CN114755700A - Space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device and method - Google Patents
Space-time-frequency multi-dimensional domain multi-beam navigation anti-interference device and method Download PDFInfo
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Abstract
The invention discloses a space-time-frequency multi-dimensional domain multi-beam navigation anti-jamming device and an anti-jamming method, and mainly solves the problems of high complexity, slow convergence and limited interference suppression performance in the prior art. The implementation scheme is as follows: processing a radio frequency signal received by an antenna array into a digital baseband signal, performing anti-interference beam synthesis processing on the digital baseband signal in a space-time domain by a minimum variance distortionless response criterion, performing FFT (fast Fourier transform) on an anti-interference output signal to convert the anti-interference output signal into a frequency domain to perform filtering synthesis, and filtering frequency domain interference; and performing IFFT on the filtered and synthesized signal to convert the filtered and synthesized signal into a time domain signal, and transmitting the time domain signal to a navigation board for navigation calculation to obtain navigation positioning information. The satellite navigation anti-interference device has the advantages of small complexity, high convergence rate, high logic resource utilization rate and good interference suppression performance, improves the environmental adaptability of the satellite navigation anti-interference device, 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
The 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 a satellite navigation system, and the performance of the system efficiency is determined. However, since the navigation satellite is two-thousand kilometers away from the ground and the signal transmission power is limited, the satellite signal power reaching the ground application terminal is very low, about-133 dBm, and is easily subjected to external intentional or unintentional electromagnetic interference, so that the system performance is sharply reduced, and even normal positioning cannot be performed. Therefore, in the face of increasingly complex space electromagnetic environments, the adoption of a self-adaptive anti-interference method to improve the anti-interference performance of a navigation receiver becomes a key problem to be solved urgently.
The anti-interference methods adopted by the conventional satellite navigation anti-interference antenna are divided into two types: applying a space-time adaptive anti-interference method and applying a space-frequency adaptive anti-interference method, wherein:
the receiver using the space-time adaptive anti-interference method combines the space domain and the time domain filtering technology, and improves the degree of freedom of the system for inhibiting the narrow-band interference and the performance for inhibiting the narrow-band interference by increasing the number of delay taps under the condition that the number of array elements is not increased, but the performance for inhibiting the wide-band interference is not greatly improved. In addition, the method increases the dimensionality of the sampling matrix due to the increase of the number of taps, increases the complexity of operation, and brings resource and time sequence convergence pressure to the subsequent calculation of the anti-interference weight.
The receiver applying the space-frequency self-adaptive anti-interference method combines the space domain and the frequency domain filtering technology, utilizes the difference of the arrival direction of the expected signal and the interference signal in the space domain, carries out self-adaptive filtering on the received signal at each frequency point of the frequency domain, improves the inhibition capacity of the navigation system to the interference by increasing the number of FFT points, however, along with the increase of the number of FFT points, the amplitude and phase influence of the anti-interference process on the expected signal is aggravated, and then the carrier phase tracking effect of the receiver is influenced.
Chinese patent CN106772457A, in combination with the characteristics of array antenna and adaptive signal processing technology, discloses an anti-interference method based on space-time-frequency architecture, which processes the signals received by the array antenna into baseband signals, then performs interference threshold discrimination and narrow-band notch processing in the frequency domain, and performs beam-forming processing by blocking matrix method to form new digital baseband signals; then, the new digital baseband signal is subjected to space-time adaptive anti-interference processing, and then digital up-conversion and digital-to-analog conversion frequency processing are carried out. Although the method improves the degree of freedom of anti-narrowband interference processing by carrying out interference threshold judgment and narrowband notch processing in a frequency domain, the self-adaptive anti-interference processing of the method on the digital baseband signals 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 present invention provides an anti-interference apparatus and an anti-interference method for space-time-frequency multidimensional domain multi-beam navigation, so as to improve the utilization rate of bottom cover logic resources, reduce the amplitude-phase distortion of an expected signal, improve the interference suppression performance, and simplify the operation complexity.
In order to achieve the purpose, the technical scheme of the invention comprises the following steps:
1. a space-time frequency multi-dimensional domain multi-beam navigation anti-jamming device comprises: antenna array, radio frequency subassembly, anti-interference digital processing board, navigation board and power module, its characterized in that:
the anti-interference digital processing board comprises: the system 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 digital intermediate frequency signals after the A/D conversion into digital baseband signals;
the low-pass filtering module is used for filtering out-of-band clutter in the digital baseband signal;
the amplitude and phase error correction module is used for compensating amplitude and phase errors among channels so as to eliminate the influence of amplitude and phase inconsistency and obtain corrected digital baseband signals;
the band-pass filtering module is used for dividing the digital baseband signal into 10 sub-bands at equal frequency intervals by using an FIR band-pass filter, wherein the bandwidth of each sub-band is 2 MHz;
the time domain conversion module is used for adding 3 time domain taps to each sub-band signal, wherein every two time domain taps are separated by 4 clock cycles, and the clock frequency is 62 MHz;
the covariance matrix inversion module is used for calculating and inverting the space-time covariance matrix of each sub-band;
the anti-interference weight calculation module is used for calculating the guide vectors of 10 sub-bands by utilizing the incident angles of the 16 satellite signals and calculating the multi-beam anti-interference weight of each sub-band by utilizing the minimum variance distortionless response criterion;
the digital beam synthesis module is used for respectively carrying out 16-beam synthesis on the 10 sub-bands according to the calculated multi-beam anti-interference weight;
and the frequency domain filtering synthesis module 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 subjected to the filtering of each beam to obtain frequency domain synthesis signals of 16 beams, and carrying out 1024-point IFFT operation to obtain time domain signals of 16 paths of beams.
Furthermore, 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.
Furthermore, the number of channels of the radio frequency component is 5, each channel is internally provided with a low noise amplification filter, a local oscillator module, a down-conversion filter, an intermediate frequency amplifier and a control module, and high-frequency signals of the low noise amplification filter and the local oscillator module are respectively connected with different ports of the down-conversion filter and are used for amplifying, down-converting and filtering satellite navigation signals; amplifying the intermediate frequency signal after down conversion by an intermediate frequency amplifier and then transmitting the amplified intermediate frequency signal to an A/D conversion module for sampling and digitalization; the clock signal of the local oscillator module is connected with the clock module of the anti-interference digital processing board and provides a 62MHz clock signal for the local oscillator 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 anti-interference digital processing board.
Further, the navigation board is connected with the anti-interference digital processing board and used for receiving time domain signals corresponding to the 16 wave beams after space-time frequency filtering, tracking the 16 satellites through the 16 corresponding channels, and performing 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 of:
1) processing the 5 paths of satellite navigation signals received by the 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 and inverting a space-time covariance matrix of 15 paths of signals corresponding to the 10 subbands;
4) calculating steering vectors of 10 sub-bands by using the incidence angles of the 16 satellite signals;
5) calculating the digital multi-beam anti-interference weight corresponding to each sub-band by using the space-time covariance matrix obtained in 3) and the guide vector of each sub-band obtained in 4);
6) performing 16-beam synthesis on 10 sub-bands respectively by using the anti-interference weight values obtained in the step 5) to obtain anti-interference output signals, performing 1024-point FFT on the anti-interference output signals synthesized by the sub-bands to convert the anti-interference output signals into frequency domain signals, and performing frequency domain filtering; then, performing frequency domain addition synthesis on the 10 subbands subjected to wave filtering of each wave beam to obtain frequency domain synthesis signals of 16 wave beams, and performing 1024-point IFFT operation on the frequency domain synthesis signals to obtain 16 wave beam time domain signals;
7) and (4) resolving 16 beam time domain signals by using 16 channels for tracking to obtain navigation positioning information.
Compared with the prior art, the invention has the following advantages:
1. the time domain conversion module of the invention adopts less time delay tap number, thus avoiding the problems of large operation complexity and slow algorithm convergence caused by large tap number of the space-time filtering method and improving the utilization rate of bottom cover logic resources;
2. the frequency domain filtering synthesis module adopts fewer points when carrying out FFT on the sub-band synthesis signal, thereby avoiding the problem of serious amplitude-phase distortion of the expected signal caused by more FFT points in the space-frequency filtering method;
3. the digital beam synthesis module of the invention respectively carries out 16 beam synthesis on 10 sub-bands, so that the synthesized beam can ensure the gain of the main lobe beam, thereby ensuring that the signals received by the system in a full airspace 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 frequency domain information of the signals to perform multi-beam anti-interference, so that the combined processing of the signals in the space-time-frequency multi-dimensional domain is realized, the higher anti-interference performance is realized with lower logic resource consumption, and the device has smaller size and better robustness, thereby improving the environmental adaptability of the satellite navigation anti-interference equipment.
Drawings
Fig. 1 is a block diagram of the structure of the multi-beam navigation anti-interference processing device of the present invention;
fig. 2 is a layout 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 the implementation of the invention for multi-beam navigation anti-interference;
fig. 5 is an interference rejection beam pattern simulated using the present invention.
Detailed Description
The embodiments and effects of the present invention will be 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 invention comprises 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, the antenna array 1 is used for receiving 5 paths of radio frequency signals, 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 component 2.
The number of channels of the radio frequency component 2 is 5, and each channel is provided with a low noise amplification filter 21, a local oscillation module 22, a down-conversion filter 23, an intermediate frequency amplifier 24, and a control module 25. The high-frequency signals of the low-noise amplification filter 21 and the local oscillator 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 signals; the intermediate frequency signal after down-conversion is amplified by an intermediate frequency amplifier 24 and then transmitted to an A/D conversion module for sampling and digitalization; the clock signal of the local oscillator 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 with an interface circuit on the anti-interference digital processing board and receives a control signal sent by the anti-interference digital processing board.
The anti-interference digital processing board 3 includes: 3 pieces of double-channel A/D conversion chips 31, a piece of FPGA chip 32, a piece of D/A conversion chip 33, a clock module 34 and an interface circuit 35. The multi-beam anti-interference processing method is used for performing multi-beam anti-interference processing on 5 paths of analog intermediate frequency signals obtained after the radio frequency component 2 is processed, and comprises the following steps:
the dual-channel a/D conversion chip 31 performs a/D sampling on the 5 channels of analog intermediate frequency signals to obtain 5 channels of digital intermediate frequency signals, wherein the intermediate frequency point is 46.52 MHz;
the FPGA chip 32 is configured to perform multi-beam anti-interference processing on the digital intermediate-frequency signal after the a/D conversion, 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 transformation 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 the modules are as follows:
a digital down-conversion module 321, configured to convert the 5 channels of digital intermediate frequency signals after the a/D conversion into 5 channels of digital baseband signals, where a frequency point of the digital baseband signals is 15.52 MHz;
a low-pass filtering module 322, configured to filter out-of-band clutter in the digital baseband signal, where the order of the FIR low-pass filter designed in this embodiment is 32 orders;
and the amplitude-phase error correction module 323 is used for carrying out amplitude-phase error correction on the 5-path digital baseband complex signals so as to eliminate the influence of amplitude-phase inconsistency 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 digital baseband signal into 10 sub-bands at equal frequency intervals by using an FIR band-pass filter, where the bandwidth of each sub-band is 2 MHz;
a time domain transforming module 325, configured to add 3 time domain taps to each sub-band signal, where every two time domain taps are separated by 4 clock cycles and the clock frequency is 62MHz, to obtain 15 paths of space-time signals x corresponding to 10 sub-bands respectively1(t),…,xm(t),…,x10(t) wherein xm(t) is a space-time signal of 15 paths corresponding to the mth subband, wherein m is 1, … and 10;
a covariance matrix inversion module 326 for calculating a covariance matrix R from the 15-way space-time signals of 10 subbandsxx1,…,Rxxm,…,Rxx10And inverting to obtain its inverse matrix
The covariance matrix for the mth subband is represented as follows:
an anti-interference weight calculation module 327, configured to calculate a multi-beam anti-interference weight of each sub-band according to a minimum variance distortionless response MVDR criterion, which is represented as follows:
wherein,
the mth subband is the interference rejection weight corresponding to the ith satellite,
is the inverse of the covariance matrix of the mth subband,
the space-time steering vector corresponding to the ith satellite for the mth subband is calculated from the incident angles of the 16 satellite signals, and is represented as follows:
wherein,
is the guide information of the nth signal in the mth sub-bandnIs the sum of the spatial domain and the time domain of the nth signal in the mth subband, wherein n is 1i,
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, configured to perform 16 beam synthesis on 10 subbands according to the multi-beam anti-interference weight to obtain anti-interference output signals
Is represented as follows:
wherein,
for conjugate transpose of anti-interference weights, xm(t) is the signal after the mth subband is subjected to time domain tapping;
a frequency domain filtering and synthesizing module 329 for outputting the signal against interference
Carrying out 1024-point FFT operation to obtain anti-interference output frequency domain signals of 16 wave beams corresponding to 10 sub-bands
And are aligned with
Frequency domain weighting and filtering are carried out to obtain a frequency domain filtered signal
Then pair
Frequency domain synthesis is carried out to obtain frequency domain synthesis signals of 16 wave beams
Then carrying out 1024-point IFFT operation on the frequency domain synthesis signal to obtain time domain signals y of 16 wave beams1(t),...,y16(t)。
And the navigation board 4 is connected with the anti-interference digital processing board 3 and is used for receiving time domain signals corresponding to the 16 wave beams after space-time frequency filtering, tracking 16 satellites through 16 corresponding channels, and performing positioning calculation to obtain local navigation positioning information.
And the power supply 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 the 28V voltage input from the outside into 5V voltage to respectively supply power to the two.
Referring to fig. 4, the method for multi-beam navigation anti-interference by using the device is implemented as follows:
the method comprises the following steps: the digital baseband signal bandwidth is divided into 10 sub-bands at equal frequency intervals by using an FIR band-pass filter, and the bandwidth of each sub-band is 2 MHz.
Step two: adding 3 time domain taps to each sub-band signal, wherein every two time domain taps are spaced by 4 clock cycles, the clock frequency is 62MHz, and obtaining 15 paths of space-time signals x respectively corresponding to 10 sub-bands1(t),…,xm(t),…,x10(t) wherein xmAnd (t) is 15 paths of space-time signals corresponding to the mth subband, and m is 1, … and 10.
Step three: covariance matrix R is calculated from 15-way space-time signals corresponding to 10 sub-bands respectivelyxx1,…,Rxxm,…,Rxx10And inverting to obtain its inverse matrix
Wherein the covariance matrix R of the mth subbandxxmIs represented as follows:
step four: calculating a steering vector of 10 sub-bands by using the incident angle of 16 satellite signals, wherein the mth sub-band corresponds to the space-time steering vector a of the ith satellitem(θi,
) Is shown below
Wherein,
is the guide information of the nth signal in the mth sub-bandnIs the sum of the spatial and time phases of the nth signal in the mth sub-band, wherein n is 1i,
Respectively representing the azimuth angle and the pitch angle of the ith satellite signal incident to the receiving array.
Step five: and calculating the multi-beam anti-interference weight of each sub-band according to the Minimum Variance Distortionless Response (MVDR) criterion:
wherein,
for the mth subband to correspond to the interference rejection weight of the ith satellite,
is the inverse of the covariance matrix of the mth subband in step three, am(θi,
) The mth subband in step four corresponds to the space-time steering vector of the ith satellite.
Step six: respectively carrying out 16 wave beam synthesis on 10 sub-bands according to the multi-beam anti-interference weight in the step five to obtain an anti-interference output signal
Wherein,
for conjugate transpose of anti-interference weights, xmAnd (t) is a signal of the mth subband after time domain tapping.
Step seven: for the anti-interference output signal in the step six
Carrying out 1024-point FFT operation to obtain anti-interference output frequency domain signals of 16 wave beams corresponding to 10 sub-bands
And are aligned with
Carrying out frequency domain weighting and filtering to obtain a frequency domain filtered signal
In the frequency domain weighting process, the frequency domain weight of 16 wave beams corresponding to the mth subband is wm，wmThe weight of the frequency band covered by the middle sub-band corresponding to the mth sub-band is 1, and other frequency points are all set to be zero.
Step eight: filtering the frequency domain signal in the seventh step
Frequency domain synthesis is carried out to obtain a frequency domain synthesis signal [ Y ] of 16 wave beams1(t)]filter,…,[Yi(t)]filter,…,[Y16(t)]filterWherein [ Y ]i(t)]filterFrequency domain synthesized signal for ith beam, i ═ 1, …, 16; frequency domain signals of 10 sub-bands corresponding to the ith wave beam
Frequency domain synthesis is carried out to obtain a frequency domain synthesis signal [ Y ] of the ith wave beami(t)]filterWherein
the frequency domain signal of the mth subband corresponding to the ith beam, m is 1,2, …, 10.
Step nine: for the frequency domain synthesized signal [ Y ] in the step eight1(t)]filter,…,[Yi(t)]filter,…,[Y16(t)]filterCarrying out 1024-point IFFT operation to obtainTime domain signal y to 16 beams1(t),…,yi(t),…,y16(t) wherein yiAnd (t) is a time domain signal corresponding to the ith beam, i is 1, … and 16.
Step ten: and (4) transmitting the time domain signals obtained in the step nine to a navigation receiver for navigation information calculation, wherein each digital beam corresponds to one navigation calculation channel, and finally, navigation positioning information is obtained.
The effects of the present invention can be further explained by the following simulation results.
Simulation conditions
Assuming 16 satellites are in far-field space, the carrier frequencies of the 16 satellite signals are 1268.52MHz, the bandwidths are 20.46MHz, the SNR is-15 dB, and the spatial directions are (0 °,10 °), (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 arranged in different directions of a 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 spatial directions of the three interference signal sources are (130 degrees, 45 degrees), (10 degrees, 60 degrees), (110 degrees, 90 degrees) respectively;
the pitch angle of the direction vertical to the array surface in the space is 0 degree, 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 space-time-frequency multi-dimensional domain multi-beam navigation anti-interference simulation experiment is carried out by using the anti-interference method provided by the invention, and the result is shown in fig. 5. As can be seen from fig. 5, the beam pattern forms nulls of-112 dB, -112.1dB, and-111.6 dB in three interference directions (130 °,45 °), (10 °,60 °), and (-110 °,90 °), respectively, and thus achieves a good anti-interference effect.
The foregoing description is only an example of the present invention and is not intended to limit the invention, so that it will be apparent to those skilled in the art that various changes and modifications in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A space-time-frequency multi-dimensional domain multi-beam navigation anti-jamming device comprises: antenna array (1), radio frequency component (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 two-channel A/D 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 the out-of-band noise in the digital baseband signal;
the amplitude and phase error correction module (323) is used for compensating amplitude and phase errors among channels so as to eliminate the influence of amplitude and phase inconsistency and obtain corrected digital baseband signals;
the band-pass filtering module (324) is used for dividing the digital baseband signal into 10 sub-bands at equal frequency intervals by using an FIR band-pass filter, wherein the bandwidth of each sub-band is 2 MHz;
a time domain transformation module (325) for adding 3 time domain taps to each sub-band signal, wherein every two time domain taps are separated by 4 clock cycles, and the clock frequency is 62 MHz;
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 steering vectors of 10 sub-bands by utilizing the incident angles of 16 satellite signals, and calculating the multi-beam anti-interference weight of each sub-band by utilizing the minimum variance distortionless 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 weight;
and the frequency domain filtering and synthesizing module (329) is used for carrying out 1024-point FFT on the 16 digital wave beams synthesized by each sub-band, carrying out frequency domain filtering, then carrying out frequency domain addition synthesis on the 10 sub-bands obtained by filtering each wave beam to obtain frequency domain synthesized signals of 16 wave beams, and carrying out 1024-point IFFT operation to obtain time domain signals of 16 wave beams.
2. The apparatus of 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 of claim 1, wherein: the number of channels of the radio frequency component (2) is 5, each channel is internally provided with a low noise amplification filter (21), a local oscillator module (22), a down-conversion filter (23), an intermediate frequency amplifier (24) and a control module (25), and high-frequency signals of the low noise amplification filter (21) and the local oscillator 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 intermediate frequency signals after down conversion are amplified by an intermediate frequency amplifier (24) and then transmitted to an A/D conversion module (31) for sampling and digitalization; the clock signal of the local oscillator module (22) is connected with a clock module (34) of the anti-interference digital processing board and provides a 62MHz clock signal for the clock module; the control module (25) is connected with an interface circuit (35) on the anti-interference digital processing board and receives a control signal sent by the anti-interference digital processing board.
4. The apparatus of 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 wave beams after space-time frequency filtering, tracking 16 satellites through 16 corresponding channels and performing positioning calculation to obtain local navigation positioning information;
and the power supply 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 the 28V voltage input from the outside into 5V voltage to respectively supply power to the radio frequency assembly, the anti-interference digital processing board and the navigation board.
5. A method for multi-beam navigation interference rejection using the apparatus of claim 1, comprising:
1) processing the 5 paths of satellite navigation signals received by the 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 and inverting a space-time covariance matrix of 15 paths of signals corresponding to the 10 subbands;
4) calculating steering vectors of 10 sub-bands by using the incidence angles of the 16 satellite signals;
5) calculating the digital multi-beam anti-interference weight corresponding to each sub-band by using the space-time covariance matrix obtained in 3) and the guide vector of each sub-band obtained in 4);
6) carrying out 16-beam synthesis on 10 sub-bands respectively by using the anti-interference weight values obtained in the step 5) to obtain anti-interference output signals, carrying out 1024-point FFT 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, performing frequency domain addition synthesis on the 10 filtered subbands of each beam to obtain frequency domain synthesis signals of 16 beams, and performing 1024-point IFFT operation on the frequency domain synthesis signals to obtain time domain signals of 16 beams;
7) and (4) resolving 16 beam time domain signals by using 16 channels for tracking to obtain navigation positioning information.
6. The method according to claim 5, wherein in the step 1), the 5 satellite navigation signals received by the antenna array are processed into 5 digital baseband signals, and the 5 satellite navigation signals received by the antenna array (1) by the radio frequency module (2) are sequentially amplified, down-converted and filtered to obtain 5 analog intermediate frequency signals, and then the analog intermediate frequency signals are amplified and transmitted to the a/D conversion module (31) for sampling and digitization to obtain 5 digital intermediate frequency signals, and then the 5 digital intermediate frequency signals are converted into 5 digital baseband signals by the digital down-conversion module (321).
7. The method according to claim 5, wherein the space-time covariance matrix of 15 paths of signals corresponding to 10 subbands is calculated in 3), and is formed by 15 paths of space-time signals x corresponding to mth subbandm(t) conjugation transpose thereof
The product of which is used to determine the covariance matrix R corresponding to the mth subbandxxmIs shown as follows
8. The method of claim 5, wherein the steering vector of 10 sub-bands is calculated by using the incident angles of 16 satellite signals in 4), wherein the mth sub-band corresponds to the space-time steering vector of the ith satellite
Is shown below
Wherein,
for the direction information of the nth signal in the mth sub-band, phinIs the sum of the spatial domain and the time domain of the nth signal in the mth subband, wherein n is 1i,
Respectively representing the azimuth angle and the pitch angle of the ith satellite signal incident to the receiving array.
9. The method of claim 5, wherein the digital multi-beam interference rejection weights corresponding to the sub-bands are calculated in 5) using a least square error undistorted response criterion, as calculated by the following formula
Wherein,
the mth subband is the interference rejection weight corresponding to the ith satellite,
is the inverse of the covariance matrix of the mth subband,
the mth subband corresponds to the space-time steering vector of the ith satellite.
10. The method according to claim 5, wherein the interference rejection weights in 6) are used to perform 16-beam synthesis on 10 sub-bands respectively, and the obtained interference rejection output signal is
Wherein,
for conjugate transpose of anti-interference weights, xmAnd (t) is a space-time signal corresponding to the mth subband.
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