CN117269991B - Basic device of satellite navigation anti-interference terminal - Google Patents
Basic device of satellite navigation anti-interference terminal 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
- G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
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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
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the technical field of satellite navigation anti-interference, and particularly discloses a basic device of a satellite navigation anti-interference terminal, which comprises: the quasi-variation part comprises a down-conversion module and an analog-to-digital conversion module which are electrically connected in sequence, and is used for finely adjusting parameters of the down-converter and the analog-to-digital converter according to user requirements; the change part comprises an interference suppression processing module, a navigation data post-processing module and an interface control and protocol conversion module and is used for adaptively designing for the requirements of users; the fixed part comprises a navigation baseband processing chip and an authorization chip and is used for performing navigation baseband processing and security authorization management. The basic device of the satellite navigation anti-interference terminal provided by the invention decomposes the host of the satellite navigation anti-interference terminal into three parts, namely standard change, change and fixation, is easy to expand functions, promote performances, upgrade and adjust, and is convenient to derive complete and ordered terminal type spectrums.
Description
Technical Field
The invention relates to the technical field of satellite navigation anti-interference, in particular to a basic device of a satellite navigation anti-interference terminal.
Background
The satellite navigation anti-interference terminal needs to receive and process the satellite navigation public signal and the authorization signal under the interference environment to obtain the self position speed time (PVT). For this reason, the host computer of the existing satellite navigation anti-interference terminal generally adopts a combined design of the dedicated anti-interference processing component and the satellite navigation processing module shown in fig. 1.
The special anti-interference processing component performs down-conversion, analog-to-digital conversion, interference suppression, digital-to-analog conversion, up-conversion and other processes on the combined signal composed of the satellite navigation public/authorized signal, interference and the like, so that the interference is suppressed as much as possible, and the satellite navigation signal is recovered.
The special satellite navigation processing module firstly performs down-conversion and analog-to-digital conversion processing on satellite navigation signals to obtain digital intermediate frequency signals; then, navigation baseband processing such as capturing, tracking, synchronizing, demodulating, (text) interpretation, star selection (namely selecting a proper positioning constellation), autonomous integrity monitoring, PVT calculation and the like is carried out, and the extraction of the observed quantity such as pseudo range, carrier phase and Doppler and the PVT calculation are completed. Here, the navigation baseband processing of the authorization signal involves authorization management such as precise ranging code generation, encryption and decryption of navigation information, secure storage of authorization parameters, and the navigation baseband processing of the public signal does not involve authorization management.
The existing method for designing the combination of the special component and the module of the satellite navigation terminal fully utilizes the special anti-interference processing component and the satellite navigation processing module of 2-5 alternative units in the Beidou III basic product selection catalog, reduces the design risk and shortens the design period, but has the defects of difficult function expansion, performance improvement, upgrading adjustment and the like, is inconvenient to derive a terminal type spectrum meeting diversified and growing requirements, and is not beneficial to generalization, serialization and combination of the satellite navigation anti-interference terminal.
The diversification and growth requirements of users on the satellite navigation anti-interference terminal mainly come from the platform additional installation requirements (interface protocol, appearance structure, weight, size, power consumption, power supply, reliability, testability, maintainability, environmental adaptability, electromagnetic compatibility and the like) in practical application, anti-interference requirements (frequency range, type, bandwidth, number, strength, suppression time and the like of interference), navigation performance specifications (information type, precision, reliability, integrity, signal type and the like), the presence or absence of other navigation sources (inertial navigation system, doppler navigation system, attitude sensor and the like) and the like.
Based on the technical background, the invention researches a basic device of a satellite navigation anti-interference terminal.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a basic device of a satellite navigation anti-interference terminal, which decomposes a host of the satellite navigation anti-interference terminal into three parts of standard change, change and fixation, is easy to expand functions, promote performances, upgrade and adjust, and is convenient to derive a complete and orderly terminal type spectrum.
In order to achieve the above object, the present invention provides a basic device for a satellite navigation anti-interference terminal, comprising:
the quasi-variation part comprises a down-conversion module and an analog-to-digital conversion module which are electrically connected in sequence, and is used for finely adjusting parameters of the down-conversion module and the analog-to-digital conversion module according to user requirements;
the change part comprises an interference suppression processing module, a navigation data post-processing module and an interface control and protocol conversion module and is used for adaptively designing for the requirements of users;
the fixed part comprises a navigation baseband processing chip and an authorization chip and is used for performing navigation baseband processing and security authorization management.
The beneficial effects of the invention include:
(1) The basic device of the satellite navigation anti-interference terminal provided by the invention decomposes the host of the satellite navigation anti-interference terminal into three parts, namely standard change, change and fixation, is easy to expand functions, promote performances, upgrade and adjust, and is convenient to derive complete and ordered terminal type spectrums.
(2) The basic device of the satellite navigation anti-interference terminal provided by the invention mainly comprises a down-conversion module and an analog-to-digital conversion module, and the quasi-variation part is slightly adjusted according to the user requirement. The change part mainly comprises interference suppression processing, navigation data post-processing, interface control and protocol conversion, and supports adaptive design facing to user demands.
(3) The basic device of the satellite navigation anti-interference terminal integrates the interference suppression processing module, the navigation data post-processing module and the interface control and protocol conversion module into a piece of fully programmable fusion FPGA chip, wherein the programmable logic in the FPGA chip completes the interference suppression processing, and the processing system completes the navigation data post-processing, the interface control and the protocol conversion, thereby simplifying the hardware circuit, facilitating the assembly and debugging test and improving the software configuration, upgrading and management flexibility.
(4) The basic device of the satellite navigation anti-interference terminal provided by the invention supports the transverse comparison of alternative components such as a down converter, an analog-to-digital converter, a programmable FPGA and the like, and alternative algorithms such as interference suppression processing, navigation data post-processing and the like, and is favorable for selecting the software and hardware design scheme with the best adaptability to a host platform.
(5) The basic device of the satellite navigation anti-interference terminal is convenient for overall design of peripheral circuits, saves links such as digital-to-analog conversion, up-conversion, down-conversion, analog-to-digital conversion and the like, and has the advantages of low size, weight, power consumption and cost.
(6) The interference suppression processing module in the basic device of the satellite navigation anti-interference terminal provided by the invention is mainly designed according to the anti-interference requirement, the existence of other navigation sources and the like, can flexibly select a proper algorithm according to the actual requirement of a customer, and is convenient and flexible.
(7) The navigation data post-processing module in the basic device of the satellite navigation anti-interference terminal is mainly designed according to the platform mounting requirements, the navigation performance specifications, the existence of other navigation sources and the like, and performs secondary calculation on the original observed quantity and the primary calculation result after the navigation baseband processing, fuses with the primary calculation result and flexibly considers the information type, the precision, the reliability and the integrity of navigation.
(8) The interface control and protocol conversion module of the basic device of the satellite navigation anti-interference terminal can receive the channel information, the original observed quantity, the ephemeris information, the navigation data such as positioning speed measurement and the like output by the navigation baseband chip and the query feedback data, receive and analyze the configuration instruction and the query data sent by the control end, package the navigation data according to the protocol format requirement, and output the navigation data according to the instruction serial port.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
Fig. 1 is a schematic diagram of a host structure of a conventional satellite navigation anti-interference terminal.
Fig. 2 is a schematic structural diagram of a basic device of the satellite navigation anti-interference terminal provided by the invention.
Reference numerals illustrate:
PL-programmable logic, PS-processing system, PVT-position velocity time.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the preferred embodiments of the present invention are described below, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein.
In the present invention, unless otherwise indicated, terms of orientation such as "upper and lower" are used to refer generally to the upper and lower of the device in normal use, for example with reference to the orientation of the drawing of fig. 1, and "inner and outer" are used with respect to the outline of the device. Furthermore, the terms "first, second, third and the like" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first, second, third" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The invention provides a basic device of a satellite navigation anti-interference terminal, as shown in fig. 2, comprising:
the quasi-variation part comprises a down-conversion module and an analog-to-digital conversion module which are electrically connected in sequence, and is used for finely adjusting parameters of the down-conversion module and the analog-to-digital conversion module according to user requirements;
the change part comprises an interference suppression processing module, a navigation data post-processing module and an interface control and protocol conversion module and is used for adaptively designing for the requirements of users;
the fixed part comprises a navigation baseband processing chip and an authorization chip and is used for performing navigation baseband processing and security authorization management.
In the invention, the host of the satellite navigation anti-interference terminal is decomposed into three parts of standard change, change and fixation, which is easy for function expansion, performance improvement, upgrading and adjustment, and is convenient for deriving complete and ordered terminal type spectrum.
In the invention, the quasi-variation part mainly comprises a down-conversion module and an analog-to-digital conversion module, and is slightly adjusted according to the requirements of users. The change part mainly comprises interference suppression processing, navigation data post-processing, interface control and protocol conversion, and supports adaptive design facing to user demands.
According to the invention, parameters of the down-conversion module and the analog-to-digital conversion module are at least one of working frequency, channel number, linearity, resolution, conversion rate, device model, device number, channel expansion, noise coefficient, power consumption and packaging size.
Preferably, the working frequency of the down-conversion module is the frequency band of the satellite signal which is interfered, the number of channels is N+1, the linearity is that the output third-order cut-off point is not lower than 38dBm when the gain is equal to 15dB, and the number of down-conversion devices is P
The calculation formula of P is；
Where N is the number of wideband interferers,for the nominal channel number of the down-conversion device used, operator +.>Is rounded upwards;
when P=1, the used down-conversion device does not carry out channel expansion, and when P is more than 1, the used down-conversion device carries out channel expansion;
the number of channels of the analog-digital conversion module is N+1, and the resolution is not lower thanBits, conversion rate is not less than 62MSPS, and the number of the used analog-to-digital conversion devices is M;
the calculation formula of M is M；
Where N is the number of wideband interferers,for the nominal channel number of the analog-to-digital conversion device used, operator +.>Is rounded upwards;
when m=1, the analog-to-digital conversion device used does not perform channel expansion, and when M > 1, the analog-to-digital conversion device used performs channel expansion.
The basic device is convenient for overall design of peripheral circuits, saves links such as digital-to-analog conversion, up-conversion, down-conversion, analog-to-digital conversion and the like, and has the advantages of low size, weight and power consumption cost.
According to the invention, the functions of the variation part are realized by a fully programmable fusion FPGA chip;
the FPGA chip is internally provided with a programmable logic and a processing system, the programmable logic realizes the function of an interference suppression processing module, and the processing system realizes the functions of a navigation data post-processing module and an interface control and protocol conversion module.
In the invention, the interference suppression processing module, the navigation data post-processing module and the interface control and protocol conversion module are integrated into a full programmable fusion FPGA chip, the programmable logic in the full programmable fusion FPGA chip completes the interference suppression processing, and the processing system completes the navigation data post-processing, the interface control and the protocol conversion, so that the hardware circuit can be simplified, the assembly debugging test is convenient, and the software configuration, the upgrading and the management flexibility are improved.
In the invention, the transverse comparison of alternative components such as a down converter, an analog-to-digital converter, a programmable FPGA and the like and alternative algorithms such as interference suppression processing, navigation data post-processing and the like is supported, thereby being beneficial to screening software and hardware design schemes with the best adaptability to a host platform.
According to the invention, the interference suppression processing module carries out algorithm design based on the anti-interference requirement and/or the presence or absence of a navigation source;
the navigation source is an inertial navigation system, a Doppler navigation system and a gesture sensor for providing gesture information of the platform.
According to the invention, if the anti-interference requirement is narrowband interference, selecting any one of a windowing frequency domain threshold/k spectral line/median filtering algorithm, a modulation type overlapped transformation domain threshold/k spectral line/median filtering algorithm and an extended overlapped transformation domain threshold/k spectral line/median filtering algorithm;
if the anti-interference requirement is broadband strong interference and the platform posture information is known, selecting any one of a space-time combination-sampling matrix inversion-multi-beam anti-interference algorithm, a space-frequency combination-recursive least square-multi-beam anti-interference algorithm and a space-frequency combination-multi-stage nested wiener filtering-multi-beam anti-interference algorithm;
if the anti-interference requirement is broadband stronger interference and the platform attitude information is unknown, selecting any one of a space-time joint-sampling matrix inversion-self-adaptive zero-setting anti-interference algorithm, a space-frequency joint-recursive least square-self-adaptive zero-setting anti-interference algorithm and a space-frequency joint-multistage nested wiener filtering-self-adaptive zero-setting anti-interference algorithm;
if the anti-interference requirement is broadband strong interference and the platform posture information is unknown, adding interference to the algorithm selected by the broadband strong interference and the platform posture information is unknown to deepen the upward nulling depth and/or to stretch the upward nulling by interference.
Preferably, the navigation data post-processing module carries out secondary calculation on the original observed quantity and the primary calculation result processed by the navigation baseband processing chip, and carries out fusion processing with the primary calculation result;
the navigation data post-processing module is used for carrying out algorithm design based on the platform additional installation requirement, and/or the navigation performance specification, and/or the presence or absence of a navigation source.
The interference suppression processing module is designed mainly according to the anti-interference requirement, the presence or absence of other navigation sources and the like, and can flexibly select a proper algorithm according to the actual requirement of a customer, so that the method is convenient and flexible.
Preferably, the processing algorithm of the navigation data post-processing module is selected from at least one of the following algorithms:
a) Star selection algorithm based on minimum geometric precision factor, maximum tetrahedron volume and maximum zenith star-tetrahedron volume;
b) PVT resolving algorithm based on Singer maneuvering model-Kalman filtering, loose combination/tight combination/ultra-tight combination navigation algorithm, long baseline ambiguity, baseline direction and gesture resolving algorithm;
c) A receiver autonomous integrity monitoring algorithm based on parity space, a least squares residual sum of squares, a maximum interval, and a horizontal/vertical protection level algorithm;
d) Based on signal domain verification, information domain verification, navigation source assistance and associated anti-spoofing interference algorithms.
The navigation data post-processing module is mainly designed according to the platform mounting requirements, the navigation performance specifications, the existence of other navigation sources and the like, performs secondary calculation on the original observed quantity and the primary calculation result after the navigation baseband processing, fuses with the primary calculation result, and flexibly considers the information type, the precision, the reliability and the integrity of navigation.
According to the invention, the interface control and protocol conversion module carries out algorithm design based on the platform additional installation requirement, the navigation performance specification and the navigation source interface protocol;
the interface control and protocol conversion module has the following functions:
1) Judging the reset mark, the mode configuration mark and the channel state in real time;
2) Scheduling corresponding task modules according to the state of the device, and responding to the state change of the device;
3) Receiving navigation data output by a navigation baseband processing chip, inquiring feedback data, and receiving and analyzing configuration instructions and inquiry data sent by a control end;
4) After the navigation data are packed according to the protocol format requirement, the navigation data are output according to the instruction serial port;
5) Support special interfaces and custom protocols;
the navigation data comprises channel information, original observables, ephemeris information and positioning speed measurement.
According to the present invention, the protocol supported by the interface control and protocol conversion module includes:
the terminal asynchronous RS422 interface is used for filling authorization parameters and testing data interaction protocols between the authorization filling gun and the testing equipment.
In the invention, the interface control and protocol conversion module can receive the navigation data such as channel information, original observed quantity, ephemeris information, positioning speed measurement and the like output by the navigation baseband chip and query feedback data, receive and analyze the configuration instruction and the query data sent by the control end, package the navigation data according to the protocol format requirement, and output the navigation data according to the instruction serial port.
The invention will be described in more detail by means of a specific example.
Example 1:
in this embodiment, the incremental demand of the user includes 1) the anti-interference demand: the interference frequency range is 1215MHz-1300MHz, the interference bandwidth is 20MHz, the number of interference is 2, the interference intensity is 90dB of interference-to-noise ratio (single interference) and 85dB of interference-to-noise ratio (double interference), and the interference suppression processing time is of millisecond order; 2) Navigation performance specification: the navigation information type comprises position, speed, time and gesture, the integrity is autonomous integrity monitoring and outputting integrity information, and the satellite signal type is BDSB1 and BDSB3; 3) Other navigation sources: an inertial navigation system.
As shown in fig. 2, this embodiment provides a basic device of a satellite navigation anti-interference terminal, including:
the quasi-variation part comprises a down-conversion module and an analog-to-digital conversion module which are electrically connected in sequence, and is used for finely adjusting parameters of the down-conversion module and the analog-to-digital conversion module according to user requirements;
the change part comprises an interference suppression processing module, a navigation data post-processing module and an interface control and protocol conversion module and is used for adaptively designing for the requirements of users;
the fixed part comprises a navigation baseband processing chip and an authorization chip and is used for performing navigation baseband processing and security authorization management;
in the embodiment, in the anti-interference requirement, the interference frequency range is 1215MHz-1300MHz, the interference bandwidth is 20MHz, the number of interference is 2, and the interference intensity is 90dB of interference-to-noise ratio (single interference) and 85dB of interference-to-noise ratio (double interference); because the interference frequency range is 1215MHz-1300MHz, the satellite signal types are BDSB1 and BDSB3, and the interfered satellite signal frequency band is BDSB3. The ratio of the interference bandwidth to the satellite signal BDSB3 bandwidth is not less than 10%, belonging to 2 BDSB3 frequency band broadband strong interference;
determining parameters of a down-conversion module: the working frequency is the interfered satellite signal frequency band BDSB3; the number of channels is 3; the model of the down-conversion device is a CA-RF1947X chip of Hebei Jing He electronic technology Co., ltd; the output third-order cut-off point of the used down-conversion device is typically 42dBm (@ gain=15 dB); nominal channel number of down-conversion device used=4; the number of down-conversion devices p=1; no channel expansion;
determining parameters of an analog-to-digital conversion module: the number of channels is 3; resolution is not lower than 16 bits; the model of the analog-to-digital conversion device is a 4-channel 16-bit BLAD16Q125 chip of Shanghai beggar's Co., ltd, which is designed specifically for low power consumption, small size, low cost and easy usability; the conversion rate of the selected analog-to-digital conversion device is up to 125MSPS; nominal channel number of selected analog-to-digital conversion device=4; the number of analog-to-digital conversion devices m=1; no channel expansion;
the functions of the variation part are realized by adopting an FMQL45T900 chip of Shanghai compound denier microelectronic group Co., ltd, and the chip integrates a programmable logic of rich resources, a processing system of a four-core processor and the like;
the FPGA chip is internally provided with a programmable logic and a processing system, the programmable logic realizes the function of an interference suppression processing module, and the processing system realizes the functions of a navigation data post-processing module and an interface control and protocol conversion module;
the interference suppression processing module carries out algorithm design based on the anti-interference requirement and/or the presence or absence of a navigation source;
in this embodiment, the anti-interference requirements include an interference bandwidth of 20MHz, an interference strength of 90dB (single interference) and 85dB (double interference) of interference-to-noise ratio, and an interference suppression processing time of millisecond order; the inertial navigation system is a navigation source for providing platform attitude information, belongs to the conditions of broadband strong interference and platform attitude information knowing, and also has the interference suppression processing time millisecond magnitude, and the anti-interference algorithm selects a space-frequency combination-multistage nested wiener filtering-multi-beam anti-interference algorithm;
in this embodiment, the navigation data post-processing module performs a second calculation on the original observed quantity and the first calculation result processed by the navigation baseband processing chip, and performs a fusion process with the first calculation result;
the navigation data post-processing module carries out algorithm design based on the platform additional installation requirement, and/or the navigation performance specification, and/or the presence or absence of a navigation source;
in this embodiment, the navigation performance specification is that the navigation information includes position, speed, time, gesture, and autonomous integrity monitoring and outputting integrity information. Aiming at the types of position, speed, time and gesture information, a satellite navigation and inertial navigation integrated navigation algorithm is selected; for autonomous integrity monitoring, selecting a least square residual error square sum algorithm with small calculation amount;
in the embodiment, the interface control and protocol conversion module performs algorithm design based on the platform mounting requirement, the navigation performance specification and the navigation source interface protocol;
the interface control and protocol conversion module has the following functions:
1) Judging the reset mark, the mode configuration mark and the channel state in real time;
2) Scheduling corresponding task modules according to the state of the device, and responding to the state change of the device;
3) Receiving navigation data output by a navigation baseband processing chip, inquiring feedback data, and receiving and analyzing configuration instructions and inquiry data sent by a control end;
4) After the navigation data are packaged according to the protocol format requirement, the navigation data are output to an inertial navigation system according to an instruction serial port;
5) Support special interfaces and custom protocols;
the navigation data comprises channel information, original observational quantity, ephemeris information and positioning speed measurement;
in this embodiment, the protocols supported by the interface control and protocol conversion module include:
the terminal asynchronous RS422 interface is used for authorizing parameter filling and testing a data interaction protocol between an authorized filling gun and testing equipment.
The basic device of the satellite navigation anti-interference terminal provided by the embodiment of the invention decomposes the host of the satellite navigation anti-interference terminal into three parts of quasi-variation, variation and fixation, is easy for function expansion, performance improvement and upgrading adjustment, and is convenient for deriving complete and orderly terminal type spectrum.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (8)
1. A basic-type apparatus for a satellite navigation anti-interference terminal, comprising:
the quasi-variation part comprises a down-conversion module and an analog-to-digital conversion module which are electrically connected in sequence, and is used for finely adjusting parameters of the down-conversion module and the analog-to-digital conversion module according to user requirements;
the change part comprises an interference suppression processing module, a navigation data post-processing module and an interface control and protocol conversion module and is used for adaptively designing for the requirements of users;
the fixed part comprises a navigation baseband processing chip and an authorization chip and is used for performing navigation baseband processing and security authorization management;
the working frequency of the down-conversion module is the frequency band of the interfered satellite signal, the number of channels is N+1, the linearity is that the output third-order cut-off point is not lower than 38dBm when the gain is equal to 15dB, and the number of the used down-conversion devices is P;
the calculation formula of P is；
Where N is the number of wideband interferers,for the nominal channel number of the down-conversion device used, operator +.>Is rounded upwards;
when P=1, the used down-conversion device does not carry out channel expansion, and when P is more than 1, the used down-conversion device carries out channel expansion;
the number of channels of the analog-digital conversion module is N+1, and the resolution is not lower thanBits, conversion rate is not less than 62MSPS, and the number of the used analog-to-digital conversion devices is M;
the calculation formula of M is M；
Where N is the number of wideband interferers,for the nominal channel number of the analog-to-digital conversion device used, operator +.>Is rounded upwards;
when m=1, the analog-to-digital conversion device used does not perform channel expansion, and when M > 1, the analog-to-digital conversion device used performs channel expansion.
2. The apparatus of claim 1, wherein the functions of the varying portion are implemented by a fully programmable fusion FPGA chip;
the FPGA chip is internally provided with programmable logic and a processing system, the programmable logic realizes the functions of the interference suppression processing module, and the processing system realizes the functions of the navigation data post-processing module and the interface control and protocol conversion module.
3. The apparatus of claim 2, wherein the interference suppression processing module is algorithmically designed based on anti-interference requirements and/or the presence or absence of navigation sources;
the navigation source is an inertial navigation system, a Doppler navigation system and a gesture sensor for providing platform gesture information.
4. The apparatus of claim 3, wherein if the anti-interference requirement is narrowband interference, selecting any one of a windowed frequency domain threshold/k-line/median filtering algorithm, a modulated lapped transform domain threshold/k-line/median filtering algorithm, and an extended lapped transform domain threshold/k-line/median filtering algorithm;
if the anti-interference requirement is broadband strong interference and the platform posture information is known, selecting any one of a space-time combination-sampling matrix inversion-multi-beam anti-interference algorithm, a space-frequency combination-recursive least square-multi-beam anti-interference algorithm and a space-frequency combination-multi-stage nested wiener filtering-multi-beam anti-interference algorithm;
if the anti-interference requirement is broadband stronger interference and the platform attitude information is unknown, selecting any one of a space-time joint-sampling matrix inversion-self-adaptive zero-setting anti-interference algorithm, a space-frequency joint-recursive least square-self-adaptive zero-setting anti-interference algorithm and a space-frequency joint-multistage nested wiener filtering-self-adaptive zero-setting anti-interference algorithm;
if the anti-interference requirement is broadband strong interference and the platform posture information is unknown, adding interference to the algorithm selected by the broadband strong interference and the platform posture information is unknown to deepen the upward nulling depth and/or to stretch the upward nulling by interference.
5. The device according to claim 2, wherein the navigation data post-processing module performs a secondary calculation on the primary observed quantity and the primary calculation result processed by the navigation baseband processing chip, and performs a fusion process with the primary calculation result;
the navigation data post-processing module is used for carrying out algorithm design based on the platform mounting requirement, and/or the navigation performance specification, and/or the presence or absence of a navigation source.
6. The apparatus of claim 5, wherein the processing algorithm of the navigation data post-processing module is selected from at least one of the following algorithms:
a) Star selection algorithm based on minimum geometric precision factor, maximum tetrahedron volume and maximum zenith star-tetrahedron volume;
b) PVT resolving algorithm based on Singer maneuvering model-Kalman filtering, loose combination/tight combination/ultra-tight combination navigation algorithm, long baseline ambiguity, baseline direction and gesture resolving algorithm;
c) A receiver autonomous integrity monitoring algorithm based on parity space, a least squares residual sum of squares, a maximum interval, and a horizontal/vertical protection level algorithm;
d) Based on signal domain verification, information domain verification, navigation source assistance and associated anti-spoofing interference algorithms.
7. The apparatus of claim 2, wherein the interface control and protocol conversion module performs an algorithm design based on platform add-on requirements, navigation performance specifications, navigation source interface protocol;
the interface control and protocol conversion module has the following functions:
1) Judging the reset mark, the mode configuration mark and the channel state in real time;
2) Scheduling corresponding task modules according to the state of the device, and responding to the state change of the device;
3) Receiving navigation data output by a navigation baseband processing chip, inquiring feedback data, and receiving and analyzing configuration instructions and inquiry data sent by a control end;
4) After the navigation data are packed according to the protocol format requirement, the navigation data are output according to the instruction serial port;
5) Support special interfaces and custom protocols;
the navigation data comprises channel information, original observables, ephemeris information and positioning speed measurement.
8. The apparatus of claim 7, wherein the protocol supported by the interface control and protocol conversion module comprises:
the terminal asynchronous RS422 interface is used for filling authorization parameters and testing data interaction protocols between the authorization filling gun and the testing equipment.
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