CN116679325A - Novel GNSS fast frequency sweep interference suppression method - Google Patents
Novel GNSS fast frequency sweep interference suppression method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—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
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—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
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The application relates to a novel GNSS fast frequency sweep interference suppression method. The method comprises the following steps: acquiring a sampling data sequence of satellite navigation receiving equipment, and performing low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data; acquiring an envelope value of the output data by adopting a conjugate operation mode to obtain pulse envelope data; calculating to obtain an interference detection threshold according to the characteristic value in the pulse envelope data; and performing interference suppression on the pulse envelope data according to the interference detection threshold and a pulse detection zero setting scheme to obtain interference suppression data. The method has low operation complexity.
Description
Technical Field
The application relates to the technical field of satellite navigation, in particular to a novel GNSS fast frequency sweep interference suppression method.
Background
The detection and cancellation of electromagnetic interference has been a hotspot and accent problem in global satellite navigation system (Global Navigation Satellite System, GNSS) applications. From sources, electromagnetic interference can be categorized into unintentional interference and malicious interference. The most common of the malicious interferences mentioned is a device called PPDs (Personal Privacy Devices), which is a small, inexpensive jammer that can perform full-band suppression of GNSS signals by transmitting fast swept interference. In the event of GNSS interference at home and abroad, the situation that a truck driver monitors for avoiding companies is finally ascertained for many times, and a PPDs interference device is installed and started on a vehicle-mounted cigar lighter.
The interference sweep speed emitted by the PPDs and other devices is very fast, and can sweep tens of megabandwidths within tens of microseconds, so that the device has the characteristic of non-stationary interference. The conventional interference suppression method models the interference as a smooth random process, and has poor suppression effect when facing the non-smooth interference of the fast sweep interference. The anti-interference method based on time-frequency analysis is proved to have a good inhibition effect on the fast sweep frequency interference by projecting the interference into a time-frequency two-dimensional space and detecting and inhibiting the fast sweep frequency interference by utilizing the sparsity of the fast sweep frequency interference in the time-frequency two-dimensional space, but has higher implementation complexity.
Disclosure of Invention
Based on this, it is necessary to provide a new GNSS fast frequency sweep interference suppression method for the above technical problems.
A new GNSS fast frequency sweep interference suppression method, the method comprising:
acquiring a sampling data sequence of satellite navigation receiving equipment, and performing low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data;
acquiring an envelope value of the output data by adopting a conjugate operation mode to obtain pulse envelope data;
calculating to obtain an interference detection threshold according to the characteristic value in the pulse envelope data;
and performing interference suppression on the pulse envelope data according to the interference detection threshold and a pulse detection zero setting scheme to obtain interference suppression data.
In one embodiment, the method further comprises: and carrying out low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data as follows:
where y (N) is output data of the low-pass filter, h (k), k=1, 2, …, L is a tap coefficient of the digital low-pass filter, L is a length of the digital low-pass filter, x (N) represents a sampled data sequence, and N represents a length of the sampled data sequence.
In one embodiment, the method further comprises: the envelope value of the output data is obtained by adopting a conjugate operation mode, and the obtained pulse envelope data is as follows:
z(n)＝[y(n)*conj(y(n))] 1/2 ,n＝1,2,...,N
where z (n) represents the pulse envelope data and conj (·) represents the conjugate operation.
In one embodiment, the method further comprises: according to the characteristic value in the pulse envelope data, calculating to obtain an interference detection threshold, including:
according to the characteristic value in the pulse envelope data, calculating to obtain an interference detection threshold as follows:
z th ＝z min +0.05(z max -z min )
in one embodiment, the method further comprises: according to the interference detection threshold and the pulse detection zero setting scheme, a decision algorithm is constructed as follows:
a new GNSS fast swept interference suppression device, the device comprising:
the low-pass filtering module is used for acquiring a sampling data sequence of the satellite navigation receiving equipment, and carrying out low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data;
the envelope calculation module is used for obtaining the envelope value of the output data in a conjugate operation mode to obtain pulse envelope data;
the threshold construction module is used for calculating and obtaining an interference detection threshold according to the characteristic value in the pulse envelope data;
and the suppression module is used for performing interference suppression on the pulse envelope data according to the interference detection threshold and a pulse detection zero setting scheme to obtain interference suppression data.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring a sampling data sequence of satellite navigation receiving equipment, and performing low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data;
acquiring an envelope value of the output data by adopting a conjugate operation mode to obtain pulse envelope data;
calculating to obtain an interference detection threshold according to the characteristic value in the pulse envelope data;
and performing interference suppression on the pulse envelope data according to the interference detection threshold and a pulse detection zero setting scheme to obtain interference suppression data.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring a sampling data sequence of satellite navigation receiving equipment, and performing low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data;
acquiring an envelope value of the output data by adopting a conjugate operation mode to obtain pulse envelope data;
calculating to obtain an interference detection threshold according to the characteristic value in the pulse envelope data;
and performing interference suppression on the pulse envelope data according to the interference detection threshold and a pulse detection zero setting scheme to obtain interference suppression data.
The novel GNSS fast frequency sweep interference suppression method, the novel GNSS fast frequency sweep interference suppression device, the novel GNSS fast frequency sweep interference suppression computer device and the novel GNSS fast frequency sweep interference suppression storage medium are used for acquiring a sampling data sequence of the satellite navigation receiving device, performing low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to acquire output data, and acquiring an envelope value of the output data by adopting a conjugate operation mode to acquire pulse envelope data; calculating to obtain an interference detection threshold according to the characteristic value in the pulse envelope data; and performing interference suppression on the pulse envelope data according to the interference detection threshold and the pulse detection zero setting scheme to obtain interference suppression data. The fast frequency sweep interference is suppressed through low-pass filtering and pulse detection zero setting, so that the problems of high implementation complexity or poor suppression effect in the prior art are overcome, and the fast frequency sweep interference suppression method can be used for providing frequency sweep interference protection capability for satellite navigation receiving equipment.
Drawings
FIG. 1 is a flow chart illustrating a new GNSS fast frequency sweep interference suppression method according to one embodiment;
FIG. 2 is a data time domain envelope plot prior to low pass filtering in one embodiment;
FIG. 3 is a low pass filtered data time domain envelope graph in one embodiment;
FIG. 4 is a time-frequency two-dimensional plot of data prior to fast-sweep interference suppression in one embodiment;
FIG. 5 is a time-frequency two-dimensional plot of data after fast-sweep interference suppression in one embodiment;
FIG. 6 is a block diagram illustrating a new GNSS fast frequency sweep interference suppression device in accordance with one embodiment;
fig. 7 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, as shown in fig. 1, a new GNSS fast sweep interference suppression method is provided, comprising the steps of:
step 102, acquiring a sampling data sequence of the satellite navigation receiving device, and performing low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data.
In this step, the sampled data sequence of the satellite navigation receiving device is x (1), x (2), … …, x (N), where N is the data length. For the low-pass filter, a digital low-pass filter may be used, specifically, if the radio frequency front-end bandwidth of the satellite navigation receiving device is B f The sampling rate of the AD sampling is f s The passband cut-off frequency of the digital low pass filter is 0.4B f Stop band cut-off frequency of 0.4B f +0.1f s The passband amplitude fluctuates by 1dB and the stopband attenuation is 40dB. According to the above 4 parameters, the tap coefficient and the filter length of the filter can be designed, and the design of the digital low-pass filter is common knowledge in the field of digital signal processing, and will not be described herein.
And 104, acquiring an envelope value of the output data by adopting a conjugate operation mode to obtain pulse envelope data.
And 106, calculating to obtain an interference detection threshold according to the characteristic value in the pulse envelope data.
And step 108, performing interference suppression on the pulse envelope data according to the interference detection threshold and the pulse detection zero setting scheme to obtain interference suppression data.
According to the novel GNSS fast frequency sweeping interference suppression method, a sampling data sequence of satellite navigation receiving equipment is obtained, a preset low-pass filter is adopted to carry out low-pass filtering on the sampling data sequence, output data is obtained, and an envelope value of the output data is obtained in a conjugate operation mode, so that pulse envelope data is obtained; calculating to obtain an interference detection threshold according to the characteristic value in the pulse envelope data; and performing interference suppression on the pulse envelope data according to the interference detection threshold and the pulse detection zero setting scheme to obtain interference suppression data. The fast frequency sweep interference is suppressed through low-pass filtering and pulse detection zero setting, so that the problems of high implementation complexity or poor suppression effect in the prior art are overcome, and the fast frequency sweep interference suppression method can be used for providing frequency sweep interference protection capability for satellite navigation receiving equipment.
In one embodiment, a preset low-pass filter is adopted to perform low-pass filtering on the sampled data sequence, so that output data is obtained as follows:
where y (N) is output data of the low-pass filter, h (k), k=1, 2, …, L is a tap coefficient of the digital low-pass filter, L is a length of the digital low-pass filter, x (N) represents a sampled data sequence, and N represents a length of the sampled data sequence.
Further, the envelope value of the output data is obtained by adopting a conjugate operation mode, and the obtained pulse envelope data is as follows:
z(n)＝[y(n)*conj(y(n))] 1/2 ,n＝1,2,...,N
where z (n) represents the pulse envelope data and conj (·) represents the conjugate operation.
In one of the embodiments, the maximum and minimum values of the data envelope z (n) are first determined by comparison,
the definition is as follows:
z max ＝max[z(n)],n＝1,2,...,N
z min ＝min[z(n)],n＝1,2,...,N
wherein, the function max (·) represents taking the maximum value, and the function min (·) represents taking the minimum value.
Then, the interference detection threshold is calculated by:
z th ＝z min +0.05(z max -z min )
further, when the interference judgment is carried out, aiming at the low-pass filtering output data y (n), whether the data envelope value exceeds an interference detection threshold is judged one by one, if so, the data is set to be zero, otherwise, the data is kept unchanged. The above process can be described by the following formula:
in the method, in the process of the application,the data after interference suppression by the method is output to a capturing and tracking module at the rear end for further processing.
The method has the advantages that the part with the largest operand in the fast frequency sweep interference suppression process is the common low-pass filtering treatment, the operation complexity of the whole process is very small, and the operation complexity is reduced by about one order of magnitude compared with the traditional method.
Specifically, fig. 2 and fig. 3 are time domain envelopes of data before and after low pass filtering obtained by the method of the present application. In this embodiment, the bandwidth of the radio frequency front end of the navigation receiving device is 20MHz, the sampling rate of the ad sampling is 20.48MHz by adopting a quadrature sampling mode, the sampled data includes satellite navigation signals, thermal noise of the receiver and fast sweep frequency interference, the fast sweep frequency interference is periodic linear sweep frequency interference, the sweep frequency bandwidth in one period is 20MHz, the sweep frequency rate is 0.4MHz/us, and the interference power is 60dB greater than the satellite signal power. As can be seen by comparing fig. 2 and 3, the envelope of the data is always in a larger value interval before the low pass filtering due to the continuous presence of fast sweep interference over time. After low pass filtering, the data envelope takes on a pulse shape. Further, fig. 4 and fig. 5 are time-frequency two-dimensional distribution diagrams of data before and after the fast frequency sweep interference suppression obtained by the method of the present application, it can be seen that the fast frequency sweep interference is effectively removed after the processing by the method of the present application.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 6, a new GNSS fast sweep interference suppression device is provided, comprising: a low pass filtering module 202, an envelope calculation module 204, a threshold construction module 206, and a suppression module 208, wherein:
the low-pass filtering module 202 is configured to obtain a sampled data sequence of the satellite navigation receiving device, and perform low-pass filtering on the sampled data sequence by using a preset low-pass filter to obtain output data;
an envelope calculation module 204, configured to obtain an envelope value of the output data by using a conjugate operation manner, so as to obtain pulse envelope data;
the threshold construction module 206 is configured to calculate an interference detection threshold according to the feature value in the pulse envelope data;
and the suppression module 208 is configured to perform interference suppression on the pulse envelope data according to the interference detection threshold and the pulse detection zero setting scheme, so as to obtain interference suppression data.
In one embodiment, the low-pass filtering module 202 is further configured to perform low-pass filtering on the sampled data sequence by using a preset low-pass filter, so as to obtain output data as follows:
where y (N) is output data of the low-pass filter, h (k), k=1, 2, …, L is a tap coefficient of the digital low-pass filter, L is a length of the digital low-pass filter, x (N) represents a sampled data sequence, and N represents a length of the sampled data sequence.
In one embodiment, the envelope calculation module 204 is further configured to obtain the envelope value of the output data by adopting a conjugate operation mode, and the obtained pulse envelope data is:
z(n)＝[y(n)*conj(y(n))] 1/2 ,n＝1,2,...,N
where z (n) represents the pulse envelope data and conj (·) represents the conjugate operation.
In one embodiment, the characteristic values are a maximum value and a minimum value; the threshold construction module 206 is further configured to calculate, according to the feature value in the pulse envelope data, an interference detection threshold as follows:
z th ＝z min +0.05(z max -z min )
in one embodiment, the suppression module 208 is further configured to construct a decision algorithm according to the interference detection threshold and the pulse detection zeroing scheme, where the decision algorithm is:
for specific limitations of the new GNSS fast frequency sweep interference suppression device, reference may be made to the above limitations of the new GNSS fast frequency sweep interference suppression method, which are not described in detail herein. The modules in the novel GNSS fast frequency sweep interference suppression device can be all or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile 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 the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a new GNSS fast frequency sweep interference suppression method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In an embodiment a computer device is provided comprising a memory storing a computer program and a processor implementing the steps of the method of the above embodiments when the computer program is executed.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method of the above embodiments.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A new GNSS fast frequency sweep interference suppression method, said method comprising:
acquiring a sampling data sequence of satellite navigation receiving equipment, and performing low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data;
acquiring an envelope value of the output data by adopting a conjugate operation mode to obtain pulse envelope data;
calculating to obtain an interference detection threshold according to the characteristic value in the pulse envelope data;
and performing interference suppression on the pulse envelope data according to the interference detection threshold and a pulse detection zero setting scheme to obtain interference suppression data.
2. The method of claim 1, wherein low-pass filtering the sampled data sequence with a preset low-pass filter to obtain output data comprises:
and carrying out low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data as follows:
where y (N) is output data of the low-pass filter, h (k), k=1, 2, …, L is a tap coefficient of the digital low-pass filter, L is a length of the digital low-pass filter, x (N) represents a sampled data sequence, and N represents a length of the sampled data sequence.
3. The method of claim 2, wherein obtaining the envelope value of the output data using a conjugate operation mode, comprises:
the envelope value of the output data is obtained by adopting a conjugate operation mode, and the obtained pulse envelope data is as follows:
z(n)＝[y(n)*conj(y(n))] 1/2 ,n＝1,2,...,N
where z (n) represents the pulse envelope data and conj (·) represents the conjugate operation.
4. A method according to claim 3, wherein the characteristic values are a maximum value and a minimum value;
according to the characteristic value in the pulse envelope data, calculating to obtain an interference detection threshold, including:
according to the characteristic value in the pulse envelope data, calculating to obtain an interference detection threshold as follows:
z th ＝z min +0.05(z max -z min )
5. the method of claim 4, wherein interference suppression of the pulse envelope data according to the interference detection threshold and pulse detection zeroing scheme comprises:
according to the interference detection threshold and the pulse detection zero setting scheme, a decision algorithm is constructed as follows:
6. a new GNSS fast sweep interference suppression device, said device comprising:
the low-pass filtering module is used for acquiring a sampling data sequence of the satellite navigation receiving equipment, and carrying out low-pass filtering on the sampling data sequence by adopting a preset low-pass filter to obtain output data;
the envelope calculation module is used for obtaining the envelope value of the output data in a conjugate operation mode to obtain pulse envelope data;
the threshold construction module is used for calculating and obtaining an interference detection threshold according to the characteristic value in the pulse envelope data;
and the suppression module is used for performing interference suppression on the pulse envelope data according to the interference detection threshold and a pulse detection zero setting scheme to obtain interference suppression data.
7. The apparatus of claim 6, wherein the low pass filtering module is further configured to perform low pass filtering on the sampled data sequence with a preset low pass filter to obtain output data as:
where y (N) is output data of the low-pass filter, h (k), k=1, 2, …, L is a tap coefficient of the digital low-pass filter, L is a length of the digital low-pass filter, x (N) represents a sampled data sequence, and N represents a length of the sampled data sequence.
8. The apparatus of claim 7, wherein the envelope calculation module is further configured to obtain envelope values of the output data by using a conjugate operation mode, and obtain the pulse envelope data as:
z(n)＝[y(n)*conj(y(n))] 1/2 ,n＝1,2,...,N
where z (n) represents the pulse envelope data and conj (·) represents the conjugate operation.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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| CN117590431A (en) * | 2024-01-16 | 2024-02-23 | 广州导远电子科技有限公司 | Method and device for inhibiting sweep frequency interference |
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| CN117590431A (en) * | 2024-01-16 | 2024-02-23 | 广州导远电子科技有限公司 | Method and device for inhibiting sweep frequency interference |
| CN117590431B (en) * | 2024-01-16 | 2024-04-09 | 广州导远电子科技有限公司 | Method and device for inhibiting sweep frequency interference |
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