Dual-frequency navigation high-gain omnidirectional receiving antenna system

Abstract

The invention provides a double-frequency navigation high-gain omnidirectional receiving antenna system, and relates to the technical field of communication navigation, and the system comprises an array module which is used for constructing a multi-dimensional three-dimensional antenna array in multilayer staggered arrangement, and forming a three-dimensional structure with omnidirectional coverage capability, so as to obtain a double-frequency-band signal adaptive to a navigation device; the separation module is used for identifying a satellite direct signal and a multipath signal formed by ground reflection by utilizing different polarization states through combination of a spatial domain and a polarization domain aiming at the dual-band signal so as to obtain a stable direct signal; and the control module is used for dynamically adjusting the signal weight of each unit in the array based on the stable direct signal, focusing energy in the incoming wave direction of the satellite signal to form a high-gain main beam, and realizing omnidirectional coverage of the array signal coverage capability. According to the invention, the dual-frequency navigation signal is received, high-gain omnidirectional coverage is realized, the signal receiving strength and stability are improved, and the positioning error is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of communication and navigation, and in particular to a dual-frequency navigation high-gain omnidirectional receiving antenna system. Background Art

[0002] Traditional dual-band antennas often use planar arrays (such as single-layer circular dipole arrays). Although they can achieve signal reception within a certain range, they have some limitations in three-dimensional spatial coverage capabilities. For example, when a vehicle drives to the corner of a high-rise building, satellite signals may be incident from the vertical direction or the side. Traditional planar arrays have insufficient elevation angle coverage, resulting in a decrease in the reception gain of high-elevation-angle satellite signals, which in turn causes the positioning signal to be lost.

[0003] In addition, most traditional technologies suppress multipath through delay correlation algorithms (such as narrow correlation technology). However, in complex urban environments, the time delay difference between multipath signals such as ground reflection and building scattering and direct signals may be less than the code chip period, causing the signal processing algorithm to fail. For example, when a vehicle is parked next to a glass curtain wall building, the polarization states of the satellite direct signal and the multipath signal reflected by the curtain wall are similar (both are right-hand circular polarization). Traditional antennas cannot distinguish between the two through polarization characteristics, resulting in multipath interference introducing pseudo-range measurement errors, which in turn causes the vehicle navigation display position to shift to the opposite side of the road. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a dual-frequency navigation high-gain omnidirectional receiving antenna system to receive dual-frequency navigation signals, achieve high-gain omnidirectional coverage, and improve the accuracy and reliability of navigation positioning.

[0005] In order to solve the above technical problems, the technical solutions of the present invention are as follows: In a first aspect, a dual-frequency navigation high-gain omnidirectional receiving antenna system comprises: The array module is used to construct a multi-dimensional stereo antenna array with multiple layers and staggered arrangements, forming a three-dimensional structure with omnidirectional coverage to obtain dual-band signals suitable for navigation devices; The separation module is used to identify the multipath signals formed by satellite direct signals and ground reflections by combining the spatial domain and polarization domain for dual-band signals, thereby obtaining a stable direct signal. The control module is used to dynamically adjust the signal weights of each unit in the array based on the stable direct signal, focusing energy in the direction of the satellite signal to form a high-gain main beam, thereby achieving omnidirectional coverage of the array signal capability; The stabilization module is used to compensate for the phase distortion introduced by the non-ideal characteristics of the antenna unit through joint correction of the array element phase and amplitude based on the high-gain main beam, correct the equivalent phase center in the direction of the received signal, and ensure the accuracy of the dual-frequency signal carrier phase measurement to obtain a corrected stable beam; The adaptive module is used to set three detection points with fixed spatial positions in the vertical direction according to the corrected stable beam, divide the geometric configuration area into grids according to the three points, extract the signal strength distribution characteristics and phase gradient change characteristics in each grid unit, and generate polarization adjustment values; use the polarization adjustment values ​​to correct the polarization identification parameters of the multipath signal, and regulate the phase difference between antenna units at different levels to achieve adaptive adjustment of the vertical beam pointing in response to changes in the satellite incidence angle caused by the carrier attitude and environmental occlusion.

[0006] Furthermore, a multi-dimensional stereo antenna array with multiple layers and staggered arrangements is constructed to form a three-dimensional structure with omnidirectional coverage capability to obtain a dual-band signal adapted to the navigation device, including: Determine the layer spacing parameters based on the wavelength of the navigation signal frequency band and generate the physical skeleton structure of the multi-layer annular array; Based on the physical skeleton structure of a multi-layer annular array, multiple groups of orthogonal electric dipole units are evenly arranged along the circumference on the odd-numbered layers of the skeleton, and the operating frequency is tuned to the first satellite navigation frequency band through a balanced feed network; Utilizing the vertically projected gaps formed by the electric dipole units assembled on the odd-numbered layers, magnetic ring units are embedded in the gaps on the even-numbered layers of the annular skeleton, and the operating frequency is tuned to the second satellite navigation frequency band through distributed capacitance loading. The electromagnetic fields generated by the odd-numbered electric dipole units and the even-numbered magnetic ring units are synthesized in three dimensions to generate omnidirectional radiation characteristics covering the entire space within a predetermined elevation angle range. Based on the omnidirectional radiation characteristics, a three-element impedance matching circuit is set between adjacent units to calculate the trend change of the voltage standing wave ratio in the two frequency bands and the predetermined threshold; Through a three-element impedance matching circuit, the signals of the two frequency bands are transmitted to the output port of the integrated feeding network, achieving a dual-band gain fluctuation less than a predetermined value, so as to obtain a dual-band signal suitable for the navigation device.

[0007] Furthermore, for dual-band signals, by combining the spatial domain with the polarization domain, different polarization states are used to identify the multipath signals formed by the satellite direct signal and the ground reflection to obtain a stable direct signal, including: Based on the dual-band synchronous reception signal, the spatial arrival angle and the intensity value of the left and right circular polarization components of each signal sample are extracted; The absolute value of the power difference between the left-hand and right-hand circular polarization components of the same sample is calculated by using the left-hand and right-hand circular polarization component strength values ​​to obtain the multipath interference characteristic parameters; filtering out signal samples whose absolute values ​​of power differences exceed a first predetermined threshold according to multipath interference characteristic parameters to obtain a polarization domain purified signal; Analyzing the spatial arrival angle sequence of the polarization domain cleansed signal, calculating the change in the direction of arrival of adjacent samples, and obtaining continuous signal segments satisfying that the change is less than a second predetermined threshold; Carrier phase continuity verification is performed on continuous signal segments to obtain a stable satellite direct signal.

[0008] Furthermore, based on the stable direct signal, the signal weights of each unit in the array are dynamically adjusted to focus energy in the direction of the satellite signal to form a high-gain main beam, achieving omnidirectional coverage of the array signal, including: Based on the stable direct satellite signal, the amplitude weight and phase weight required by each antenna element in the array are calculated in real time. The amplitude weight and phase weight are then input into the real-time signal received by the corresponding antenna element to generate a weighted signal. The weighted signals are superimposed and synthesized to generate the array output signal, and through signal synthesis, a high-gain narrow beam is formed in the spatial direction of the target satellite signal; Based on high-gain narrow beams, sidelobe level constraints are imposed on the adaptive beamforming algorithm, and the shape of the narrow beam is adjusted through the constraints to achieve omnidirectional coverage of the array signal coverage capability.

[0009] Furthermore, based on the high-gain main beam, the phase and amplitude of the array elements are jointly corrected to compensate for the phase distortion introduced by the non-ideal characteristics of the antenna unit, correct the equivalent phase center in the direction of the received signal, and achieve the accuracy of the dual-frequency signal carrier phase measurement to obtain a corrected stable beam, including: Calculating the amplitude response error and phase response error of each antenna element in the array in the first satellite navigation frequency band and the second satellite navigation frequency band based on the array operating state corresponding to the high-gain main beam; Based on the amplitude response error and phase response error, the corresponding inverted compensation vector is calculated and generated, and the inverted compensation vector is input into the receiving signal channel of the corresponding antenna unit to perform real-time amplitude and phase joint correction on the received signal; After injecting the compensation vector, re-measure and verify the array directional characteristics in the direction of the target satellite signal to achieve amplitude consistency between units; Through joint correction and verification, the equivalent phase center position of the array in the direction of the target satellite signal is corrected to obtain a corrected stable beam.

[0010] Furthermore, based on the array operating state corresponding to the high-gain main beam, the amplitude response error and the phase response error of each antenna element in the array in the first satellite navigation frequency band and the second satellite navigation frequency band are calculated, including: Calculating and generating an amplitude compensation factor for the corresponding frequency band based on the amplitude response error of each antenna unit in the first satellite navigation frequency band and the second satellite navigation frequency band; Calculate and generate a phase compensation offset for the corresponding frequency band based on the phase response error of each antenna unit in the dual frequency bands; The amplitude compensation factor and the phase compensation offset are integrated according to the frequency band to generate a dual-frequency inverted compensation vector for each antenna unit. The dual-frequency inverted compensation vector is loaded into the receiving link of the corresponding antenna unit in real time, and the original received signal is subjected to frequency domain amplitude and phase joint correction.

[0011] Furthermore, based on the corrected stable beam, three detection points with fixed spatial positions are set in the vertical direction. The geometric configuration area formed by the three points is gridded, and the signal strength distribution characteristics and phase gradient change characteristics within each grid unit are extracted to generate a polarization adjustment value. The polarization adjustment value is used to correct the polarization identification parameters of the multipath signal and adjust the phase difference between antenna units at different levels to achieve adaptive adjustment of the vertical beam pointing in response to changes in the satellite incidence angle caused by the carrier attitude and environmental occlusion, including: Based on the corrected stable beam, determine the characteristics of the stable high-gain main beam formed by the current array, and determine three points with fixed spatial positions and non-collinearity in the vertical plane covered by the stable high-gain main beam to form a monitoring area; Within the monitoring area, the area is divided into multiple subdivided grid cells according to the preset spatial resolution accuracy requirements. The signal received by the array is used to measure the signal strength value and signal phase value of the first satellite navigation frequency band and the second satellite navigation frequency band at the center point of each grid cell; For the signal strength value in each grid cell, the statistical distribution characteristic value is calculated; at the same time, for the signal phase value in each grid cell, the spatial phase gradient change is calculated; Based on the statistical distribution characteristic value and the change in spatial phase gradient, a polarization domain adjustment parameter is generated to characterize the current multipath interference state and the change in satellite incidence angle. The polarization domain adjustment parameter is then input into the multipath signal identification mechanism to dynamically update the polarization power difference threshold used to distinguish direct signals from multipath signals. By using polarization domain adjustment parameters and combining the current satellite's orbit prediction information, the relative feeding phase difference is calculated and dynamically adjusted. Through the relative feeding phase difference, the pitch angle of the high-gain main beam in the vertical plane can be adaptively tracked to the real-time changes in the incident angle of the target satellite signal.

[0012] Furthermore, based on the corrected stable beam, the characteristics of the stable high-gain main beam formed by the current array are determined, and within the vertical plane covered by the stable high-gain main beam, three points with fixed spatial positions and not collinear are determined to form a monitoring area, including: Based on the corrected stable beam, the radiation direction layout of the current high-gain main beam in the vertical plane is obtained to determine the elevation angle coverage and maximum gain pointing angle of the main beam; Based on the main beam elevation coverage range and the maximum gain pointing angle, the effective signal coverage area of ​​the main beam is delineated in the vertical plane. Within the effective signal coverage area, one vertex is located at the main beam maximum gain pointing angle, and the other two vertices are located at the upper and lower boundary elevation angles of the effective coverage area, respectively. It is determined that the three vertices meet the geometric constraints of fixed spatial positions and non-collinearity to form a non-degenerate monitoring area.

[0013] In a second aspect, a computing device includes: one or more processors; The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the system.

[0014] According to a third aspect, a computer-readable storage medium stores a program, which implements the system when executed by a processor.

[0015] The above solution of the present invention includes at least the following beneficial effects: The innovative dual-band design enables simultaneous reception of navigation signals from two different frequency bands, improving the comprehensiveness and accuracy of signal reception and avoiding the interference and signal loss issues associated with single-frequency signals. This ensures the navigation system can obtain stable and accurate positioning information even in complex electromagnetic environments, enhancing positioning reliability and timeliness. Compared to traditional receiving antennas, the high-gain characteristic effectively enhances the reception of weak signals, enabling high-quality signal reception even in areas with weak signals, such as urban canyons with tall buildings and remote mountainous areas, thereby improving the overall performance and coverage of the navigation system. The omnidirectional reception feature enables the antenna to achieve 360-degree horizontal signal reception, eliminating the signal blind spots associated with traditional directional antennas. Stable signal reception is guaranteed, whether on high-speed vehicles or in dynamically changing signal environments, providing users with uninterrupted, high-quality navigation services. The antenna system features a modular design, allowing for flexible integration into various navigation devices and terminals. It is highly compatible with existing navigation systems, and its compact structure and easy installation effectively reduce the overall design complexity and production costs of the equipment, providing an efficient and low-cost solution for the R&D and production of navigation products. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a schematic diagram of a dual-frequency navigation high-gain omnidirectional receiving antenna system provided by an embodiment of the present invention.

[0017] Figure 2 This is a flow chart of an embodiment of the present invention for dual-band signals, which combines the spatial domain and the polarization domain to identify multipath signals formed by satellite direct signals and ground reflections using different polarization states to obtain stable direct signals. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0019] like Figure 1 As shown, an embodiment of the present invention provides a dual-frequency navigation high-gain omnidirectional receiving antenna system, comprising: The array module is used to construct a multi-dimensional stereo antenna array with multiple layers and staggered arrangements, forming a three-dimensional structure with omnidirectional coverage to obtain dual-band signals suitable for navigation devices; The separation module is used to identify the multipath signals formed by satellite direct signals and ground reflections by combining the spatial domain and polarization domain for dual-band signals, thereby obtaining a stable direct signal. The control module is used to dynamically adjust the signal weights of each unit in the array based on the stable direct signal, focusing energy in the direction of the satellite signal to form a high-gain main beam, thereby achieving omnidirectional coverage of the array signal capability; The stabilization module is used to compensate for the phase distortion introduced by the non-ideal characteristics of the antenna unit through joint correction of the array element phase and amplitude based on the high-gain main beam, correct the equivalent phase center in the direction of the received signal, and ensure the accuracy of the dual-frequency signal carrier phase measurement to obtain a corrected stable beam; The adaptive module is used to set three detection points with fixed spatial positions in the vertical direction according to the corrected stable beam, divide the geometric configuration area into grids according to the three points, extract the signal strength distribution characteristics and phase gradient change characteristics in each grid unit, and generate polarization adjustment values; use the polarization adjustment values ​​to correct the polarization identification parameters of the multipath signal, and regulate the phase difference between antenna units at different levels to achieve adaptive adjustment of the vertical beam pointing in response to changes in the satellite incidence angle caused by the carrier attitude and environmental occlusion.

[0020] In an embodiment of the present invention, a multi-dimensional, staggered array of multiple layers is constructed to form a three-dimensional structure with omnidirectional coverage. Compared to traditional planar antennas, this design can more fully capture dual-band signals from different spatial orientations. This design improves the comprehensiveness of signal reception, effectively reduces signal reception blind spots, and provides navigation devices with more stable and richer signal input, meeting navigation needs in complex environments. By combining the spatial domain with the polarization domain, different polarization states are used to accurately identify multipath signals formed by direct satellite signals and ground reflections, successfully separating the stable direct signal. This function effectively avoids the interference of multipath signals on navigation accuracy, improves the positioning accuracy of the navigation system in multi-reflection environments such as urban high-rise buildings and mountainous areas, and reduces positioning errors and errors caused by signal interference. Based on the stable direct signal, the signal weights of each unit in the array are dynamically adjusted, focusing energy in the direction of the satellite signal to form a high-gain main beam, achieving omnidirectional coverage of the array's signal coverage capability. This not only enhances the sensitivity and strength of signal reception, but also intelligently optimizes energy distribution based on the direction of the signal source, improving signal transmission efficiency and ensuring high-quality transmission of navigation signals.

[0021] Through the joint correction of array element phase and amplitude, the phase distortion introduced by the non-ideal characteristics of the antenna unit is compensated, the equivalent phase center in the direction of the received signal is corrected, the accuracy of the dual-frequency signal carrier phase measurement is effectively improved, and a corrected stable beam is generated. This greatly improves the accuracy of the navigation system in carrier phase measurement and provides a reliable signal foundation for high-precision positioning, surveying and mapping and other applications; according to the corrected stable beam, detection points are set in the vertical direction and grid division is performed, and the signal strength distribution characteristics and phase gradient change characteristics are extracted to generate polarization adjustment values, which can adaptively correct the polarization identification parameters of multipath signals and regulate the phase difference between antenna units at different levels. , realizing adaptive adjustment of vertical beam pointing. This function can quickly respond to changes in satellite incidence angle caused by carrier attitude changes and environmental occlusion, ensuring that the antenna always maintains good signal reception performance in dynamic and complex environments, and improving the environmental adaptability and stability of the navigation system; it realizes efficient processing of the entire process from signal reception, separation, to adaptive adjustment. It not only has excellent omnidirectional coverage capability, high gain characteristics and precise signal processing capabilities, but also can always maintain stable and accurate navigation signal output in complex and changing environments, providing high-precision and high-reliability technical support for various navigation applications, and improving the comprehensive performance and market competitiveness of the navigation system.

[0022] In a preferred embodiment of the present invention, a multi-dimensional stereoscopic antenna array with multiple layers arranged in a staggered manner is constructed to form a three-dimensional structure with omnidirectional coverage capability to obtain a dual-band signal adapted for a navigation device, which may include: Determine the layer spacing parameters based on the wavelength of the navigation signal frequency band and generate the physical skeleton structure of the multi-layer annular array; Based on the physical skeleton structure of a multi-layer annular array, multiple groups of orthogonal electric dipole units are evenly arranged along the circumference on the odd-numbered layers of the skeleton, and the operating frequency is tuned to the first satellite navigation frequency band through a balanced feed network; Utilizing the vertically projected gaps formed by the electric dipole units assembled on the odd-numbered layers, magnetic ring units are embedded in the gaps on the even-numbered layers of the annular skeleton, and the operating frequency is tuned to the second satellite navigation frequency band through distributed capacitance loading. The electromagnetic fields generated by the odd-numbered electric dipole units and the even-numbered magnetic ring units are synthesized in three dimensions to generate omnidirectional radiation characteristics covering the entire space within a predetermined elevation angle range. Based on the omnidirectional radiation characteristics, a three-element impedance matching circuit is set between adjacent units to calculate the trend change of the voltage standing wave ratio in the two frequency bands and the predetermined threshold; Through a three-element impedance matching circuit, the signals of the two frequency bands are transmitted to the output port of the integrated feeding network, achieving a dual-band gain fluctuation less than a predetermined value, so as to obtain a dual-band signal suitable for the navigation device.

[0023] In an embodiment of the present invention, when determining the two satellite navigation signal frequency bands to be adapted, obtaining the signal wavelengths corresponding to the two frequency bands, and determining the layer spacing of the multi-layer annular array, two key factors need to be taken into account: on the one hand, it is necessary to ensure that the electromagnetic interference between the antenna units of two adjacent layers is at a low level to avoid mutual interference of signals due to too small a spacing, which affects the reception and processing effects; on the other hand, it is necessary to ensure that the overall structure of the antenna array is compact to prevent unnecessary increase in volume and weight due to too large a spacing.

[0024] During the specific calculations, a preliminary layer spacing value is set in combination with the calculation method of electromagnetic coupling in electromagnetic field theory. Then, professional electromagnetic field simulation software is used to simulate the propagation and interaction of two frequency band signals in the multi-layer ring array at this spacing, and the degree of electromagnetic coupling between two adjacent layers of antenna units is calculated. If the calculated electromagnetic coupling degree exceeds the preset acceptable range (this range is determined based on actual experience and performance requirements), the layer spacing is appropriately increased; conversely, if the electromagnetic coupling degree is far below the set range and the array structure appears loose, the layer spacing is reduced.

[0025] By adjusting the layer spacing values ​​multiple times and continuously performing simulation calculations and evaluations, we gradually determined an appropriate layer spacing that can ensure low electromagnetic interference while achieving a compact structure. Based on this determined spacing, combined with the design requirements of the annular array, we determined the size of each layer of the annular structure, selected appropriate materials, and other parameters, thereby constructing the physical skeleton structure of the multi-layer annular array.

[0026] On the odd-numbered layers of a multi-layer annular array, the specific number of orthogonal electric dipole units must first be determined. The determination of this number requires comprehensive consideration of multiple aspects, such as the total length of the annular circumference, the desired signal reception sensitivity, and the possible mutual influence between units. Generally speaking, the more units there are, the stronger the signal reception capability is theoretically, but the possibility of interference between units will also increase; when calculating the spacing between each orthogonal electric dipole unit on the circumference, the total length of the annular circumference is divided by the determined number of units. This ensures that the units are evenly distributed along the circumference. After the orthogonal electric dipole units are installed, their initial operating frequency is usually not consistent with the first satellite navigation frequency band, so frequency adjustment is required through a balanced feed network.

[0027] The balanced feed network is mainly composed of electronic components such as resistors, capacitors, and inductors. First, use professional RF measuring instruments, such as vector network analyzers, to measure the input impedance of the orthogonal electric dipole unit in the initial state, including resistance and reactance values. Then, based on the center frequency of the first satellite navigation frequency band and the impedance matching requirements of this band, calculate the initial parameter values ​​of each component in the balanced feed network. In the actual adjustment process, according to the principle of impedance matching, by changing the values ​​of capacitors and inductors, the impedance characteristics of the feed network are adjusted to achieve good impedance matching between the orthogonal electric dipole unit and the feed network. After each adjustment of the capacitance and inductance values, the output signal frequency and impedance change of the electric dipole unit should be measured with a vector network analyzer. According to the measurement results, the deviation between the current frequency and the target frequency and whether the impedance matching degree meets the requirements are judged. If the current frequency is higher than the target frequency, the inductance value is appropriately increased or the capacitance value is reduced; if the current frequency is lower than the target frequency, the opposite operation is performed. Through repeated adjustments and measurements, the operating frequency of the electric dipole unit is gradually stabilized within the first satellite navigation frequency band, while ensuring good impedance matching and reducing signal reflection and loss during transmission.

[0028] After determining the vertical projection gap positions of the odd-numbered electric dipole units in the even-numbered layers, the magnetic ring units are accurately embedded in these gaps. The inductance characteristics of the magnetic ring units themselves play a decisive role in their operating frequency. In the initial state, the operating frequency of the magnetic ring units often does not match the second satellite navigation frequency band, so it is necessary to adjust their operating frequency through distributed capacitor loading. First, a special inductance measuring instrument is used to accurately measure the inherent inductance value of the magnetic ring units. Then, based on the center frequency of the second satellite navigation frequency band and the measured inductance value of the magnetic ring units, the total capacity of the distributed capacitors that need to be loaded is calculated according to the frequency adjustment principle of the inductor-capacitor resonant circuit (that is, changing the resonant frequency by changing the values ​​of the capacitor and inductor).

[0029] When actually loading distributed capacitors, taking into account the distribution of the magnetic ring units on the ring structure and the need to ensure uniform signal transmission, the calculated total capacitance is reasonably distributed to multiple distributed capacitors, and the specific installation position of each capacitor is determined. During the installation process, the number and capacity of distributed capacitors are gradually increased or decreased. At the same time, a spectrum analyzer is used to monitor the frequency changes of the output signal of the magnetic ring unit in real time. Each time an adjustment is made, the difference between the current frequency and the target frequency of the second satellite navigation frequency band is compared, and the capacitance parameters are further adjusted according to the difference. After repeated adjustments and tests, the operating frequency of the magnetic ring unit is accurately matched to the second satellite navigation frequency band, ensuring that it can effectively receive and process signals in this band.

[0030] To achieve three-dimensional spatial synthesis of the electromagnetic fields generated by odd-numbered electric dipole units and even-numbered magnetic ring units, professional electromagnetic field measurement equipment, such as electromagnetic field probes and three-dimensional scanning systems, must first be used to measure the electromagnetic and magnetic field intensities, as well as their phase information, generated by each unit at different spatial locations (including multiple angles in the horizontal and vertical directions). When performing the three-dimensional spatial synthesis calculation, the electromagnetic field vectors generated by the odd-numbered electric dipole units and even-numbered magnetic ring units at each spatial location are synthesized according to the vector synthesis rules in electromagnetic field theory. Due to the different positions of different units in space and their respective radiation characteristics, factors such as signal attenuation and phase changes during electromagnetic field propagation must be fully considered during the synthesis process. In specific operations, for each measurement point, the electromagnetic field intensities and phases generated by the electric dipole units and magnetic ring units are vector-superimposed to obtain the synthesized electromagnetic field intensity and phase. Then, by analyzing and processing the data from a large number of measurement points, the electromagnetic field distribution of the entire antenna array in three dimensions is constructed.

[0031] The constructed electromagnetic field distribution is evaluated and optimized according to the preset full-space elevation angle range requirements. If the electromagnetic field intensity distribution is uneven or does not meet the design requirements within a certain elevation angle range, the parameters of each unit (such as the feeding amplitude and phase of the electric dipole unit, the loading capacitance of the magnetic ring unit, etc.) are adjusted, or the relative position relationship between the units is changed, and the electromagnetic field measurement and synthesis calculation are re-performed. After repeated adjustments, the synthesized electromagnetic field can eventually form a uniform and stable omnidirectional radiation characteristic within the predetermined elevation angle range in the entire space, ensuring that the antenna can effectively radiate and receive signals in all directions.

[0032] After obtaining the omnidirectional radiation characteristics of the antenna array, a three-element impedance matching circuit consisting of a resistor, capacitor, and inductor is installed between adjacent antenna elements to reduce reflection loss during signal transmission and improve signal transmission efficiency. First, before installing the impedance matching circuit, a vector network analyzer is used to measure the input and output impedance of the antenna array for two frequency bands. Then, based on the principle of impedance matching, the initial parameter values ​​of the three components in the three-element impedance matching circuit (resistance, capacitance, and inductance) are calculated. When calculating these initial parameter values, reference is made to classic impedance matching network design methods, combined with the currently measured input and output impedance data, to preliminarily determine the values ​​of the resistor, capacitor, and inductor. After installing the three-element impedance matching circuit, the voltage standing wave ratio (VSWR) of the two frequency bands is measured using a vector network analyzer.

[0033] The measured VSWR is compared with a preset threshold value (generally, this threshold value is set at a smaller value, such as below 1.5, and is determined according to actual performance requirements). If the VSWR of a certain frequency band is greater than the set threshold value, it means that the current impedance matching effect is not ideal, and the component parameters in the three-component impedance matching circuit need to be adjusted. During the adjustment process, the changing trend of the VSWR is analyzed. If the VSWR of a certain frequency band is too high and tends to increase with the increase of signal frequency, then it may be necessary to increase the inductance value or reduce the capacitance value; if it tends to decrease with the increase of signal frequency, then it may be necessary to reduce the inductance value or increase the capacitance value. At the same time, observe the impact of the resistance value on the overall impedance matching effect, and adjust the resistance value appropriately to optimize the matching effect.

[0034] After each adjustment of the component parameters, the voltage standing wave ratio of the two frequency bands must be measured again and the measurement data must be recorded. Through multiple adjustments and measurements, the trend change between the voltage standing wave ratio and the predetermined threshold is observed, and the parameters of the three-component impedance matching circuit are continuously adjusted until the voltage standing wave ratio of the two frequency bands are stabilized within a reasonable range and the trend change meets the design requirements, thereby achieving good impedance matching.

[0035] After ensuring that the three-element impedance matching circuit achieves an ideal voltage standing wave ratio for the two frequency bands, the circuit is used to transmit the signals of the two frequency bands to the output port of the integrated feed network. During the signal transmission process, a power meter and a spectrum analyzer are used to monitor the gain changes of the signals of the two frequency bands in real time. Due to various factors such as environmental interference and subtle changes in component parameters, the signal gain may fluctuate. In order to make the fluctuation range of the signal gain less than the preset value (this preset value is determined according to the performance requirements of the navigation device and is generally a small value, such as plus or minus 0.5 decibels), it is necessary to fine-tune the three-element impedance matching circuit and the relevant components in the integrated feed network. Specifically, if it is found that the signal gain of a certain frequency band is too high, the signal amplification factor of the frequency band in the integrated feed network is reduced, or the component parameters of the three-element impedance matching circuit are fine-tuned to appropriately increase the signal loss during transmission, thereby reducing the gain; if the signal gain is too low, the opposite operation is performed, increasing the signal amplification factor or adjusting the impedance matching circuit to reduce the signal loss and increase the gain.

[0036] After each adjustment, the gain changes of the two frequency band signals must be continuously monitored, the gain values ​​must be recorded, and the gain fluctuation range must be calculated. Through repeated adjustments and measurements, the circuit parameters must be continuously adjusted to ensure that the gain fluctuation values ​​of the two frequency band signals are less than the predetermined values. Ultimately, a stable, high-quality dual-band signal that is suitable for the navigation device is obtained, ensuring that the navigation device can obtain stable and reliable signal input and achieve accurate navigation and positioning functions.

[0037] By determining the layer spacing parameters according to the wavelength of the navigation signal frequency band, and performing targeted frequency tuning on the odd-numbered electric dipole units and the even-numbered magnetic ring units respectively, the antenna array can be accurately matched to the two satellite navigation frequency bands. Compared with traditional antennas, the present invention can effectively avoid the problem of poor signal reception caused by frequency band mismatch, and ensure efficient and stable signal reception and transmission in two specific frequency bands, which greatly improves the adaptability of the antenna system to different navigation signals; the electromagnetic fields generated by the odd-numbered and even-numbered units are synthesized in three-dimensional space to generate omnidirectional radiation characteristics within a predetermined elevation angle range in the entire space, breaking the limitation of insufficient signal coverage of traditional antennas in certain directions. Whether in the horizontal direction or the vertical direction, the antenna can radiate signals evenly to achieve all-round signal coverage without dead angles, providing more stable and comprehensive signal support for the navigation device, and effectively improving the reliability of the navigation system in complex environments; a three-element impedance matching circuit is set between adjacent units, and through precise calculation and adjustment, the voltage standing wave ratio of the two frequency bands is made to reach an ideal state. state, effectively reducing the reflection loss of the signal during transmission. Compared with traditional antennas, the present invention can achieve more efficient signal transmission, reduce signal attenuation, and improve signal transmission efficiency, thereby enhancing the overall performance of the antenna system and ensuring high-quality transmission of navigation signals; through fine regulation of the three-element impedance matching circuit and the integrated feeding network, a dual-band signal output with a gain fluctuation less than a predetermined value is achieved, which enables the antenna system to maintain a stable signal gain during operation, avoids the problem of unstable navigation signals caused by gain fluctuations, provides stable and reliable signal input for the navigation device, and further improves the positioning accuracy and stability of the navigation system; the multi-dimensional three-dimensional antenna array structure design with multiple layers of staggered arrangements makes full use of space resources, and achieves a compact structure while ensuring antenna performance. Compared with traditional antenna structures, this innovative design not only improves space utilization, but also reduces the overall volume and weight of the antenna system, making it easier to integrate into various navigation devices, and provides strong support for the miniaturization and lightweight development of navigation products.

[0038] In a preferred embodiment of the present invention, for dual-band signals, by combining the spatial domain and the polarization domain, different polarization states are used to identify multipath signals formed by satellite direct signals and ground reflections to obtain a stable direct signal, which may include: Based on the dual-band synchronous reception signal, the spatial arrival angle and the intensity value of the left and right circular polarization components of each signal sample are extracted; The absolute value of the power difference between the left-hand and right-hand circular polarization components of the same sample is calculated by using the left-hand and right-hand circular polarization component strength values ​​to obtain the multipath interference characteristic parameters; filtering out signal samples whose absolute values ​​of power differences exceed a first predetermined threshold according to multipath interference characteristic parameters to obtain a polarization domain purified signal; Analyzing the spatial arrival angle sequence of the polarization domain cleansed signal, calculating the change in the direction of arrival of adjacent samples, and obtaining continuous signal segments satisfying that the change is less than a second predetermined threshold; Carrier phase continuity verification is performed on continuous signal segments to obtain a stable satellite direct signal.

[0039] In an embodiment of the present invention, when a dual-band synchronous reception signal enters the system, an array receiving device consisting of multiple antennas is first used to collect the signal. These antennas are distributed according to a specific layout, and the distances and angles between them are precisely designed to meet the requirements of signal arrival angle measurement. When extracting the spatial arrival angle, the moment when the signal arrives at each antenna is accurately recorded. Since there is a slight time difference between the signal emitted from the satellite and arriving at different antennas, according to the characteristic that electromagnetic waves propagate at a fixed speed in a vacuum, these time differences are calculated, combined with the geometric layout information of the antenna array, and a special algorithm is used to infer the incident direction of the signal. Specifically, the time difference between the signal arriving at different antennas is first calculated, and the time difference is multiplied by the electromagnetic wave propagation speed to obtain the signal propagation distance difference. Then, according to The positional relationship between the antennas in the antenna array is gradually calculated through mathematical operations such as trigonometric functions to determine the spatial arrival angle of the signal relative to the antenna array. To extract the strength values ​​of the left and right circularly polarized components, the receiving device integrates a high-precision polarization analysis module. This module can decompose the received signal according to the polarization mode, separating the left-hand circularly polarized component and the right-hand circularly polarized component. Subsequently, the power of the left-hand and right-hand circularly polarized components is measured separately through the built-in power measurement unit. The power measurement unit converts the received signal into an electrical signal. Based on the voltage, current and other parameters of the electrical signal and according to the power calculation formula (the principle is based on the relationship between electrical signal parameters and power), the strength values ​​of the left-hand and right-hand circularly polarized components are accurately calculated, and these values ​​are stored and recorded.

[0040] After obtaining the intensity values ​​of the left-hand and right-hand circularly polarized components for each signal sample, the data processing system further processes these data. First, based on the conversion relationship between power and intensity, the intensity values ​​of the left-hand and right-hand circularly polarized components are converted into corresponding power values. This conversion relationship is based on the physical connection between electromagnetic wave energy and signal strength and is achieved through specific conversion coefficients and calculation rules. After completing the power value conversion, the data processing system subtracts the power values ​​of the left-hand and right-hand components of the same sample to obtain the power difference between the two. Since the power difference can be positive or negative, the absolute value of the difference is taken to more intuitively reflect the degree of multipath interference. This absolute value is the characteristic parameter used to characterize the degree of multipath interference. In actual signal transmission, there is a difference in the power distribution of the left-hand and right-hand circularly polarized components between the satellite direct signal and the multipath signal. By calculating this characteristic parameter, this difference can be quantified, providing an important basis for determining whether the signal is affected by multipath interference.

[0041] Before performing signal screening, a reasonable first predetermined threshold must be determined. Sample data containing direct satellite signals and various multipath signals is collected. Multipath interference characteristic parameters are calculated for these samples and their distribution patterns are analyzed. Through statistical analysis, a critical value that can effectively distinguish signals subject to severe multipath interference from relatively pure signals is found and determined as the first predetermined threshold. After the threshold is determined, the data processing system compares the multipath interference characteristic parameter of each signal sample, i.e., the absolute value of the power difference, with the first predetermined threshold. If the absolute value of the power difference of a signal sample is greater than the first predetermined threshold, it indicates that the power difference between the left-handed and right-handed circularly polarized components in the sample is large, and it is likely subject to severe multipath interference and does not meet the characteristics of a direct satellite signal. The sample is removed from the signal set. Conversely, if the absolute value of the power difference is less than or equal to the first predetermined threshold, it indicates that the sample is subject to less multipath interference and is more likely to be a direct satellite signal. The sample is retained. After this round of screening, most signals subject to severe multipath interference are removed, and a polarization-domain purified signal with polarization characteristics closer to a direct satellite signal is obtained.

[0042] For the resulting polarization-domain purified signal, the spatial angle of arrival of each signal sample is arranged in sequence according to the time sequence of signal reception, forming a spatial angle of arrival sequence. To analyze the stability of the signal in the spatial propagation direction, the data processing system processes this sequence point by point, starting with the first sample in the sequence and calculating the difference in the spatial angle of arrival between two adjacent samples. This difference is the direction of arrival change. When calculating the direction of arrival change, it is necessary to consider the directionality and periodicity of the angle. Since the spatial angle of arrival is measured in degrees and has a periodicity from 0 to 360 degrees, an appropriate algorithm must be used when calculating the difference to avoid calculation errors caused by angles crossing periods. For example, when the spatial angle of arrival of one sample is 350 degrees and the next sample is 10 degrees, the actual direction of arrival change should be 20 degrees, not 340 degrees obtained by simple subtraction.

[0043] The second predetermined threshold simulates various normal signal propagation scenarios and possible interference scenarios, and analyzes the range of variation of the spatial arrival angle under different circumstances, thereby determining an appropriate second predetermined threshold for judging the stability of the signal in the spatial propagation direction. The calculated change in each wave direction of arrival is compared with the second predetermined threshold. If the change in the wave direction of arrival is less than the second predetermined threshold, it means that the signal propagation direction has changed little between the two adjacent samples and the signal is relatively stable. If the change in the wave direction of arrival of multiple consecutive adjacent samples is less than the second predetermined threshold, then these samples constitute a continuous signal segment. In this way, signal segments that are stable in the spatial propagation direction are further screened out, eliminating interference that may be caused by sudden changes in the signal direction, so that the retained signal is more consistent with the characteristics of satellite direct signals in spatial propagation.

[0044] For the selected continuous signal segments, a special carrier phase analysis module is called for final verification. The carrier phase analysis module will first perform high-precision measurement of the carrier phase of each signal sample in the continuous signal segment. During the measurement process, the module will use the reference signal to compare the phase with the received signal, and accurately lock the carrier phase of the received signal through technical means such as the phase-locked loop, and record the carrier phase value of each sample. After recording the carrier phase values, an in-depth analysis of the changes in these values ​​in the time series is performed to check whether there are sudden changes or unreasonable jumps in the carrier phase between adjacent samples. Under normal circumstances, the carrier phase of the satellite direct signal will show a continuous and smooth change trend over time. To ensure that the relative motion between the satellite and the receiving device and the signal propagation environment do not change drastically in a short period of time, if the change of the carrier phase value in the entire continuous signal segment conforms to this continuous and smooth law and there is no abnormal phase jump, it means that the carrier phase of the continuous signal segment has good continuity and meets the characteristics of the satellite direct signal, and it is determined to be a stable satellite direct signal; on the contrary, if there is an obvious carrier phase mutation, even a tiny jump, it may mean that the signal is interfered with or there are other problems. The signal segment is excluded. Through this rigorous carrier phase continuity verification process, a stable and reliable satellite direct signal that can meet the high-precision requirements of the navigation system is finally obtained.

[0045] By combining information from the spatial and polarization domains and analyzing dual-band signals from multiple dimensions, it is possible to accurately identify satellite direct signals and multipath signals. The multipath interference characteristic parameters are calculated using the strength values ​​of the left and right circular polarization components, and reasonable thresholds are set for screening. Signal samples that are severely interfered with by multipath can be efficiently filtered out. Compared with traditional single-dimensional signal processing methods, this improves the efficiency of identifying and eliminating interference signals, and effectively reduces the interference of multipath signals on the navigation system. The spatial arrival angle sequence of the polarization domain purified signal is analyzed to screen out continuous signal segments with small changes in the direction of arrival, and further verify the continuity of the carrier phase to ensure that the obtained satellite direct signal has good stability and continuity in both the spatial propagation direction and the carrier phase. This makes the signals received by the navigation system more reliable, avoids positioning errors and data fluctuations caused by unstable signals, and provides solid signal support for high-precision navigation and positioning; stable direct satellite signals can improve the positioning accuracy, reliability and anti-interference capability of the navigation system. After reducing multipath interference, the navigation system can more accurately calculate the position, speed, time and other information of the carrier. In complex urban environments, mountainous areas and other areas prone to multipath effects, it can still maintain stable and accurate navigation functions, thereby improving the applicability and overall performance of the navigation system in various scenarios.

[0046] In a preferred embodiment of the present invention, based on a stable direct signal, the signal weight of each unit in the array is dynamically adjusted to focus energy in the direction of the satellite signal to form a high-gain main beam, thereby achieving omnidirectional coverage of the array signal coverage capability. This may include: Based on the stable direct satellite signal, the amplitude weight and phase weight required by each antenna element in the array are calculated in real time. The amplitude weight and phase weight are then input into the real-time signal received by the corresponding antenna element to generate a weighted signal. The weighted signals are superimposed and synthesized to generate the array output signal, and through signal synthesis, a high-gain narrow beam is formed in the spatial direction of the target satellite signal; Based on high-gain narrow beams, sidelobe level constraints are imposed on the adaptive beamforming algorithm, and the shape of the narrow beam is adjusted through the constraints to achieve omnidirectional coverage of the array signal coverage capability.

[0047] In an embodiment of the present invention, after confirming receipt of a stable direct satellite signal, the primary task is to determine the direction of arrival of the satellite signal. After determining the direction of arrival, the amplitude weight calculation begins. Before the calculation, comprehensive environmental data of each antenna unit is first collected. For example, ranging equipment is used to measure the actual distance from each antenna unit to the satellite, and environmental monitoring sensors are used to obtain information on the distribution of obstacles around the antenna, including the material, height, and distance from the antenna. For antenna units that are relatively close to the satellite and have no obvious obstructions, a smaller amplitude weight is assigned based on a pre-established empirical mechanism. The amplitude weight is derived by analyzing the relationship between signal strength, antenna position, and environmental factors. For example, in an open environment, the amplitude weight decreases by a certain proportion for each distance from the satellite. For antenna units that are farther away or surrounded by strong reflective obstacles such as metal, considering that the signal may attenuate or reflect during transmission, a larger amplitude weight is calculated to compensate for the signal loss, thereby ensuring that the strength of the received signal at each antenna unit is in a reasonably balanced state.

[0048] When calculating the phase weight, the time it takes for the signal to arrive at each antenna unit is first accurately measured. This relies on a high-precision time synchronization device that can control the time error of each antenna unit to an extremely small range. By comparing the timestamps of the signals arriving at different antenna units, the time difference is calculated. Since the propagation speed of electromagnetic waves is fixed, the length difference of the signal propagation path can be obtained based on the relationship between the time difference and the propagation speed. Then, based on the principle of trigonometric functions, the path length difference is converted into a phase difference. For example, when the path length difference between the signals reaching the two antenna units is one-quarter wavelength, the corresponding phase difference is ninety degrees. In order to make the signals received by each antenna unit superimposed in phase during synthesis, the phase weight that needs to be adjusted for each antenna unit is reversely calculated based on the calculated phase difference. If the phase of the signal received by a certain antenna unit lags, a positive phase weight is assigned to it, and the phase adjustment circuit advances the signal phase by the corresponding degree to ensure that the signal phases of all antenna units are consistent.

[0049] After obtaining the amplitude and phase weights of each antenna unit, the weighted input signal is weighted. For the amplitude weight, the gain of the signal amplifier is controlled to amplify or reduce the signal according to the amplitude weight. For example, when the amplitude weight is 1.5, the signal amplifier increases the strength of the input signal to 1.5 times the original; when the amplitude weight is 0.8, the signal strength is reduced to 80% of the original. For the phase weight, a specially designed phase adjustment circuit is used. The circuit consists of adjustable capacitors, inductors and other components. The circuit parameters are adjusted according to the phase weight to change the phase of the signal. For example, if the phase weight requires the signal phase to be advanced by 30 degrees, the circuit adjusts the values ​​of the capacitors and inductors to produce a 30-degree phase offset when the signal passes through the circuit, ultimately generating a weighted signal.

[0050] The weighted signal is transmitted to the signal synthesis device, which has multiple signal processing channels inside. First, the frequency alignment processing is performed on the signals of different frequencies. The frequency of each signal is accurately measured by the frequency detection module and compared with the preset standard frequency. If there is a frequency deviation, the frequency adjustment circuit is used to change the parameters of the oscillation elements in the circuit, such as adjusting the capacitance value of the crystal oscillator, to fine-tune the signal frequency so that all signal frequencies are unified to the frequency reference of the target satellite signal; then phase calibration is performed. Since additional phase changes may be introduced during the signal transmission process, the phase of each signal is detected again and compared with the ideal phase calculated and adjusted previously. For signals with phase deviations, fine-tuning is performed through the phase compensation circuit to ensure that all signal phases are completely consistent.

[0051] After completing frequency alignment and phase calibration, the signal superposition link begins. The signal synthesis device superimposes the weighted signals according to the spatial position and signal strength of each antenna unit. During the superposition process, the signal amplitude at each sampling moment is accumulated by point-by-point addition. In order to ensure the accuracy of superposition, the device will monitor the amplitude range of the signal in real time to prevent data overflow due to excessive signal amplitude. Through precise superposition operations, in the spatial incoming wave direction of the target satellite signal, the signal energy of each antenna unit is superimposed in phase and enhanced with each other, thereby forming a high-gain narrow beam with highly concentrated energy. The signal strength of this narrow beam in the target direction is improved compared to that of a single antenna unit, which effectively improves the receiving sensitivity and capture capability of the target satellite signal.

[0052] After the high-gain narrow beam is formed, the sidelobe level constraint conditions are determined. First, the interference situation of the current environment is analyzed. By monitoring the strength, frequency distribution and other characteristics of the surrounding electromagnetic signals, the source and intensity level of the interference signal are determined. For example, in areas with dense communication base stations, there are a large number of interference signals of different frequencies. At this time, a lower sidelobe level threshold will be set, such as requiring the sidelobe level to be more than 30 decibels lower than the main beam level to minimize the reception of interference signals; in remote areas with less interference, the sidelobe level threshold can be appropriately relaxed to 20 decibels. The set constraints are input into the adaptive beamforming algorithm, and the algorithm monitors the sidelobe level of the high-gain narrow beam in real time. By distributing it around the antenna array Multiple monitoring points are used to collect signal strength data in different directions and calculate the sidelobe level. If the sidelobe level in a certain direction exceeds the set threshold, the algorithm starts the adjustment mechanism. First, according to the direction where the sidelobe level is too high, the antenna unit related to it is determined. Then, the amplitude weights and phase weights of these antenna units are recalculated. When calculating the new weights, the algorithm will refer to the previously established weight-sidelobe level relationship mechanism and record the change pattern of the sidelobe level under different weight combinations. For example, when it is found that the sidelobe level in a certain direction is too high, the algorithm calculates that the amplitude weight of the antenna unit corresponding to this direction needs to be reduced and its phase weight needs to be adjusted to concentrate the signal energy in the direction of the main beam and reduce the sidelobe level.

[0053] In the process of adjusting the weights, in order to ensure that the signal gain in the main beam direction is not affected, the algorithm adopts an iterative optimization method. After each weight adjustment, the signal strength of the main beam and sidelobe is recalculated and the adjustment effect is evaluated. If the main beam gain decreases, the algorithm will appropriately adjust the weights in other directions to compensate and maintain the high gain characteristics of the main beam. Through repeated monitoring, calculation, and adjustment processes, the shape of the narrow beam is gradually adjusted so that the sidelobe level meets the constraints. Finally, by forming narrow beams that meet the requirements in multiple different directions, the beams cooperate with each other to achieve omnidirectional coverage of the array signal coverage capability in the horizontal and vertical directions, ensuring that the antenna system can effectively receive the satellite signal regardless of the direction from which it comes.

[0054] By dynamically adjusting the signal weights of each unit in the array, energy is focused in the direction of the satellite signal to form a high-gain main beam. Compared with traditional antennas, this can greatly enhance the ability to receive target satellite signals. In areas with weak signals, such as remote mountainous areas and urban canyons with tall buildings, the high-gain main beam can effectively capture weak signals, improve signal sensitivity and strength, ensure that the navigation system can stably obtain satellite signals, and improve positioning accuracy and reliability; by imposing sidelobe level constraints on the adaptive beamforming algorithm and adjusting the narrow beam shape, omnidirectional coverage of the array signal coverage capability is achieved, breaking the limitation of traditional directional antennas with signal reception blind spots. No matter what posture the carrier is in or what complex environment it moves in, it can ensure that satellite signals in all directions are effectively received, providing users with uninterrupted and stable navigation signal services, and improving the applicability of the navigation system. and user experience; in the process of forming a high-gain main beam, by constraining the sidelobe level, the signal reception in non-target directions is reduced, and the interference signals from other directions are effectively suppressed. In areas with complex electromagnetic environments, such as industrial plants and areas with dense communication base stations, the impact of interference signals on navigation signals can be reduced, ensuring the purity and stability of navigation signals, improving the anti-interference performance of the navigation system, and making navigation positioning more accurate and reliable; based on the mechanism of real-time dynamic adjustment of weights and beam shapes of stable direct signals, the antenna system can quickly respond to changes in satellite signal direction, changes in carrier posture and dynamic changes in the environment. Whether on high-speed moving vehicles or in scenarios with complex and changeable signal environments, it can quickly adjust its own status and maintain good signal reception and processing capabilities, thereby enhancing flexibility and environmental adaptability and broadening the application scope of the navigation system.

[0055] In a preferred embodiment of the present invention, based on a high-gain main beam, the phase and amplitude of the array elements are jointly corrected to compensate for phase distortion introduced by non-ideal characteristics of the antenna units, correct the equivalent phase center in the direction of the received signal, and achieve accuracy in dual-frequency signal carrier phase measurement to obtain a corrected stable beam. This may include: Based on the array operating state corresponding to the high-gain main beam, the amplitude response error and phase response error of each antenna unit in the array in the first satellite navigation frequency band and the second satellite navigation frequency band are calculated, specifically comprising: calculating and generating an amplitude compensation factor for the corresponding frequency band based on the amplitude response error of each antenna unit in the first satellite navigation frequency band and the second satellite navigation frequency band; calculating and generating a phase compensation offset for the corresponding frequency band based on the phase response error of each antenna unit in the dual frequency bands; integrating the amplitude compensation factor and the phase compensation offset by frequency band to generate a dual-frequency inverted phase compensation vector for each antenna unit, loading the dual-frequency inverted phase compensation vector into the receiving link of the corresponding antenna unit in real time, and performing frequency-domain amplitude-phase joint correction on the original received signal; Based on the amplitude response error and phase response error, the corresponding inverted compensation vector is calculated and generated, and the inverted compensation vector is input into the receiving signal channel of the corresponding antenna unit to perform real-time amplitude and phase joint correction on the received signal; After injecting the compensation vector, re-measure and verify the array directional characteristics in the direction of the target satellite signal to achieve amplitude consistency between units; Through joint correction and verification, the equivalent phase center position of the array in the direction of the target satellite signal is corrected to obtain a corrected stable beam.

[0056] In an embodiment of the present invention, after a high-gain main beam is formed and in a stable operating state, the current array operating parameters, including information such as the actual operating frequency and signal input power of each antenna element, must first be determined. To calculate the amplitude response error and phase response error of each antenna element in two satellite navigation frequency bands, ideal amplitude response and phase response data must first be obtained. This ideal data is typically standard data obtained during the antenna element design phase through theoretical calculations and testing in an ideal experimental environment (no interference, no loss). For the first satellite navigation frequency band, a high-precision signal generator is used to input a standard test signal of known power and frequency into each antenna element. Simultaneously, a high-precision power measurement instrument and phase measurement instrument are connected to the output end of the antenna element to measure the actual power and phase of the output signal of each antenna element, respectively. The actual measured power is compared with the ideal output power for that frequency band. The difference between the two is the amplitude response error of the antenna element in the first satellite navigation frequency band. Similarly, the actual measured phase is compared with the ideal phase to obtain the phase response error.

[0057] When measuring the second satellite navigation frequency band, the same method is used, but the output frequency of the signal generator is changed to the second satellite navigation frequency band. The above measurement process is repeated to obtain the amplitude response error and phase response error of each antenna unit in this frequency band. In this way, the amplitude and phase response errors of each antenna unit in the array in the two frequency bands are comprehensively and accurately determined.

[0058] After obtaining the amplitude response error and phase response error of each antenna element in the two frequency bands, the inverted compensation vector is calculated. The inverted compensation vector contains two parts: an amplitude compensation value and a phase compensation value. When calculating the amplitude compensation value, the amount of adjustment required for the antenna element's received signal amplitude is determined based on the magnitude and direction of the amplitude response error. If the amplitude response error of an antenna element is positive, that is, the actual output power is greater than the ideal power, the amplitude compensation value is a coefficient less than 1, which is used to reduce the received signal amplitude of the antenna element. If the amplitude response error is negative, the amplitude compensation value is a coefficient greater than 1, which is used to increase the received signal amplitude.

[0059] When calculating the phase compensation value, the degree to which the signal phase needs to be adjusted is determined based on the phase response error. If the phase response error is positive, it means that the actual phase is ahead of the ideal phase, and the phase compensation value is a negative degree, which is used to delay the signal phase by the corresponding degree; if the phase response error is negative, the phase compensation value is a positive degree, which is used to advance the signal phase. Similarly, the determination of the phase compensation value will also be combined with actual experiments and experience to ensure that the adjusted phase meets the ideal requirements. After the calculated amplitude compensation value and phase compensation value are combined into an antiphase compensation vector, the antiphase compensation vector is input into the receiving signal channel of the corresponding antenna unit through a special signal processing circuit. In the signal channel, a controllable amplifier and phase adjuster are used to adjust the signal amplification factor according to the amplitude compensation value in the antiphase compensation vector to achieve amplitude correction; the phase of the signal is adjusted according to the phase compensation value to complete the phase correction, thereby performing real-time amplitude and phase joint correction on the received signal.

[0060] After completing the joint amplitude and phase correction of the received signal for each antenna element, a signal generator is again used to input a test signal at the target satellite signal frequency into the array, simulating the actual direction of the satellite signal. Simultaneously, high-precision signal measurement equipment is used at the array output to measure the array's signal strength and phase distribution in that direction, obtaining the array's directional characteristic data. This newly measured array directional characteristic data is then compared and analyzed with the ideal array directional characteristic data, focusing on the amplitude and phase consistency between the antenna elements. If significant amplitude differences or significant phase deviations are found between some antenna elements, this indicates that the previous correction has not yet achieved the desired effect. In this case, the anti-phase compensation vectors for these antenna elements are recalculated based on the newly measured data, and amplitude and phase correction is performed again. Through repeated measurement, analysis, and correction, the amplitude and phase of each antenna element are continuously adjusted, gradually narrowing the differences between elements. Ultimately, amplitude and phase consistency is achieved for each antenna element in the direction of the target satellite signal, ensuring that the entire array can work together and achieve its ultimate performance in that direction.

[0061] After achieving inter-element amplitude and phase consistency, the array's equivalent phase center position in the direction of the target satellite signal is corrected. This correction is based on the results of the previous joint amplitude and phase correction and the array's geometric structure. Non-ideal characteristics of antenna elements can cause deviations in the signal propagation path and phase variation within the array, resulting in a shift in the equivalent phase center position. The previous joint correction has partially compensated for the phase distortion introduced by these non-ideal characteristics. Based on the corrected phase information of each antenna element and the actual layout of the antenna elements in the array, the array's equivalent phase center position in the direction of the target satellite signal is recalculated using geometric calculation methods. The calculation considers factors such as the position coordinates of each antenna element, the corrected phase delay, and the signal propagation speed. Complex geometric relationships are used to derive and calculate the exact position of the equivalent phase center. Once the new equivalent phase center position is determined, the signal processing of the entire array is fine-tuned based on this position information to ensure that the beam pointing and focusing accurately correspond to the corrected equivalent phase center, resulting in a corrected, stabilized beam that can more accurately receive and process satellite signals.

[0062] By accurately calculating and correcting the amplitude response error and phase response error of each antenna unit in the two satellite navigation frequency bands, the phase distortion introduced by the non-ideal characteristics of the antenna unit is effectively compensated, and the accuracy of the dual-frequency signal carrier phase measurement is greatly improved. Compared with traditional antenna systems, the carrier phase of satellite signals is measured more accurately, providing a reliable data basis for high-precision navigation positioning, surveying and mapping and other applications, and improving the accuracy and reliability of the measurement results; after the joint correction of the array element phase and amplitude and the correction of the equivalent phase center position, the corrected stable beam has higher stability in the direction of the target satellite signal. Regardless of environmental changes, temperature fluctuations or other interference factors, the stable beam can maintain the stability of its shape and pointing, ensuring that the navigation system can continuously and stably receive satellite signals and reduce signal fluctuations and loss. The system improves the stability and reliability of the navigation system. Through multiple measurements and corrections, the amplitude and phase consistency between the antenna units in the array is achieved, so that each antenna unit can work together under the same standard. This collaborative working mode effectively enhances the overall performance of the array, improves the synthesis efficiency and quality of the signal, enables the antenna system to focus energy more effectively, enhances the ability to receive target satellite signals, and further improves the performance and signal processing capabilities of the navigation system. The precise amplitude and phase correction reduces the signal difference and interference between antenna units, reduces the signal interference problem caused by phase distortion and amplitude inconsistency, and can effectively suppress the influence of external interference signals in complex electromagnetic environments, improve the purity and quality of the signal, enhance the anti-interference ability of the navigation system, and ensure the stable transmission and accurate reception of navigation signals.

[0063] In a preferred embodiment of the present invention, three spatially fixed detection points are set in the vertical direction based on the corrected stabilized beam. A grid is formed based on the geometric configuration area formed by the three points. The signal strength distribution characteristics and phase gradient change characteristics within each grid cell are extracted to generate a polarization adjustment value. The polarization adjustment value is used to correct the polarization identification parameters of the multipath signal and to adjust the phase difference between antenna units at different levels to achieve adaptive adjustment of the vertical beam pointing in response to changes in the satellite incidence angle caused by the carrier posture and environmental occlusion. The method may include: Based on the corrected stable beam, the characteristics of the stable high-gain main beam formed by the current array are determined, and within the vertical plane covered by the stable high-gain main beam, three points with fixed spatial positions and non-collinearity are determined to form a monitoring area, specifically including: based on the corrected stable beam, obtaining the radiation direction layout of the current high-gain main beam in the vertical plane, and determining the elevation angle coverage range and the maximum gain pointing angle of the main beam; based on the elevation angle coverage range and the maximum gain pointing angle of the main beam, delineating the effective signal coverage area of ​​the main beam within the vertical plane; within the effective signal coverage area, determining a vertex at the maximum gain pointing angle of the main beam, and the other two vertices at the upper boundary elevation angle and the lower boundary elevation angle of the effective coverage area, respectively; determining that the three vertices satisfy the geometric constraint condition of fixed spatial positions and non-collinearity to form a non-degenerate monitoring area; Within the monitoring area, the area is divided into multiple subdivided grid cells according to the preset spatial resolution accuracy requirements. The signal received by the array is used to measure the signal strength value and signal phase value of the first satellite navigation frequency band and the second satellite navigation frequency band at the center point of each grid cell; For the signal strength value in each grid cell, the statistical distribution characteristic value is calculated; at the same time, for the signal phase value in each grid cell, the spatial phase gradient change is calculated; Based on the statistical distribution characteristic value and the change in spatial phase gradient, a polarization domain adjustment parameter is generated to characterize the current multipath interference state and the change in satellite incidence angle. The polarization domain adjustment parameter is then input into the multipath signal identification mechanism to dynamically update the polarization power difference threshold used to distinguish direct signals from multipath signals. By using polarization domain adjustment parameters and combining the current satellite's orbit prediction information, the relative feeding phase difference is calculated and dynamically adjusted. Through the relative feeding phase difference, the pitch angle of the high-gain main beam in the vertical plane can be adaptively tracked to the real-time changes in the incident angle of the target satellite signal.

[0064] In an embodiment of the present invention, after obtaining a corrected stable beam, a comprehensive evaluation is first performed on various characteristics of the beam, including the central pointing angle of the beam, beam width, gain intensity, etc., just like a sparrow group determines the boundary of a foraging area. Based on these characteristics, a monitoring area is determined within the vertical plane covered by a stable high-gain main beam. At this time, the idea of ​​a sparrow search algorithm is introduced, and the process of determining the monitoring area is analogized to a sparrow searching for a safe and food-rich foraging area. Multiple potential points are first randomly selected within the vertical plane, just like a sparrow exploring different locations around. Then, based on the effective range of the beam coverage and the signal quality requirements, these points are screened. Points at the edge of the beam with weak signals or that may be subject to more interference are excluded, and the remaining points form a candidate set, which is similar to a sparrow screening out relatively safe locations with more food.

[0065] From the candidate set, three points with fixed spatial positions and non-collinearity are determined by rules to form the monitoring area. This rule can refer to the strategy of the leader in the sparrow group to choose a foraging site, and select three points with relatively strong signal strength, good stability and effective coverage of important areas. For example, points at different heights in the vertical plane and with small signal gain fluctuations are given priority to ensure that the monitoring area can fully reflect the signal changes within the beam coverage range.

[0066] After determining the monitoring area, the area is divided into multiple subdivided grid cells according to the preset spatial resolution accuracy requirements. This process is like a sparrow subdividing a large foraging area into multiple small search areas in order to find food more accurately. When dividing the grid cells, according to the way the follower explores the surrounding environment in the sparrow search algorithm, starting from the boundary of the monitoring area, the division is gradually carried out inward. The size of each grid cell is determined according to the spatial resolution accuracy to ensure that the changing characteristics of the signal can be accurately captured under this accuracy. After the division is completed, the signal received by the antenna array is used to measure the signal at the center point of each grid cell. The sparrow search algorithm is incorporated here again, and the signal measurement process is compared to a sparrow sensing the surrounding food information. The system is like a sparrow's sensory organ. The antenna array senses the signal strength value and signal phase value of the center point of each grid cell in real time. The signals of the first satellite navigation frequency band and the second satellite navigation frequency band are measured and recorded respectively, just like a sparrow senses the information of different types of food respectively.

[0067] After obtaining the signal strength and phase values ​​of each grid cell, data analysis begins. For the signal strength value, its statistical distribution characteristic values, such as the mean and variance, are calculated. This is similar to the sparrow counting the average amount of food and the fluctuation of the amount in different small search areas to understand the overall characteristics of food distribution. When calculating the mean, all measured signal strength values ​​in the grid cell are added together and then divided by the number of measurements to obtain the average level of signal strength in the grid cell. The variance is calculated to measure the degree of dispersion of the signal strength value and reflect the stability of the signal strength. The smaller the variance, the more stable the signal strength; the larger the variance, the greater the fluctuation of the signal strength. For the signal phase value, the spatial phase gradient change is calculated, which is equivalent to the sparrow perceiving the changing trend of food distribution in the surrounding environment. By calculating the spatial change rate of the phase, the change of the signal phase is understood. Multiple adjacent measurement points in the grid cell are determined, and the ratio of the phase difference between adjacent points to the spatial distance is calculated to obtain the phase gradient change in different directions. By comprehensively analyzing these changes, the changing trend of the signal phase in the grid cell can be grasped.

[0068] After obtaining the statistical distribution eigenvalues ​​of signal strength and the spatial phase gradient variation of the signal phase, these data are used to generate polarization domain adjustment parameters. This process is similar to a sparrow adjusting its foraging strategy based on the distribution and changing trends of food. The statistical distribution eigenvalues ​​and spatial phase gradient variation are used as inputs for analysis and calculation by the algorithm. Drawing on the sparrow's behavior in the search algorithm, which adjusts to environmental changes, the algorithm uses the input data to determine the current multipath interference state and changes in the satellite incidence angle. For example, if the variance of signal strength is large and the phase gradient variation is irregular, it indicates strong multipath interference and a significant change in the satellite incidence angle. Based on this determination, the corresponding polarization domain adjustment parameters are generated to characterize the actual current environment. These parameters are then input into the multipath signal identification mechanism to dynamically update the polarization power difference threshold used to distinguish between direct and multipath signals. This is similar to a sparrow adjusting its criteria for distinguishing different food items based on environmental changes. By adjusting the threshold, direct and multipath signals can be more accurately distinguished, improving signal processing accuracy.

[0069] After obtaining the polarization domain adjustment parameters, the relative feed phase difference is calculated and dynamically adjusted in combination with the current satellite's orbit prediction information. This is similar to how a sparrow adjusts its flight direction and speed based on the location of food and its own state. First, the current satellite's orbit prediction information is obtained to understand the satellite's possible position and movement trend in the future. Then, the polarization domain adjustment parameters are combined with the orbit prediction information. Through complex calculations and analysis, the relative feed phase difference that needs to be adjusted is determined. During the calculation process, the way the sparrow group collaboratively adjusts its flight direction in the sparrow search algorithm is referred to, and multiple factors are comprehensively considered, such as the current beam The direction of the satellite, the quality of the signal, the direction of movement of the satellite, etc., are taken into consideration to ensure that the calculated relative feeding phase difference can enable the beam to better track the satellite signal. After determining the relative feeding phase difference, the feeding phase between the antenna units at different levels in the antenna array is adjusted to achieve the real-time change of the pitch angle of the high-gain main beam in the vertical plane to adaptively track the incident angle of the target satellite signal, just like a sparrow flexibly adjusts its flight posture to accurately obtain food. By adjusting the beam pointing in real time, it is ensured that when the carrier posture changes or the environmental occlusion causes the satellite incident angle to change, it can still stably receive satellite signals and maintain good communication and navigation performance.

[0070] Integrating the sparrow search algorithm into the adaptive beam adjustment process can quickly and accurately respond to changes in the satellite incidence angle caused by the carrier posture and environmental occlusion, just like a sparrow keenly perceives environmental changes and adjusts its foraging strategy. Whether on a high-speed moving vehicle or in a complex and changeable terrain environment, the beam pointing can be adjusted in real time to ensure that it is always aimed at the target satellite, effectively improving the adaptability and stability of the navigation system in dynamic and complex environments. By drawing on the ideas of the sparrow search algorithm for signal analysis and processing, it is possible to more accurately judge the multipath interference status based on the signal strength and phase characteristics, and dynamically update the polarization power difference threshold for multipath signal identification. Compared with traditional methods, the recognition accuracy of multipath signals is improved. The system effectively reduces the impact of multipath signals on navigation accuracy and provides reliable guarantee for high-precision navigation and positioning. It combines the sparrow search algorithm to calculate the relative feed phase difference, making the pitch angle adjustment of the beam in the vertical plane more intelligent and precise. According to the satellite orbit prediction information and the current environmental changes, it plans and adjusts the beam pointing in advance to achieve real-time tracking of the incident angle of the target satellite signal. The adaptive adjustment mechanism based on the sparrow search algorithm gives it stronger anti-interference and anti-change capabilities. When faced with sudden environmental changes or interference, it can respond quickly, adjust the beam pointing and signal processing strategy, maintain stable signal reception and navigation functions, and enhance the reliability and survivability of the navigation system under harsh conditions.

[0071] An embodiment of the present invention further provides a computing device comprising: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, executes the system described above. All implementations in the above system embodiments are applicable to this embodiment and can achieve the same technical effects.

[0072] The embodiment of the present invention further provides a computer-readable storage medium storing instructions, which, when executed on a computer, causes the computer to execute the system described above. All implementations in the above system embodiments are applicable to this embodiment and can achieve the same technical effects.

[0073] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A dual-frequency navigation high-gain omnidirectional receiving antenna system, characterized in that: include: The array module is used to construct a multi-dimensional stereo antenna array with multiple layers and staggered arrangements, forming a three-dimensional structure with omnidirectional coverage to obtain dual-band signals suitable for navigation devices; The separation module is used to identify the multipath signals formed by satellite direct signals and ground reflections by combining the spatial domain and polarization domain for dual-band signals, thereby obtaining a stable direct signal. The control module is used to dynamically adjust the signal weights of each unit in the array based on the stable direct signal, focusing energy in the direction of the satellite signal to form a high-gain main beam, thereby achieving omnidirectional coverage of the array signal capability; The stabilization module is used to compensate for the phase distortion introduced by the non-ideal characteristics of the antenna unit through joint correction of the array element phase and amplitude based on the high-gain main beam, correct the equivalent phase center in the direction of the received signal, and ensure the accuracy of the dual-frequency signal carrier phase measurement to obtain a corrected stable beam; The adaptive module is used to set three detection points with fixed spatial positions in the vertical direction according to the corrected stable beam, divide the geometric configuration area into grids according to the three points, extract the signal strength distribution characteristics and phase gradient change characteristics in each grid unit, and generate polarization adjustment values; use the polarization adjustment values ​​to correct the polarization identification parameters of the multipath signal, and regulate the phase difference between antenna units at different levels to achieve adaptive adjustment of the vertical beam pointing in response to changes in the satellite incidence angle caused by the carrier attitude and environmental occlusion.

2. The dual-frequency navigation high-gain omnidirectional receiving antenna system according to claim 1, characterized in that: Construct a multi-dimensional stereo antenna array with multiple layers and staggered arrangements to form a three-dimensional structure with omnidirectional coverage to obtain a dual-band signal suitable for navigation devices, including: Determine the layer spacing parameters based on the wavelength of the navigation signal frequency band and generate the physical skeleton structure of the multi-layer annular array; Based on the physical skeleton structure of a multi-layer annular array, multiple groups of orthogonal electric dipole units are evenly arranged along the circumference on the odd-numbered layers of the skeleton, and the operating frequency is tuned to the first satellite navigation frequency band through a balanced feed network; Utilizing the vertically projected gaps formed by the electric dipole units assembled on the odd-numbered layers, magnetic ring units are embedded in the gaps on the even-numbered layers of the annular skeleton, and the operating frequency is tuned to the second satellite navigation frequency band through distributed capacitance loading. The electromagnetic fields generated by the odd-numbered electric dipole units and the even-numbered magnetic ring units are synthesized in three dimensions to generate omnidirectional radiation characteristics covering the entire space within a predetermined elevation angle range. Based on the omnidirectional radiation characteristics, a three-element impedance matching circuit is set between adjacent units to calculate the trend change of the voltage standing wave ratio in the two frequency bands and the predetermined threshold; Through a three-element impedance matching circuit, the signals of the two frequency bands are transmitted to the output port of the integrated feeding network, achieving a dual-band gain fluctuation less than a predetermined value, so as to obtain a dual-band signal suitable for the navigation device.

3. The dual-frequency navigation high-gain omnidirectional receiving antenna system according to claim 2, characterized in that: For dual-band signals, by combining the spatial domain and polarization domain, different polarization states are used to identify the multipath signals formed by satellite direct signals and ground reflections to obtain a stable direct signal, including: Based on the dual-band synchronous reception signal, the spatial arrival angle and the intensity value of the left and right circular polarization components of each signal sample are extracted; The absolute value of the power difference between the left-hand and right-hand circular polarization components of the same sample is calculated by using the left-hand and right-hand circular polarization component strength values ​​to obtain the multipath interference characteristic parameters; filtering out signal samples whose absolute values ​​of power differences exceed a first predetermined threshold according to multipath interference characteristic parameters to obtain a polarization domain purified signal; Analyzing the spatial arrival angle sequence of the polarization domain cleansed signal, calculating the change in the direction of arrival of adjacent samples, and obtaining continuous signal segments satisfying that the change is less than a second predetermined threshold; Carrier phase continuity verification is performed on continuous signal segments to obtain a stable satellite direct signal.

4. The dual-frequency navigation high-gain omnidirectional receiving antenna system according to claim 3, characterized in that: Based on a stable direct signal, the signal weights of each unit in the array are dynamically adjusted to focus energy in the direction of the satellite signal to form a high-gain main beam, achieving omnidirectional coverage of the array signal, including: Based on the stable direct satellite signal, the amplitude weight and phase weight required by each antenna element in the array are calculated in real time. The amplitude weight and phase weight are then input into the real-time signal received by the corresponding antenna element to generate a weighted signal. The weighted signals are superimposed and synthesized to generate the array output signal, and through signal synthesis, a high-gain narrow beam is formed in the spatial direction of the target satellite signal; Based on high-gain narrow beams, sidelobe level constraints are imposed on the adaptive beamforming algorithm, and the shape of the narrow beam is adjusted through the constraints to achieve omnidirectional coverage of the array signal coverage capability.

5. The dual-frequency navigation high-gain omnidirectional receiving antenna system according to claim 4, characterized in that: Based on the high-gain main beam, the system combines array element phase and amplitude correction to compensate for phase distortion introduced by non-ideal antenna unit characteristics, correct the equivalent phase center in the direction of the received signal, and ensure accurate dual-frequency signal carrier phase measurement to obtain a corrected stable beam. This includes: Calculating the amplitude response error and phase response error of each antenna element in the array in the first satellite navigation frequency band and the second satellite navigation frequency band based on the array operating state corresponding to the high-gain main beam; Based on the amplitude response error and phase response error, the corresponding inverted compensation vector is calculated and generated, and the inverted compensation vector is input into the receiving signal channel of the corresponding antenna unit to perform real-time amplitude and phase joint correction on the received signal; After injecting the compensation vector, re-measure and verify the array directional characteristics in the direction of the target satellite signal to achieve amplitude consistency between units; Through joint correction and verification, the equivalent phase center position of the array in the direction of the target satellite signal is corrected to obtain a corrected stable beam.

6. The dual-frequency navigation high-gain omnidirectional receiving antenna system according to claim 5, characterized in that: Based on the array operating state corresponding to the high-gain main beam, the amplitude response error and the phase response error of each antenna element in the array in the first satellite navigation frequency band and the second satellite navigation frequency band are calculated, including: Calculating and generating an amplitude compensation factor for the corresponding frequency band based on the amplitude response error of each antenna unit in the first satellite navigation frequency band and the second satellite navigation frequency band; Calculate and generate a phase compensation offset for the corresponding frequency band based on the phase response error of each antenna unit in the dual frequency bands; The amplitude compensation factor and the phase compensation offset are integrated according to the frequency band to generate a dual-frequency inverted compensation vector for each antenna unit. The dual-frequency inverted compensation vector is loaded into the receiving link of the corresponding antenna unit in real time, and the original received signal is subjected to frequency domain amplitude and phase joint correction.

7. The dual-frequency navigation high-gain omnidirectional receiving antenna system according to claim 6, characterized in that: Based on the corrected stabilized beam, three fixed detection points are set in the vertical direction. The geometric configuration area formed by the three points is gridded. The signal strength distribution characteristics and phase gradient change characteristics within each grid cell are extracted to generate a polarization adjustment value. The polarization adjustment value is used to correct the polarization identification parameters of the multipath signal and adjust the phase difference between antenna units at different levels to achieve adaptive adjustment of the vertical beam pointing in response to changes in the satellite incidence angle caused by the carrier attitude and environmental occlusion. This includes: Based on the corrected stable beam, determine the characteristics of the stable high-gain main beam formed by the current array, and determine three points with fixed spatial positions and non-collinearity in the vertical plane covered by the stable high-gain main beam to form a monitoring area; Within the monitoring area, the area is divided into multiple subdivided grid cells according to the preset spatial resolution accuracy requirements. The signal received by the array is used to measure the signal strength value and signal phase value of the first satellite navigation frequency band and the second satellite navigation frequency band at the center point of each grid cell; For the signal strength value in each grid cell, the statistical distribution characteristic value is calculated; at the same time, for the signal phase value in each grid cell, the spatial phase gradient change is calculated; Based on the statistical distribution characteristic value and the change in spatial phase gradient, a polarization domain adjustment parameter is generated to characterize the current multipath interference state and the change in satellite incidence angle. The polarization domain adjustment parameter is then input into the multipath signal identification mechanism to dynamically update the polarization power difference threshold used to distinguish direct signals from multipath signals. By using polarization domain adjustment parameters and combining the current satellite's orbit prediction information, the relative feeding phase difference is calculated and dynamically adjusted. Through the relative feeding phase difference, the pitch angle of the high-gain main beam in the vertical plane can be adaptively tracked to the real-time changes in the incident angle of the target satellite signal.

8. The dual-frequency navigation high-gain omnidirectional receiving antenna system according to claim 7, characterized in that: Based on the corrected stable beam, determine the characteristics of the stable high-gain main beam formed by the current array, and determine three points with fixed spatial positions and non-collinearity within the vertical plane covered by the stable high-gain main beam to form a monitoring area, including: Based on the corrected stable beam, the radiation direction layout of the current high-gain main beam in the vertical plane is obtained to determine the elevation angle coverage and maximum gain pointing angle of the main beam; Based on the main beam elevation coverage range and the maximum gain pointing angle, the effective signal coverage area of ​​the main beam is delineated in the vertical plane. Within the effective signal coverage area, one vertex is located at the main beam maximum gain pointing angle, and the other two vertices are located at the upper and lower boundary elevation angles of the effective coverage area, respectively. It is determined that the three vertices meet the geometric constraints of fixed spatial positions and non-collinearity to form a non-degenerate monitoring area.

9. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the system according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program, which, when executed by a processor, implements the system according to any one of claims 1 to 8.

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