CN114755700B - Space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device and anti-interference method - Google Patents
Space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device and anti-interference method Download PDFInfo
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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
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Abstract
The invention discloses a space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device and an anti-interference method, which mainly solve the problems of high complexity, slow convergence and limited interference suppression performance in the prior art. The implementation scheme is as follows: processing radio frequency signals received by an antenna array into digital baseband signals, performing anti-interference beam forming processing on the digital baseband signals in a space-time domain through a minimum variance distortion-free response criterion, performing FFT (fast Fourier transform) conversion on anti-interference output signals to a frequency domain, performing filtering synthesis, and filtering frequency domain interference; and performing IFFT conversion on the signals synthesized by filtering to obtain time domain signals, and transmitting the time domain signals to a navigation board for navigation calculation to obtain navigation positioning information. The method has the advantages of low complexity, high convergence speed, high logic resource utilization rate and good interference suppression performance, improves the environmental adaptability of the satellite navigation anti-interference equipment, and can be used for space-time-frequency multi-dimensional domain multi-beam navigation.
Description
Technical Field
The invention belongs to the technical field of satellite navigation, and particularly relates to an anti-interference method which can be used for space-time-frequency multi-dimensional domain multi-beam navigation.
Background
Global satellite navigation system GNSS has been widely used in various military and civil fields by virtue of its real-time, all-weather, continuous and passive navigation and positioning features. The navigation receiver is used as an application terminal of the satellite navigation system to determine the exertion of the system efficiency. However, since the navigation satellite is located at a distance of more than twenty thousand kilometers from the ground, and the signal transmitting power is limited, the satellite signal power reaching the ground application terminal is very low, about-133 dBm, and is easy to be subjected to external intentional or unintentional electromagnetic interference, so that the system performance is rapidly reduced, and even normal positioning cannot be performed. Therefore, in the face of increasingly complex space electromagnetic environments, the adoption of an adaptive anti-interference method to improve the anti-interference performance of a navigation receiver has become a key problem to be solved urgently.
The anti-interference methods adopted by the satellite navigation anti-interference antenna commonly used at present are divided into two types: the space-time adaptive anti-interference method and the space-frequency adaptive anti-interference method are applied, wherein:
the receiver using the space-time adaptive anti-interference method combines the space domain and time domain filtering technologies, and improves the degree of freedom of the system for narrowband interference suppression by increasing the number of delay taps under the condition that the number of array elements is not increased, and improves the performance for narrowband interference suppression, but the broadband interference suppression performance is not greatly improved. In addition, the method leads to the increase of the dimension of the sampling matrix due to the increase of the number of the taps, increases the operation complexity, and brings the pressure of resources and timing sequence convergence for the subsequent calculation of the anti-interference weight.
The receiver which uses the space-frequency self-adaptive anti-interference method combines the space domain and frequency domain filtering technologies, utilizes the difference of the desired signal and the interference signal in the space domain, carries out self-adaptive filtering on the received signal in each frequency point of the frequency domain, and improves the interference suppression capability of the navigation system by increasing the number of FFT (fast Fourier transform), however, as the number of FFT points is increased, the amplitude-phase influence of the anti-interference process on the desired signal is increased, and further the carrier phase tracking effect of the receiver is affected.
Chinese patent CN106772457A combines the characteristics of an array antenna and a self-adaptive signal processing technology, and discloses an anti-interference method based on a space-time-frequency architecture, wherein after the signal received by the array antenna is processed into a baseband signal, interference threshold judgment and narrow-band notch processing are carried out in a frequency domain, and beam synthesis processing is carried out by a blocking matrix method to form a new digital baseband signal; then, the new digital baseband signal is processed with space-time self-adaptive anti-interference processing, and then is processed with digital up-conversion and digital-to-analog conversion. Although the method carries out interference threshold judgment and narrow-band notch processing in the frequency domain, improves the degree of freedom of anti-narrow-band interference processing, the self-adaptive anti-interference processing of the digital baseband signal is still a traditional space-time method, so that the broadband interference suppression performance is still limited, the operation complexity is high, and the algorithm convergence is slow.
The invention aims to overcome the defects of the prior art, and provides a space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device and an anti-interference method, so that the logic resource utilization rate of a bottom cover is improved, the amplitude-phase distortion of expected signals is reduced, the interference suppression performance is improved, and the operation complexity is simplified.
In order to achieve the above purpose, the technical scheme of the invention comprises the following steps:
1. A space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device, comprising: antenna array, radio frequency assembly, anti-interference digital processing board, navigation board and power module, its characterized in that:
the anti-interference digital processing board comprises: the device comprises 3 double-channel A/D conversion chips, an FPGA chip, a D/A conversion chip, a clock module and an interface circuit, wherein the FPGA chip is internally provided with the following functional modules:
The digital down-conversion module is used for converting the A/D converted digital intermediate frequency signal into a digital baseband signal;
The low-pass filtering module is used for filtering out-of-band clutter in the digital baseband signal;
the amplitude phase error correction module is used for compensating amplitude phase errors among all channels so as to eliminate the influence of amplitude phase inconsistency and obtain corrected digital baseband signals;
The band-pass filter module is used for dividing the bandwidth of the digital baseband signal into 10 sub-bands at equal frequency intervals by using an FIR band-pass filter, and each sub-band bandwidth is 2MHz;
The time domain transformation module is used for adding 3 time domain taps to each sub-band signal, wherein each two time domain taps are separated by 4 clock cycles, and the clock frequency is 62MHz;
the covariance matrix inversion module is used for calculating the space-time covariance matrix of each sub-band and inverting;
The anti-interference weight calculation module is used for calculating the guiding vectors of 10 sub-bands by using 16 satellite signal incident angles and calculating the multi-beam anti-interference weight of each sub-band according to a minimum variance undistorted response criterion;
The digital beam synthesis module is used for respectively carrying out 16-beam synthesis on 10 sub-bands according to the calculated multi-beam anti-interference weight;
The frequency domain filtering synthesis module is used for carrying out 1024-point FFT on 16 digital beams synthesized by each sub-band, carrying out frequency domain filtering, then carrying out frequency domain addition synthesis on 10 sub-bands after each beam filtering to obtain frequency domain synthesized signals of 16 beams, and carrying out 1024-point IFFT operation to obtain time domain signals of 16 beams.
Further, the antenna array adopts a five-array-element Beidou B3 array with the frequency band range of 1268.52 +/-10 MHz and is used for transmitting the received satellite navigation signals to the radio frequency assembly.
Further, the number of channels of the radio frequency component is 5, and a low noise amplifying filter, a local oscillation module, a down-conversion filter, an intermediate frequency amplifier and a control module are arranged in each channel, and high frequency signals of the low noise amplifying filter and the local oscillation module are respectively connected with different ports of the down-conversion filter and are used for amplifying, down-converting and filtering satellite navigation signals; the down-converted intermediate frequency signal is amplified by an intermediate frequency amplifier and then transmitted to an A/D conversion module for sampling and digitizing; the clock signal of the local oscillation module is connected with the clock module of the anti-interference digital processing board, and a 62MHz clock signal is provided for the clock module; the control module is connected with an interface circuit on the anti-interference digital processing board and receives a control signal sent by the control module.
Further, the navigation board is connected with the anti-interference digital processing board and is used for receiving time domain signals corresponding to 16 beams after space-time-frequency filtering, tracking 16 satellites through 16 corresponding channels and carrying out positioning calculation to obtain local navigation positioning information;
2. The method for resisting interference by using the space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device is characterized by comprising the following steps:
1) Processing 5 paths of satellite navigation signals received by an antenna array into 5 paths of digital baseband signals;
2) Dividing 5 paths of digital baseband signals into 10 sub-bands at equal frequency intervals by using an FIR band-pass filter, and adding 3 time domain taps to each sub-band signal to obtain 15 paths of signals respectively corresponding to the 10 sub-bands;
3) Calculating space-time covariance matrixes of 15 paths of signals corresponding to the 10 subbands respectively and inverting the space-time covariance matrixes;
4) Calculating steering vectors of 10 sub-bands by using incidence angles of 16 satellite signals;
5) Calculating a digital multi-beam anti-interference weight corresponding to each sub-band by using the space-time covariance matrix obtained in 3) and the steering vector of each sub-band obtained in 4);
6) Respectively carrying out 16-beam synthesis on 10 sub-bands by utilizing the anti-interference weight obtained in the step 5) to obtain anti-interference output signals, carrying out 1024-point FFT (fast Fourier transform) on the anti-interference output signals synthesized by the sub-bands to convert the anti-interference output signals into frequency domain signals, and carrying out frequency domain filtering; then carrying out frequency domain addition synthesis on 10 sub-bands after wave beam filtering to obtain frequency domain synthesized signals of 16 wave beams, and carrying out 1024-point IFFT operation on the frequency domain synthesized signals to obtain time domain signals of 16 wave beams;
7) And (5) tracking and resolving the 16 wave beam time domain signals by using 16 channels to obtain navigation positioning information.
Compared with the prior art, the invention has the following advantages:
1. The time domain conversion module adopts less delay tap numbers, so that the problems of high operation complexity and slow algorithm convergence caused by larger tap numbers of a space-time filtering method are avoided, and the utilization rate of the logic resources of the bottom cover is improved;
2. the frequency domain filtering synthesis module adopts fewer points when carrying out FFT on subband synthesized signals, so that the problem of serious amplitude-phase distortion of expected signals caused by more FFT points in a space frequency filtering method is avoided;
3. The digital beam synthesis module of the invention respectively carries out 16 beam synthesis on 10 sub-bands, so that the synthesized beams can ensure the gain of the main lobe beams, and the signals received by the system in a full space domain have high signal-to-noise ratio output;
4. The anti-interference weight calculation module and the frequency domain filtering synthesis module respectively utilize the space-time domain and the frequency domain information of the signals to carry out multi-beam anti-interference, so that the joint processing of the signals in the space-time-frequency multi-dimensional domain is realized, the higher anti-interference performance is realized with lower consumption of logic resources, the device has smaller size and better robustness, and the environmental adaptability of the satellite navigation anti-interference equipment is further improved.
Drawings
Fig. 1 is a block diagram of a multi-beam navigation anti-interference processing device according to the present invention;
Fig. 2 is a layout diagram of the five-element antenna array of fig. 1;
FIG. 3 is a functional block diagram of an FPGA chip in the apparatus of the present invention;
Fig. 4 is a flow chart of an implementation of the present invention for multi-beam navigation anti-interference;
fig. 5 is an interference-free beam pattern simulated with the present invention.
Detailed Description
Embodiments and effects of the present invention are described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, the multi-beam navigation anti-interference processing device of the present invention includes an antenna array 1, a radio frequency assembly 2, an anti-interference digital processing board 3, a navigation board 4 and a power module 5. Wherein:
The antenna array 1 adopts a five-array-element Beidou B3 array which is arranged in a cross shape, as shown in fig. 2, and is used for receiving 5 paths of radio frequency signals, wherein each path of radio frequency signal comprises satellite navigation signals and interference signals with the frequency band range of 1268.52 +/-10 MHz, and the antenna array 1 transmits the received 5 paths of radio frequency signals to the radio frequency assembly 2.
The radio frequency assembly 2 has 5 channels, and each channel is provided with a low noise amplifying filter 21, a local oscillation module 22, a down-conversion filter 23, an intermediate frequency amplifier 24 and a control module 25. The low noise amplifying filter 21 and the high frequency signal of the local oscillation module 22 are respectively connected with different ports of the down-conversion filter 23, and are used for amplifying, down-converting and filtering the radio frequency signal; the down-converted intermediate frequency signal is amplified by an intermediate frequency amplifier 24 and then transmitted to an A/D conversion module for sampling and digitizing; the clock signal of the local oscillation module 22 is connected with the clock module of the anti-interference digital processing board, and a 62MHz clock signal is provided for the clock module; the control module 25 is connected to an interface circuit on the anti-interference digital processing board and receives the control signal sent by the interface circuit.
The anti-interference digital processing board 3 comprises: the device comprises 3 double-channel A/D conversion chips 31, an FPGA chip 32, a D/A conversion chip 33, a clock module 34 and an interface circuit 35. The method is used for carrying out multi-beam anti-interference processing on 5 paths of analog intermediate frequency signals obtained after processing of the radio frequency assembly 2, and comprises the following steps:
The dual-channel A/D conversion chip 31 performs A/D sampling on 5 paths of analog intermediate frequency signals to obtain 5 paths of digital intermediate frequency signals, wherein the intermediate frequency point is 46.52MHz;
The FPGA chip 32 is configured to perform multi-beam anti-interference processing on the a/D converted digital intermediate frequency signal, and includes a digital down-conversion module 321, a low-pass filtering module 322, an amplitude-phase error correction module 323, a band-pass filtering module 324, a time domain conversion module 325, a covariance matrix inversion module 326, an anti-interference weight calculation module 327, a digital beam synthesis module 328, and a frequency domain filtering synthesis module 329, as shown in fig. 3. The functions of each module are as follows:
The digital down-conversion module 321 is configured to convert the a/D converted 5 paths of digital intermediate frequency signals into 5 paths of digital baseband signals, where the frequency point of the digital baseband signals is 15.52MHz;
The low-pass filtering module 322 is configured to filter out-band clutter in the digital baseband signal, and the FIR low-pass filter designed in the embodiment has an order of 32;
the amplitude-phase error correction module 323 is configured to perform amplitude-phase error correction on the 5 paths of digital baseband complex signals, so as to eliminate the influence of amplitude-phase inconsistencies among different channels, and obtain corrected signals. The amplitude and phase error correction weights in this example are: 1.16426-0.110325i,1.08428-0.0783042i,1.01346-0.166830i,1.05936-0.231694i,1.00000;
A band-pass filtering module 324, configured to divide the bandwidth of the digital baseband signal into 10 sub-bands with equal frequency intervals by using an FIR band-pass filter, where each sub-band has a bandwidth of 2MHz;
The time domain transforming module 325 is configured to add 3 time domain taps to each subband signal, where each two time domain taps are separated by 4 clock cycles, and the clock frequency is 62MHz, so as to obtain 15 space-time signals x 1(t),…,xm(t),…,x10 (t) corresponding to 10 subbands, where x m (t) is 15 space-time signals corresponding to the m-th subband, and m=1, …,10;
A covariance matrix inversion module 326 for calculating covariance matrix R xx1,…,Rxxm,…,Rxx10 according to the 15-path space-time signal of 10 subbands and inverting to obtain its inverse matrix The covariance matrix of the m th subband is expressed as follows:
the anti-interference weight calculation module 327 is configured to calculate multi-beam anti-interference weights of each subband according to the minimum variance distortion-free response MVDR criterion, where the multi-beam anti-interference weights are expressed as follows:
wherein, For the mth subband corresponding to the antijam weight of the ith satellite,Is the inverse of the covariance matrix of the m-th subband,The space-time steering vector corresponding to the ith satellite for the mth subband is calculated from the angles of incidence of the 16 satellite signals and is expressed as follows:
wherein, For the pilot information of the nth signal in the mth subband, phi n is the sum of the spatial and temporal phases of the nth signal in the mth subband, n=1,..15, theta i,Respectively representing the azimuth angle and the pitch angle of the ith satellite signal incident to the receiving array;
a digital beam synthesis module 328 for performing 16-beam synthesis on the 10 sub-bands according to the multi-beam anti-interference weights to obtain anti-interference output signals The expression is as follows:
wherein, X m (t) is a signal of the m-th sub-band after time domain tapping, which is the conjugate transpose of the anti-interference weight;
A frequency domain filter synthesis module 329 for counteracting interference output signals Performing 1024-point FFT operation to obtain anti-interference output frequency domain signals of 16 beams corresponding to 10 subbandsAnd is opposite toFrequency domain weighted sum filtering is carried out to obtain a frequency domain filtered signalThen toFrequency domain synthesis is carried out to obtain frequency domain synthesized signals of 16 wave beamsAnd performing 1024-point IFFT operation on the frequency domain synthesized signal to obtain time domain signals y 1(t),...,y16 (t) of 16 beams.
The navigation board 4 is connected with the anti-interference digital processing board 3 and is used for receiving time domain signals corresponding to 16 beams after space-time-frequency filtering, tracking 16 satellites through 16 corresponding channels and carrying out positioning calculation to obtain local navigation positioning information.
The power module 5 is respectively connected with the radio frequency assembly 2, the anti-interference digital processing board 3 and the navigation board 4, and converts externally input 28V voltage into 5V voltage to respectively supply power to the radio frequency assembly 2, the anti-interference digital processing board 3 and the navigation board 4.
Referring to fig. 4, the method for performing multi-beam navigation interference resistance by using the above device is implemented as follows:
step one: the bandwidth of the digital baseband signal is divided into 10 sub-bands with equal frequency intervals by using an FIR band-pass filter, and each sub-band bandwidth is 2MHz.
Step two: and adding 3 time domain taps to each subband signal, wherein each two time domain taps are separated by 4 clock cycles, the clock frequency is 62MHz, and 15 paths of space-time signals x 1(t),…,xm(t),…,x10 (t) corresponding to 10 subbands are obtained, wherein x m (t) is 15 paths of space-time signals corresponding to the m-th subband, and m=1, … and 10.
Step three: calculating covariance matrix R xx1,…,Rxxm,…,Rxx10 from 15 paths of space-time signals corresponding to 10 subbands respectively, and inverting to obtain inverse matrixWherein the covariance matrix R xxm of the m-th subband is represented as follows:
Step four: the steering vector of 10 subbands is calculated using the angles of incidence of the 16 satellite signals, where the mth subband corresponds to the space-time steering vector a m(θi for the ith satellite, ) Is represented as follows
Wherein, For the pilot information of the nth signal in the mth subband, phi n is the sum of the spatial and temporal phases of the nth signal in the mth subband, n=1,..15, theta i,Representing the azimuth and elevation angles, respectively, of the ith satellite signal incident on the receiving array.
Step five: according to the minimum variance distortion-free response MVDR criterion, calculating the multi-beam anti-interference weight of each sub-band:
wherein, For the mth subband corresponding to the antijam weight of the ith satellite,The inverse of the covariance matrix for the m-th subband in step three, a m(θi,) The m-th sub-band in the fourth step corresponds to the space-time steering vector of the ith satellite.
Step six: respectively carrying out 16-beam synthesis on 10 sub-bands according to the multi-beam anti-interference weight in the fifth step to obtain an anti-interference output signal
Wherein, And x m (t) is a signal of the m-th sub-band after time domain tapping, which is the conjugate transpose of the anti-interference weight.
Step seven: for the anti-interference output signal in the step sixPerforming 1024-point FFT operation to obtain anti-interference output frequency domain signals of 16 beams corresponding to 10 subbandsAnd is opposite toFrequency domain weighted sum filtering is carried out to obtain a frequency domain filtered signalIn the frequency domain weighting process, the frequency domain weight of the 16 wave beams corresponding to the m-th sub-band is w m,wm, the weight of the frequency band covered by the m-th sub-band is 1, and other frequency points are all set to zero.
Step eight: filtering the frequency domain filtered signal in step sevenPerforming frequency domain synthesis to obtain frequency domain synthesized signals [ Y 1(t)]filter,…,[Yi(t)]filter,…,[Y16(t)]filter ] of 16 beams, wherein [ Y i(t)]filter ] is the frequency domain synthesized signal of the ith beam, i=1, …,16; frequency domain signals of 10 sub-bands corresponding to the ith wave beamFrequency domain synthesis is performed to obtain a frequency domain synthesized signal Y i(t)]filter of the ith beam, wherein,For the frequency domain signal of the m-th subband corresponding to the i-th beam, m=1, 2, …,10.
Step nine: performing 1024-point IFFT operation on the frequency domain synthesized signal [ Y 1(t)]filter,…,[Yi(t)]filter,…,[Y16(t)]filter ] in the eighth step, to obtain a time domain signal Y 1(t),…,yi(t),…,y16 (t) of 16 beams, where Y i (t) is a time domain signal corresponding to the ith beam, i=1, …,16.
Step ten: and D, transmitting the time domain signal obtained in the step nine to a navigation receiver for navigation information resolving, wherein each digital wave beam corresponds to one navigation resolving channel, and finally obtaining navigation positioning information.
The effects of the present invention can be further illustrated by the following simulation results.
Simulation conditions
Assuming 16 satellites in far-field space, the carrier frequencies of the 16 satellite signals are 1268.52MHz, the bandwidths of the 16 satellite signals are 20.46MHz, the signal to noise ratios of the 16 satellite signals are-15 dB, and the space directions of the 16 satellite signals are respectively (0°,10°),(20°,20°),(30°,30°),(45°,40°),(60°,50°),(90°,60°),(120°,70°),(150°,80°),(180°,90°),(-120°,75°),(-90°,65°),(-60°,40°),(-50°,20°),(-45°,55°),(-30°,75°),(-10°,35°);
3 Interference signal sources are placed in different directions of space, carrier frequencies of the interference signals are 1268.52MHz, bandwidths of the interference signals are 20.46MHz, signal to noise ratios of the interference signals are 70dB, and the directions of the spaces of the three interference signal sources are (130 degrees, 45 degrees), (10 degrees, 60 degrees) and (-110 degrees, 90 degrees) respectively;
the pitch angle of the space in the direction perpendicular to the array plane is 0 degrees, and 16 satellite signals and 3 interference signals are incident to the five-array-element antenna array.
Second, simulation content
Under the above conditions, the anti-interference method provided by the invention is used for carrying out a space-time-frequency multi-dimensional domain multi-beam navigation anti-interference simulation experiment, and the result is shown in figure 5. As can be seen from fig. 5, the beam patterns respectively form nulls of-112 dB, -112.1dB and-111.6 dB in three interference directions (130 °,45 °), (10 °,60 °), (-110 °,90 °), so that a good anti-interference effect is obtained.
The above description is only one specific example of the invention and does not constitute any limitation of the invention, and it will be apparent to those skilled in the art that various modifications and changes in form and details may be made without departing from the principles, construction of the invention, but these modifications and changes based on the idea of the invention remain within the scope of the claims of the invention.
Claims (10)
1. A space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device, comprising: antenna array (1), radio frequency assembly (2), anti-interference digital processing board (3), navigation board (4) and power module (5), its characterized in that:
The anti-interference digital processing board (3) comprises: 3 binary channels AD conversion chip (31), a slice FPGA chip (32), a slice D/A conversion chip (33), clock module (34) and interface circuit (35), be equipped with following functional module in this FPGA chip (32):
A digital down-conversion module (321) for converting the A/D converted digital intermediate frequency signal into a digital baseband signal;
a low pass filtering module (322) for filtering out-of-band clutter in the digital baseband signal;
The amplitude phase error correction module (323) is used for compensating amplitude phase errors among all channels so as to eliminate the influence of amplitude phase inconsistency and obtain corrected digital baseband signals;
A band-pass filter module (324) for dividing the digital baseband signal bandwidth into 10 sub-bands with equal frequency intervals using an FIR band-pass filter, each sub-band bandwidth being 2MHz;
a time domain transform module (325) for adding 3 time domain taps to each subband signal, 4 clock cycles apart for each two time domain taps, the clock frequency being 62MHz;
A covariance matrix inversion module (326) for calculating and inverting the space-time covariance matrix of each sub-band;
The anti-interference weight calculation module (327) is used for calculating the guiding vectors of 10 sub-bands by utilizing the incidence angles of 16 satellite signals and calculating the multi-beam anti-interference weight of each sub-band according to the minimum variance distortion-free response criterion;
A digital beam synthesis module (328) for performing 16-beam synthesis on the 10 sub-bands according to the calculated multi-beam anti-interference weights, respectively;
The frequency domain filtering synthesis module (329) is used for carrying out 1024-point FFT on the 16 digital beams synthesized by each sub-band, carrying out frequency domain filtering, then carrying out frequency domain addition synthesis on the 10 sub-bands after each beam filtering to obtain frequency domain synthesized signals of 16 beams, and carrying out 1024-point IFFT operation to obtain time domain signals of 16 beams.
2. The apparatus according to claim 1, wherein: the antenna array (1) adopts a five-array-element Beidou B3 array with the frequency band range of 1268.52 +/-10 MHz and is used for transmitting received satellite navigation signals to the radio frequency assembly.
3. The apparatus according to claim 1, wherein: the radio frequency assembly (2) has the channel number of 5, and each channel is internally provided with a low-noise amplifying filter (21), a local oscillation module (22), a down-conversion filter (23), an intermediate frequency amplifier (24) and a control module (25), wherein high-frequency signals of the low-noise amplifying filter (21) and the local oscillation module (22) are respectively connected with different ports of the down-conversion filter (23) and are used for amplifying, down-converting and filtering satellite navigation signals; the down-converted intermediate frequency signal is amplified by an intermediate frequency amplifier (24) and then transmitted to an A/D conversion chip (31) for sampling and digitizing; the clock signal of the local oscillation module (22) is connected with the clock module (34) of the anti-interference digital processing board, and a 62MHz clock signal is provided for the clock module; the control module (25) is connected with an interface circuit (35) on the anti-interference digital processing board and receives control signals sent by the control module.
4. The apparatus according to claim 1, wherein:
The navigation board (4) is connected with the anti-interference digital processing board (3) and is used for receiving time domain signals corresponding to 16 beams after space-time frequency filtering, tracking 16 satellites through 16 corresponding channels and carrying out positioning calculation to obtain local navigation positioning information;
the power module (5) is respectively connected with the radio frequency assembly (2), the anti-interference digital processing board (3) and the navigation board (4) and converts externally input 28V voltage into 5V voltage to respectively supply power to the radio frequency assembly, the anti-interference digital processing board (3) and the navigation board.
5. A method for multi-beam navigation interference rejection using the apparatus of claim 1, comprising the steps of:
1) Processing 5 paths of satellite navigation signals received by an antenna array into 5 paths of digital baseband signals;
2) Dividing 5 paths of digital baseband signals into 10 sub-bands at equal frequency intervals by using an FIR band-pass filter, and adding 3 time domain taps to each sub-band signal to obtain 15 paths of signals respectively corresponding to the 10 sub-bands;
3) Calculating space-time covariance matrixes of 15 paths of signals corresponding to the 10 subbands respectively and inverting the space-time covariance matrixes;
4) Calculating steering vectors of 10 sub-bands by using incidence angles of 16 satellite signals;
5) Calculating a digital multi-beam anti-interference weight corresponding to each sub-band by using the space-time covariance matrix obtained in 3) and the steering vector of each sub-band obtained in 4);
6) Respectively carrying out 16-beam synthesis on 10 sub-bands by utilizing the anti-interference weight obtained in the step 5) to obtain anti-interference output signals, carrying out 1024-point FFT (fast Fourier transform) on the anti-interference output signals synthesized by the sub-bands to convert the anti-interference output signals into frequency domain signals, and carrying out frequency domain filtering; then carrying out frequency domain addition synthesis on 10 sub-bands after wave beam filtering to obtain frequency domain synthesized signals of 16 wave beams, and carrying out 1024-point IFFT operation on the frequency domain synthesized signals to obtain time domain signals of 16 wave beams;
7) And (5) tracking and resolving the 16 wave beam time domain signals by using 16 channels to obtain navigation positioning information.
6. The method according to claim 5, wherein the 1) processing the 5 satellite navigation signals received by the antenna array into 5 digital baseband signals includes sequentially amplifying, down-converting and filtering the 5 satellite navigation signals received by the radio frequency assembly (2) by the antenna array (1) to obtain 5 analog intermediate frequency signals, amplifying the analog intermediate frequency signals, transmitting the amplified analog intermediate frequency signals to the a/D conversion chip (31) for sampling and digitizing to obtain 5 digital intermediate frequency signals, and converting the 5 digital intermediate frequency signals into 5 digital baseband signals by the digital down-conversion module (321).
7. The method of claim 5, wherein the 3) calculating the space-time covariance matrix of 15 signals corresponding to each of the 10 subbands is performed by transpose of 15 space-time signals x m (t) corresponding to the mth subband with its conjugateThe product of the covariance matrix R xxm corresponding to the m-th subband is calculated as follows
。
8. The method of claim 5, wherein the angle of incidence of the 16 satellite signals is used in 4) to calculate steering vectors for 10 subbands, wherein the mth subband corresponds to the space-time steering vector for the ith satelliteIs represented as follows
Wherein, For the pilot information of the nth signal in the mth subband, phi n is the sum of the spatial and temporal phases of the nth signal in the mth subband, n=1,..15, theta i,Representing the azimuth and elevation angles, respectively, of the ith satellite signal incident on the receiving array.
9. The method of claim 5, wherein said 5) calculating digital multi-beam anti-interference weights for each sub-band uses a minimum variance distortion-free response criterion calculated according to the following formula
Wherein, For the mth subband corresponding to the antijam weight of the ith satellite,Is the inverse of the covariance matrix of the m-th subband,The m-th subband corresponds to the space-time steering vector for the i-th satellite.
10. The method of claim 5, wherein the anti-interference weights in 6) are used to perform 16-beam synthesis on 10 subbands, respectively, to obtain the anti-interference output signal as
Wherein, And x m (t) is a space-time signal corresponding to the m-th sub-band, which is the conjugate transpose of the anti-interference weight.
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