving the array signal model.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An array satellite signal recovery method, comprising:
acquiring a satellite signal vector amplitude corresponding to an array satellite signal to be recovered;
constructing a steering vector matrix corresponding to an antenna, wherein the antenna is used for receiving the array satellite signals to be recovered, element values corresponding to the steering vector matrix correspond to the scanning angle of the antenna, and the number of elements contained in the steering vector matrix is more than or equal to the number of signals corresponding to the array satellite signals to be recovered;
constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the steering vector matrix;
and recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model.
2. The method for recovering array satellite signals according to claim 1, wherein the constructing a steering vector matrix corresponding to an antenna, the antenna being used for receiving the array satellite signals to be recovered, element values corresponding to the steering vector matrix corresponding to a scanning angle of the antenna, and the number of elements included in the steering vector matrix being greater than or equal to the number of signals corresponding to the array satellite signals to be recovered comprises:
acquiring a signal wavelength corresponding to the array satellite signal to be recovered;
obtaining a guide vector value corresponding to the scanning angle according to the signal wavelength and the scanning angle;
and constructing the steering vector matrix by using the steering vector values as the element values.
3. The method for array satellite signal recovery according to claim 1, wherein the constructing an array signal model about the array satellite signals to be recovered according to the satellite signal vector magnitude and the steering vector matrix comprises:
acquiring a noise signal of an environment where the antenna is located;
multiplying the steering vector matrix by the array satellite signal to be recovered to obtain a middle vector;
and adding the noise signal to the modulus value corresponding to the intermediate vector to be equal to the amplitude value of the satellite signal vector to obtain an array signal model.
4. The method for recovering array satellite signals according to claim 3, wherein the recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model comprises:
calculating the difference value between the satellite signal vector amplitude value in the array signal model and the module value corresponding to the intermediate vector to obtain a difference value result;
calculating 2 norms of the module values corresponding to the difference results;
calculating the 1 norm of the array satellite signal to be recovered;
optimizing the array signal model according to the 2 norm of the module value corresponding to the difference result and the 1 norm of the array satellite signal to be recovered to obtain an optimized objective function;
and recovering the phase corresponding to the array satellite signal to be recovered by solving the optimized objective function.
5. The method for recovering array satellite signals according to claim 4, wherein the recovering the phase corresponding to the array satellite signals to be recovered by solving the optimized objective function comprises:
according to the optimization objective function, obtaining a first calculation result which is contained in the optimization objective function and formed by multiplying a conjugate transpose matrix corresponding to the array satellite signals to be recovered by a conjugate transpose matrix corresponding to the steering vector matrix by the array satellite signals to be recovered;
according to the optimization objective function, obtaining a second calculation result which is contained in the optimization objective function and formed by multiplying a transposed matrix corresponding to the satellite signal vector amplitude by a module value of the intermediate vector;
multiplying a conjugate transpose matrix corresponding to the steering vector matrix by a semi-positive definite matrix inequality corresponding to the steering vector matrix to obtain a first calculation result which is less than or equal to a first target function;
obtaining a second calculation result which is less than or equal to a second target function according to the fact that the modulus value of the intermediate vector is greater than or equal to the real part of the intermediate vector;
according to the first objective function and the second objective function, relaxing the optimization objective function to obtain the relaxed optimization objective function;
and recovering the phase corresponding to the array satellite signal to be recovered by solving the optimized objective function after relaxation.
6. The method for recovering array satellite signals according to claim 5, wherein the recovering the phase corresponding to the array satellite signals to be recovered by solving the optimized objective function after relaxation comprises:
simplifying the optimized objective function after relaxation to obtain a final objective function, wherein the final objective function is formed by subtracting 2 norms of vector parameters and 1 norm of the array satellite signals to be restored from the array satellite signals to be restored, and the vector parameters are formed by the array satellite signals to be restored, the steering vector matrix and the satellite signal vector amplitude;
and recovering the phase corresponding to the array satellite signal to be recovered through the final objective function.
7. The arrayed satellite signal recovery method of any one of claims 1 to 6, further comprising correcting the recovered phase, said correcting the recovered phase comprising:
creating a sample database, wherein the sample database comprises a sample phase and a sample recovery phase corresponding to the sample phase, the sample phase is a phase corresponding to an acquired sample array satellite signal, and the sample recovery phase is a phase corresponding to the sample array satellite signal obtained through the array signal model;
constructing an error function about a phase difference parameter from the sample phase and the sample recovery phase;
obtaining a phase difference value corresponding to the phase difference parameter by solving the error function;
and correcting the recovered phase according to the phase difference value.
8. An apparatus for an array satellite signal recovery method, the apparatus comprising:
the satellite signal vector amplitude acquisition module is used for acquiring a satellite signal vector amplitude corresponding to the array satellite signal to be recovered;
a steering vector matrix construction module, configured to construct a steering vector matrix corresponding to an antenna, where the antenna is configured to receive the array satellite signal to be recovered, an element value corresponding to the steering vector matrix corresponds to a scanning angle of the antenna, and the number of elements included in the steering vector matrix is greater than or equal to the number of signals corresponding to the array satellite signal to be recovered;
the array signal module construction module is used for constructing an array signal model about the array satellite signal to be recovered according to the satellite signal vector amplitude and the guide vector matrix;
and the phase recovery module is used for recovering the phase corresponding to the array satellite signal to be recovered by solving the array signal model.
9. A terminal device, characterized in that the terminal device comprises a memory, a processor and an array satellite signal recovery program stored in the memory and operable on the processor, and the processor implements the steps of the array satellite signal recovery method according to any one of claims 1 to 6 when executing the array satellite signal recovery program.
10. A computer-readable storage medium, having stored thereon an array satellite signal recovery program which, when executed by a processor, performs the steps of the array satellite signal recovery method according to any one of claims 1-6.
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