Beam pointing anti-jamming method, device, control terminal and readable storage medium

Abstract

The present application relates to a kind of beam pointing anti-interference method, device, control terminal and readable storage medium.The beam pointing anti-interference method is applied to satellite navigation system, according to the baseline of at least two directional signals and acquisition, determine reference datum angle and the direction angle of multiple satellites in geocentric coordinate system;According to reference datum angle, determine target attitude information;According to the direction angle of multiple satellites in geocentric coordinate system, target attitude information and reference datum angle, determine direction information;According to preprocessed satellite signal and direction information, obtain beam signal, the beam pointing anti-interference method provided in the present application can obtain direction information in beam pointing anti-interference technology inside satellite navigation system, without relying on external inertial navigation and satellite navigation and other systems to obtain direction information, with higher practicability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite navigation, and in particular to a beam pointing anti-interference method and device, a control terminal and a readable storage medium. BACKGROUND

[0002] Satellite navigation systems have the ability of large range, all-weather, all-day high-precision positioning, speed measurement and timing service, and have been widely used in various fields of national defense and national economy. With the increasing dependence of civilian and military operations on satellite navigation systems, competition in the field of satellite navigation will inevitably intensify. Due to its natural vulnerability, satellite navigation systems are extremely susceptible to external interference. If the interference is strong, it will greatly affect the positioning accuracy of the satellite navigation system, and even cause the satellite navigation system to collapse. Therefore, interference suppression of satellite navigation systems has become a research hotspot for scholars.

[0003] In the conventional technology, beam pointing anti-interference technology is used to realize the functions of beam pointing and anti-interference, which can improve the sensitivity of satellite signals and suppress interference. However, the direction information in the beam pointing anti-interference technology needs to be provided by an external system, such as an inertial navigation system and a satellite navigation system. Therefore, the applicability of using beam pointing anti-interference technology to realize interference suppression of satellite navigation systems in the conventional technology is low. SUMMARY

[0004] Therefore, it is necessary to provide a beam pointing anti-interference method, device, control terminal and readable storage medium to solve the above technical problems.

[0005] In a first aspect, an embodiment of the present application provides a beam pointing anti-interference method applied to a satellite navigation system, comprising:

[0006] obtaining at least two directional signals and a baseline;

[0007] determining a reference reference angle and direction angles of a plurality of satellites in a geocentric coordinate system according to the directional signals and the baseline, wherein the reference reference angle is an included angle between the baseline and the true north direction;

[0008] determining target attitude information according to the reference reference angle;

[0009] determining direction information according to the direction angles of the plurality of satellites in the geocentric coordinate system, the target attitude information and the reference reference angle;

[0010] obtaining a beam signal according to the received preprocessed satellite signal and the direction information.

[0011] In one of the embodiments, the direction information is determined according to the direction angles of the plurality of satellites in the geocentric coordinate system, the target attitude information and the reference reference angle, comprising:

[0012] According to the target attitude information and the reference reference angle, the direction angles of the plurality of satellites in a geocentric coordinate system are coordinate-converted to obtain direction angles of the plurality of satellites in an array antenna center coordinate system.

[0013] The direction angles of the plurality of satellites in the array antenna center coordinate system are direction vector-converted to obtain direction information.

[0014] In one embodiment, the target attitude information is determined according to the reference reference angle, comprising:

[0015] According to the true north direction, initial attitude information is determined;

[0016] The initial attitude information is corrected according to the reference reference angle to obtain the target attitude information.

[0017] In one embodiment, the method further comprises:

[0018] It is judged whether the directional signal is interfered;

[0019] If the directional signal is interfered, a zero-adjusted positioning signal is determined according to the pre-processed satellite signal;

[0020] According to the zero-adjusted positioning signal, the direction angles of the plurality of satellites in the geocentric coordinate system are determined.

[0021] In one embodiment, it is judged whether the directional signal is interfered, comprising:

[0022] For each directional signal, an autocorrelation operation is performed to obtain a plurality of interference detection values;

[0023] It is judged whether there is an interference detection value greater than a preset threshold value in the plurality of interference detection values;

[0024] If there is, the directional signal is interfered.

[0025] In one embodiment, the zero-adjusted positioning signal is determined according to the pre-processed satellite signal, comprising:

[0026] The pre-processed satellite signal is anti-interference processed to obtain a zero-adjusted signal;

[0027] The zero-adjusted signal is frequency-converted and converted to obtain the zero-adjusted positioning signal.

[0028] In one embodiment, before the beam signal is obtained according to the received pre-processed satellite signal and the direction information, the method further comprises:

[0029] An initial satellite signal is obtained;

[0030] The initial satellite signal is frequency-converted and converted to obtain a zero-frequency baseband signal;

[0031] The channel equalization is performed on the zero frequency baseband signal to obtain a preprocessed satellite signal.

[0032] In a second aspect, an embodiment of the present application provides a beam pointing anti-interference device, comprising:

[0033] An acquisition module is configured to acquire at least two directional signals and a baseline.

[0034] A direction angle determination module is configured to determine a reference reference angle and direction angles of a plurality of satellites in a geocentric coordinate system according to the directional signals and the baseline, wherein the reference reference angle is an included angle between the baseline and a true north direction.

[0035] A target attitude information determination module is configured to determine target attitude information according to the reference reference angle.

[0036] A direction information determination module is configured to determine direction information according to the direction angles of the plurality of satellites in the geocentric coordinate system, the target attitude information, and the reference reference angle.

[0037] A beam signal determination module is configured to obtain a beam signal according to the preprocessed satellite signal and the direction information.

[0038] In a third aspect, an embodiment of the present application provides a control terminal, comprising a memory and a processor, the memory stores a computer program, and the processor implements the steps of the method provided in the above embodiments when executing the computer program.

[0039] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method provided in the above embodiments.

[0040] The present application provides a beam pointing anti-interference method, device, control terminal, and readable storage medium. The method is applied to a satellite navigation system, and the reference reference angle and the direction angles of a plurality of satellites in a geocentric coordinate system are determined according to at least two directional signals and a baseline. The target attitude information is determined according to the reference reference angle. The direction information is determined according to the direction angles of the plurality of satellites in the geocentric coordinate system, the target attitude information, and the reference reference angle. The beam signal is obtained according to the preprocessed satellite signal and the direction information. The beam pointing anti-interference method provided in the embodiments of the present application can obtain the direction information in the beam pointing anti-interference technology in the satellite navigation system, without relying on other systems such as inertial navigation and satellite navigation to obtain the direction information. Therefore, the satellite navigation system using the method can be installed in any environment, without considering whether the inertial navigation and satellite navigation systems exist in the environment, and has high applicability. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A structure schematic diagram of a satellite navigation system provided by an embodiment of the present application is shown in the figure.

[0043] Figure 2 A step flow chart of a beam pointing anti-interference method provided by an embodiment of the present application is shown in the figure.

[0044] Figure 3 A structure schematic diagram of an array antenna module provided by an embodiment of the present application is shown in the figure.

[0045] Figure 4 A step flow chart of a beam pointing anti-interference method provided by an embodiment of the present application is shown in the figure.

[0046] Figure 5 A step flow chart of a beam pointing anti-interference method provided by an embodiment of the present application is shown in the figure.

[0047] Figure 6 A step flow chart of a beam pointing anti-interference method provided by an embodiment of the present application is shown in the figure.

[0048] Figure 7 A step flow chart of a beam pointing anti-interference method provided by an embodiment of the present application is shown in the figure.

[0049] Figure 8 A step flow chart of a beam pointing anti-interference method provided by an embodiment of the present application is shown in the figure.

[0050] Figure 9 A step flow chart of a beam pointing anti-interference method provided by an embodiment of the present application is shown in the figure.

[0051] Figure 10 A structure schematic diagram of a beam pointing anti-interference device provided by an embodiment of the present application is shown in the figure.

[0052] Figure 11 A structure schematic diagram of a control terminal provided by an embodiment of the present application is shown in the figure.

[0053] Explanation of reference signs:

[0054] 20, satellite navigation system; 21, array antenna module; 22, beam pointing anti-interference module; 23, beam signal receiving module. DETAILED DESCRIPTION

[0055] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the concept of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0056] The serial numbers of components in this paper, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any order or technical meaning.

[0057] The technical solutions of the present application and how the technical solutions of the present application solve the technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0058] Please refer to Figure 1 The beam pointing anti-interference method provided by the present application can be applied to a satellite navigation system 20, which includes an array antenna module 21, a beam pointing anti-interference module 22 and a beam signal receiving module 23. The array antenna module 21 is used to receive satellite signals sent by multiple satellites; the beam pointing anti-interference module 22 includes a control terminal, which can include an inertial navigation system, and the control terminal performs beam pointing anti-interference processing on the received satellite signals according to the beam pointing anti-interference method; the beam signal receiving module 23 is used to realize positioning according to the received beam signals after beam pointing anti-interference processing. The configuration of the array antenna in the array antenna module 21 is not limited to linear array, square array, circular array, Y-type array, planar array, inclined plane array and spherical array, etc. The number of array elements in the array antenna is greater than or equal to 4. Moreover, the frequency points of the array antenna are not limited to the frequency points of the Beidou satellite navigation system, the GPS (Global Positioning System) system and the GLONASS (Global Navigation Satellite System) system. The beam anti-interference processing of the satellite signals by the beam pointing anti-interference module 22 can form a beam signal with pointing gain, which can effectively improve the gain of the beam signal, thereby improving the sensitivity of the satellite signal; at the same time, accurate nulls can be generated in the direction of interference to suppress the interference. In this way, the beam pointing signal receiving module 23 can more accurately realize positioning according to the received beam signals.

[0059] Please refer to Figure 2 An embodiment of the present application provides a beam pointing anti-interference method, and the specific step implementation steps include:

[0060] Step 100, acquiring at least two directional signals and a baseline.

[0061] The directional signals can be any two of the plurality of satellite signals received by the array antenna module, and the directional signals are obtained by low-noise amplification of the selected satellite signals. The number of directional signals is greater than or equal to 2 and less than or equal to the number of array elements in the array antenna module. The baseline refers to the line connecting any two array elements in the array antenna that acquire the directional signals. The control terminal can first acquire the plurality of satellite signals received by the array antenna module, and then select the required satellite signals for low-noise amplification to obtain the directional signals. The number of directional signals and the method of acquiring at least two directional signals are not limited in this embodiment, as long as the functions can be realized.

[0062] In an optional embodiment, the number of directional signals is two, and the baseline refers to the line connecting the two array elements in the array antenna that acquire the two directional signals. For example, the array antenna module is a single-frequency circular array, as shown in FIG. 1. The numbers in the circular array represent the array elements of the array antenna, and there are a total of 7, so that 7 satellite signals can be obtained through the array antenna module. The directional signals can be any two of the 7 satellite signals, for example, one satellite signal received by the first array element and another satellite signal received by the fourth array element. After low-noise amplification of the two satellite signals, two directional signals can be obtained. The line connecting the two array elements corresponding to the two directional signals is taken as the baseline, and the dashed line in FIG. 1 represents the baseline. Figure 3 Figure 3 In another optional embodiment, other frequency points of two array elements in the array antenna module can be used as directional array elements. The line connecting the two directional array elements is the baseline, and the satellite signals through the two directional array elements are only used to acquire two directional signals.

[0063] In another optional embodiment, other frequency points of two array elements in the array antenna module can be used as directional array elements. The line connecting the two directional array elements is the baseline, and the satellite signals through the two directional array elements are only used to acquire two directional signals.

[0064] Step 200, determining a reference reference angle and a direction angle of a plurality of satellites in a geocentric coordinate system according to the directional signals and the baseline, wherein the reference reference angle is the included angle between the baseline and the true north direction.

[0065] ​The true north direction is the north direction of the true meridian, also called the positive north direction. The true north direction is the direction of the north end of the true meridian passing through a certain point on the earth's surface. The control terminal can obtain the reference datum angle according to the obtained baseline and the true north direction. The geocentric coordinate system is a coordinate system with the earth's center as the coordinate origin. It usually refers to the Earth Centered Earth Fixed (ECEF) coordinate system. The control terminal can obtain the direction angles of multiple satellites in the geocentric coordinate system by positioning and solving the obtained directional signals. The positioning and solving is usually also called PVT solving, where P is position, V is velocity, and T is time. The embodiment does not make any limitation on the specific method of positioning and solving, as long as the direction angles of multiple satellites in the geocentric coordinate system can be obtained.

[0066] Step 300: determining target attitude information according to the reference datum angle.

[0067] The target attitude information includes three values (p, y, r), where p represents the pitch angle, y represents the yaw angle, and r represents the roll angle. The control terminal can determine the target attitude information of the array antenna module in the carrier coordinate system according to the determined reference datum angle, where the carrier coordinate system is a coordinate system with the center of the array antenna module as the coordinate origin.

[0068] Step 400: determining direction information according to the direction angles of multiple satellites in the geocentric coordinate system, the target attitude information, and the reference datum angle.

[0069] The direction information refers to information that can represent the direction of multiple satellite signals. The control terminal can obtain the direction information according to the obtained direction angles of multiple satellites in the geocentric coordinate system, the target attitude information, and the reference datum angle. The embodiment does not make any limitation on the specific method of determining the direction information according to the direction angles of multiple satellites in the geocentric coordinate system, the target attitude information, and the reference datum angle, as long as the function can be realized.

[0070] Step 500: obtaining a beam signal according to the received preprocessed satellite signal and the direction information.

[0071] After determining the direction information of multiple satellite signals, the control terminal performs matrix operations on the pre-processed satellite signals received from multiple satellites and this direction information to obtain multiple beam-steering signals. Pre-processed satellite signals are satellite signals received by the array antenna module after a series of processing. The control terminal performs anti-interference processing on each of the multiple beam-steering signals, generating accurate nulls in the direction of interference, thereby obtaining interference-free beam signals. The control terminal performs anti-interference processing on each of the multiple beam-steering signals independently and independently of each other. This results in a beam signal with higher signal strength and greater anti-interference capabilities.

[0072] In an optional embodiment, the pre-processed satellite signal can be expressed as (x1, x2, ... x N ), N is the number of pre-processed satellite signals; the direction information can be expressed as (a1, a2, ...a M ), where M is the number of directional information. Matrix operations are performed on the pre-processed satellite signal and the directional information to obtain M groups of beam pointing signals.

[0073] The beam pointing anti-interference method provided in the embodiments of the present application is applied to a satellite navigation system. This method can obtain the directional information required for beam pointing anti-interference technology within the satellite navigation system, without relying on external inertial navigation, satellite navigation, or other systems to obtain directional information. Thus, a satellite navigation system using this method can be installed in any environment, regardless of whether inertial navigation, satellite navigation, or other systems exist in that environment, and has high applicability. Furthermore, a satellite navigation system using this method does not require external inertial navigation, satellite navigation, or other systems, which reduces the complexity and cost of the satellite navigation system. Furthermore, the satellite navigation system has a simple design, simple algorithm implementation, and occupies a small installation space.

[0074] See Figure 4 In one embodiment, a possible implementation of step 400 of "determining direction information based on the direction angles of multiple satellites in the geocentric coordinate system, target attitude information, and a reference reference angle" includes:

[0075] Step 410: Perform coordinate transformation on the azimuth angles of the multiple satellites in the geocentric coordinate system according to the target attitude information and the reference reference angle to obtain the azimuth angles of the multiple satellites in the array antenna center coordinate system.

[0076] The array antenna center coordinate system refers to a three-dimensional coordinate system with the antenna plane of the array antenna module as the horizontal plane. The target attitude information is the attitude information of the array antenna module in the carrier coordinate system. Based on the target attitude information and the reference reference angle, the control terminal can convert the azimuth angles of multiple satellites in the underground coordinate system into the azimuth angles in the array antenna center coordinate system. Assume that the azimuth angles of multiple satellites in the geocentric coordinate system can be expressed as (α1, β1), (α2, β2), ... (α H , β H ), where H is the number of satellites, α is the elevation angle in the geocentric coordinate system, and β is the azimuth angle in the geocentric coordinate system. The azimuth angles of multiple satellites in the geocentric coordinate system are converted to the coordinates of the center coordinate system of the array antenna, and the obtained azimuth angles of multiple satellites in the geocentric coordinate system can be expressed as (p1, y1), (p2, y2), ... (p H ,y H ), where p is the elevation angle in the center coordinate system of the array antenna, and y is the azimuth angle in the center coordinate system of the array antenna. This embodiment does not impose any restrictions on the specific coordinate conversion method, as long as it can achieve its function.

[0077] Step 420: Convert the direction angles of the multiple satellites in the array antenna center coordinate system into direction vectors to obtain direction information.

[0078] The control terminal converts the direction angles of the multiple satellites in the array antenna center coordinate system into direction vectors, that is, converts each direction angle into a direction vector, and the multiple direction vectors obtained are the direction information. Specifically, the direction angles (p1, y1), (p2, y2), ... (p H ,y H ) to convert the direction vector to obtain the direction vector d1, d2…d H , where d=[w1,w2…w H ], w represents weight, T represents transpose, and both d and w are complex numbers. This embodiment does not impose any restrictions on the method of converting the direction angle into the direction vector, as long as its function can be achieved.

[0079] See Figure 5 In one embodiment, a possible implementation of step 300 of "determining target posture information according to the reference base angle" includes:

[0080] Step 310: Determine initial attitude information based on the true north direction.

[0081] The description of the true north direction can refer to the specific description in the above embodiments, which will not be repeated here. The initial attitude information refers to the attitude information of the array antenna module in the carrier coordinate system. The initial attitude information includes the pitch angle, the heading angle, and the roll angle. The inertial navigation in the control terminal can determine the initial attitude information of the array antenna module according to the true north direction.

[0082] Step 320: correcting the initial attitude information according to the reference reference angle to obtain target attitude information.

[0083] The description of the reference reference angle and the target attitude information can refer to the description in the above embodiments, which will not be repeated here. The control terminal can correct the initial attitude information in the carrier coordinate system according to the reference reference angle to obtain the target attitude information. The present embodiment does not make any limitation on the specific correction method, as long as the function can be realized.

[0084] Please refer to Figure 6 In one embodiment, the beam pointing anti-interference method further includes:

[0085] Step 600: judging whether the directional signal is interfered.

[0086] When the directional signal is interfered, the directional signal will be invalid, and the direction angle of the multiple satellites in the earth-centered coordinate system cannot be obtained. Therefore, the control terminal device can detect the directional signal in real time, and judge whether the directional signal is interfered.

[0087] Please refer to Figure 7 In one embodiment, one possible implementation of step 600 "judging whether the directional signal is interfered" includes:

[0088] Step 601: performing autocorrelation operation on each directional signal to obtain multiple interference detection values.

[0089] The control terminal can obtain multiple directional signals, each of which has multiple data points. The control terminal performs autocorrelation operation on each directional signal, that is, calculates the multiple data points in each directional signal, and can obtain multiple interference detection values. Specifically, one directional signal can be represented as K(k1, k2,... k n ), where n is the number of data points in the directional signal, and the interference detection value PW corresponding to the directional signal is represented as that is, the square of each data point in the directional signal is accumulated and then averaged. The same method is used to perform autocorrelation operation on other directional signals, and multiple interference detection values can be obtained.

[0090] Step 602: judging whether there is an interference detection value greater than a preset threshold value in the multiple interference detection values.

[0091] Step 603, if the directional signal exists, interference exists.

[0092] The preset threshold value can be set by the staff according to the actual experience and stored in the memory of the control terminal. The control terminal compares the obtained plurality of interference detection values with the preset threshold value to determine whether there is an interference detection value greater than the preset threshold value in the plurality of interference detection values. If the plurality of interference detection values are all less than or equal to the preset threshold value, it indicates that the plurality of directional signals do not exist interference. If there is an interference detection value greater than the preset threshold value in the plurality of interference detection values, it indicates that the directional signal exists interference.

[0093] Step 610, if the directional signal exists, interference exists, the zero positioning signal is determined according to the preprocessed satellite signal.

[0094] Step 620, according to the zero positioning signal, the direction angle of the plurality of satellites in the earth-centered coordinate system is determined.

[0095] After determining that the directional signal exists interference, the direction angle of the plurality of satellites in the earth-centered coordinate cannot be obtained. Therefore, when the control terminal determines that the directional signal exists interference, the zero positioning signal is determined according to the preprocessed satellite signal, and the direction angle of the plurality of satellites in the earth-centered coordinate system is determined using the zero positioning signal. The zero positioning signal determined according to the preprocessed satellite signal is a signal after anti-interference processing, and the direction angle of the plurality of satellites in the earth-centered coordinate system determined according to the zero positioning signal is more accurate.

[0096] In this embodiment, when the directional signal exists interference, the direction angle of the plurality of satellites in the earth-centered coordinate system is determined using the zero positioning signal, and the direction information can be obtained by using the characteristics that the inertial navigation in the control terminal is not affected by interference and can maintain stable output of target attitude information within a certain time. In this way, accurate direction information can be obtained when the directional signal exists interference, so that the beam pointing anti-interference method has high practicability and reliability, thereby improving the practicability and reliability of the satellite navigation system.

[0097] Please refer to Figure 8 In one embodiment, before step 500 "obtaining the beam signal according to the received preprocessed satellite signal and direction information", the beam pointing anti-interference method further comprises:

[0098] Step 501, obtaining an initial satellite signal.

[0099] The initial satellite signal refers to the satellite signal received by the array antenna module. The number of initial satellite signals is multiple. The initial satellite signal is obtained in real time by the array antenna module. The embodiment does not make any limitation on the method of obtaining the initial satellite signal as long as it can realize its function.

[0100] Step 502, frequency conversion and conversion processing on the initial satellite signal to obtain a zero frequency baseband signal.

[0101] The control terminal can first perform low-noise amplification processing on the initial satellite signal to obtain an amplified signal; then perform analog down-conversion on the amplified signal to obtain an intermediate frequency signal; then perform analog-to-digital conversion on the intermediate frequency signal to convert the analog intermediate frequency signal into a digital signal; and finally perform digital down-conversion on the digital signal to obtain a zero frequency baseband signal. The control terminal can include a low-noise amplifier, a radio frequency channel (down-conversion), an analog-to-digital converter, and a digital down-conversion module. The low-noise amplifier performs low-noise amplification processing on the initial satellite signal to obtain an amplified signal; the radio frequency channel (down-conversion) performs analog down-conversion on the amplified signal to obtain an intermediate frequency signal; the analog-to-digital converter converts the intermediate frequency signal into a digital signal; and the digital down-conversion module performs digital down-conversion on the digital signal to obtain a zero frequency baseband signal.

[0102] Step 503, channel equalization processing on the zero frequency baseband signal to obtain a pre-processed satellite signal.

[0103] After obtaining multiple zero frequency baseband signals, the control terminal performs channel equalization processing thereon, that is, eliminates or weakens the amplitude and phase errors introduced by the multiple zero frequency baseband signals in the transmission process, to obtain multiple pre-processed satellite signals with consistent amplitude and phase.

[0104] In this embodiment, the control terminal obtains an accurate pre-processed satellite signal after a series of processing on the obtained initial satellite signal, and can obtain an accurate beam signal according to the pre-processed satellite signal and the direction information. This can improve the reliability and practicability of the beam pointing anti-interference method.

[0105] See Figure 9 In one embodiment, one possible implementation of "determining a null positioning signal according to the pre-processed satellite signal" in step 610 includes:

[0106] Step 611, anti-interference processing on the pre-processed satellite signal to obtain a null signal.

[0107] When the directional signal is interfered, the control terminal performs anti-interference processing on the pre-processed satellite signal, that is, generates an accurate null in the interference direction to obtain a null signal. The null signal is only the signal after anti-interference processing and does not have directional information.

[0108] Step 612, frequency conversion and conversion processing on the null signal to obtain a null positioning signal.

[0109] The control terminal first performs digital up-conversion on the nulling signal to obtain a nulling intermediate frequency signal; performs digital-to-analog conversion on the nulling intermediate frequency signal to obtain a nulling analog signal; and finally performs radio frequency up-conversion on the nulling analog signal to obtain a nulling positioning signal. The control terminal can include a digital up-conversion module, a digital-to-analog converter, and a radio frequency channel (up-conversion). The digital up-conversion module performs digital up-conversion on the nulling signal to obtain a nulling intermediate frequency signal; the digital-to-analog converter performs digital-to-analog conversion on the nulling intermediate frequency signal to obtain a nulling analog signal; and the radio frequency channel (up-conversion) performs up-conversion on the nulling analog signal to obtain a nulling positioning signal.

[0110] In this embodiment, through a series of processing on the pre-processed satellite signal, a nulling positioning signal after interference elimination can be finally obtained, and the nulling positioning signal is used to obtain accurate direction angles of multiple satellites in the geocentric coordinate system.

[0111] It should be understood that although each step in the flowchart in the figure is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the figure can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0112] See Figure 10 An embodiment of the present application provides a beam pointing anti-interference device 10, which comprises an acquisition module 100, a direction angle determination module 200, a target attitude information determination module 300, a direction information determination module 400, and a beam signal determination module 500. Wherein,

[0113] The acquisition module 100 is configured to acquire at least two directional signals and a baseline.

[0114] The direction angle determination module 200 is configured to determine a reference reference angle and direction angles of multiple satellites in a geocentric coordinate system according to the directional signals and the baseline, wherein the reference reference angle is an included angle between the baseline and the true north direction.

[0115] The target attitude information determination module 300 is configured to determine target attitude information according to the reference reference angle.

[0116] The direction information determination module 400 is configured to determine direction information according to the direction angles of multiple satellites in the geocentric coordinate system, the target attitude information, and the reference reference angle.

[0117] The beam signal determination module 500 is configured to determine the beam signal according to the received preprocessed satellite signal and the direction information.

[0118] In one embodiment, the direction information determination module 400 comprises:

[0119] The direction angle determination unit is configured to perform coordinate conversion on the direction angles of the plurality of satellites in the earth-centered coordinate system according to the target attitude information and the reference reference angle, to obtain the direction angles of the plurality of satellites in the array antenna center coordinate system.

[0120] The direction information determination unit is configured to perform direction vector conversion on the direction angles of the plurality of satellites in the array antenna center coordinate system, to obtain the direction information.

[0121] In one embodiment, the target attitude information determination module 300 comprises:

[0122] The first determination unit is configured to determine the initial attitude information according to the true north direction.

[0123] The second determination unit is configured to correct the initial attitude information according to the reference reference angle, to obtain the target attitude information.

[0124] In one embodiment, the beam pointing anti-interference device 10 further comprises:

[0125] The judgment module is configured to judge whether the directional signal is interfered.

[0126] The null positioning signal determination module is configured to determine the null positioning signal according to the preprocessed satellite signal if the directional signal is interfered.

[0127] The direction angle determination module is configured to determine the direction angles of the plurality of satellites in the earth-centered coordinate system according to the null positioning signal.

[0128] In one embodiment, the judgment module comprises:

[0129] The third determination unit is configured to perform autocorrelation operation on each directional signal, to obtain a plurality of interference detection values.

[0130] The judgment unit is configured to judge whether there is an interference detection value greater than a preset threshold value in the plurality of interference detection values.

[0131] The fourth determination unit is configured to determine that the directional signal is interfered if there is.

[0132] In one embodiment, the judgment unit is specifically configured to perform anti-interference processing on the preprocessed satellite signal, to obtain a null signal; and perform frequency conversion and conversion processing on the null signal, to obtain the null positioning signal.

[0133] In one embodiment, the beam pointing anti-jamming apparatus 10 further comprises:

[0134] An acquisition sub-module is configured to acquire the initial satellite signal.

[0135] A first signal processing module is configured to perform frequency conversion and conversion processing on the initial satellite signal to obtain a zero-frequency baseband signal.

[0136] A second signal processing module is configured to perform channel equalization processing on the zero-frequency baseband signal to obtain a pre-processed satellite signal.

[0137] The specific limitations of the above-mentioned beam pointing anti-jamming apparatus 10 can be referred to the limitations of the beam pointing anti-jamming method described above, which will not be repeated here. Each module in the beam pointing anti-jamming apparatus 10 can be realized by software, hardware and their combinations. The above-mentioned apparatus, modules or units can be embedded in or independent of the processor in the control terminal in hardware form, or stored in the memory in the control terminal in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned apparatus or module.

[0138] Please refer to Figure 11 In one embodiment, a control terminal is provided, which can include a server, and the internal structure diagram thereof can be as shown in Figure 11 The control terminal includes a processor, a memory, a network interface and a database connected through a system bus. The processor of the control terminal is configured to provide computing and control capabilities. The memory of the control terminal includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium. The network interface of the control terminal is configured to communicate with external terminals through network connection. The control terminal is executed by the processor to implement a beam pointing anti-jamming method.

[0139] Those skilled in the art can understand that Figure 11 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the control terminal to which the scheme of the present application is applied. The specific control terminal can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0140] In one embodiment, the present application provides a control terminal including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the following steps:

[0141] Acquire at least two directional signals and a baseline;

[0142] determining a reference angle and direction angles of the plurality of satellites in the earth-centered coordinate system according to the directional signals and the baseline, wherein the reference angle is an angle between the baseline and a true north direction;

[0143] determining the target attitude information according to the reference angle;

[0144] determining the direction information according to the direction angles of the plurality of satellites in the earth-centered coordinate system, the target attitude information and the reference angle;

[0145] obtaining the beam signal according to the received preprocessed satellite signal and the direction information.

[0146] In one embodiment, the processor further implements the following steps when executing the computer program: performing coordinate conversion on the direction angles of the plurality of satellites in the earth-centered coordinate system according to the target attitude information and the reference angle to obtain direction angles of the plurality of satellites in an array antenna center coordinate system; and performing direction vector conversion on the direction angles of the plurality of satellites in the array antenna center coordinate system to obtain the direction information.

[0147] In one embodiment, the processor further implements the following steps when executing the computer program: determining initial attitude information according to the true north direction; and correcting the initial attitude information according to the reference angle to obtain the target attitude information.

[0148] In one embodiment, the processor further implements the following steps when executing the computer program: determining whether the directional signals are interfered; if the directional signals are interfered, determining a nulling positioning signal according to the preprocessed satellite signal; and determining the direction angles of the plurality of satellites in the earth-centered coordinate system according to the nulling positioning signal.

[0149] In one embodiment, the processor further implements the following steps when executing the computer program: performing autocorrelation operation on each directional signal to obtain a plurality of interference detection values; determining whether there is an interference detection value greater than a preset threshold value in the plurality of interference detection values; and if there is, determining that the directional signals are interfered.

[0150] In one embodiment, the processor further implements the following steps when executing the computer program: performing anti-interference processing on the preprocessed satellite signal to obtain a nulling signal; and performing frequency conversion and conversion processing on the nulling signal to obtain the nulling positioning signal.

[0151] In one embodiment, the processor further implements the following steps when executing the computer program: obtaining an initial satellite signal; performing frequency conversion and conversion processing on the initial satellite signal to obtain a zero-frequency baseband signal; and performing channel equalization processing on the zero-frequency baseband signal to obtain the preprocessed satellite signal.

[0152] In one embodiment, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the following steps:

[0153] acquiring at least two directional signals and a baseline;

[0154] determining a reference reference angle and direction angles of the plurality of satellites in a geocentric coordinate system according to the directional signals and the baseline, wherein the reference reference angle is an included angle between the baseline and a true north direction;

[0155] determining target attitude information according to the reference reference angle;

[0156] determining direction information according to the direction angles of the plurality of satellites in the geocentric coordinate system, the target attitude information and the reference reference angle;

[0157] obtaining a beam signal according to the received preprocessed satellite signal and the direction information.

[0158] In one embodiment, the computer program, when executed by the processor, further implements the following steps: performing coordinate conversion on the direction angles of the plurality of satellites in the geocentric coordinate system according to the target attitude information and the reference reference angle to obtain direction angles of the plurality of satellites in an array antenna center coordinate system; and performing direction vector conversion on the direction angles of the plurality of satellites in the array antenna center coordinate system to obtain the direction information.

[0159] In one embodiment, the computer program, when executed by the processor, further implements the following steps: determining initial attitude information according to the true north direction; and correcting the initial attitude information according to the reference reference angle to obtain the target attitude information.

[0160] In one embodiment, the computer program, when executed by the processor, further implements the following steps: determining whether the directional signals are interfered; if the directional signals are interfered, determining a nulling positioning signal according to the preprocessed satellite signal; and determining the direction angles of the plurality of satellites in the geocentric coordinate system according to the nulling positioning signal.

[0161] In one embodiment, the computer program, when executed by the processor, further implements the following steps: performing autocorrelation operation on each directional signal to obtain a plurality of interference detection values; determining whether there is an interference detection value greater than a preset threshold value in the plurality of interference detection values; and if there is, determining that the directional signals are interfered.

[0162] In one embodiment, the computer program, when executed by the processor, further implements the following steps: performing anti-interference processing on the preprocessed satellite signal to obtain a nulling signal; and performing frequency conversion and conversion processing on the nulling signal to obtain the nulling positioning signal.

[0163] In one embodiment, the computer program, when executed by the processor, further implements the following steps: acquiring an initial satellite signal; performing frequency conversion and conversion processing on the initial satellite signal to obtain a zero-frequency baseband signal; and performing channel equalization processing on the zero-frequency baseband signal to obtain the preprocessed satellite signal.

[0164] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0165] Any combination of the technical features of the above-mentioned embodiments can be combined. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0166] The above-mentioned embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A beam pointing anti-interference method, characterized in that: Applied to a satellite navigation system, the satellite navigation system includes a beam pointing anti-interference module, the beam pointing anti-interference module includes a control terminal, the control terminal includes an inertial navigation system, and the method includes: Acquire at least two directional signals and a baseline; Determining a reference reference angle and direction angles of multiple satellites in a geocentric coordinate system based on the directional signal and the baseline, wherein the reference reference angle is the angle between the baseline and true north; Determining target posture information according to the reference reference angle; Determining direction information according to the direction angles of the plurality of satellites in the geocentric coordinate system, the target attitude information, and the reference reference angle; A beam signal is obtained according to the received pre-processed satellite signal and the direction information.

2. The method according to claim 1, characterized in that Determining the direction information according to the direction angles of the plurality of satellites in the geocentric coordinate system, the target attitude information, and the reference reference angle comprises: Performing coordinate conversion on the azimuth angles of the plurality of satellites in the geocentric coordinate system according to the target attitude information and the reference reference angle to obtain the azimuth angles of the plurality of satellites in the array antenna center coordinate system; The direction angles of the plurality of satellites in the array antenna center coordinate system are converted into direction vectors to obtain the direction information.

3. The method according to claim 1, characterized in that The determining target posture information according to the reference reference angle includes: determining initial attitude information according to the true north direction; The initial posture information is corrected according to the reference reference angle to obtain the target posture information.

4. The method according to claim 1, wherein Also includes: Determining whether there is interference with the directional signal; If there is interference in the directional signal, determining a zeroing positioning signal based on the pre-processed satellite signal; The direction angles of the plurality of satellites in the geocentric coordinate system are determined according to the zeroing positioning signal.

5. The method according to claim 4, characterized in that The determining whether the directional signal has interference includes: performing an autocorrelation operation on each of the directional signals to obtain a plurality of interference detection values; Determining whether there is an interference detection value greater than a preset threshold value among the multiple interference detection values; If yes, then there is interference in the directional signal.

6. The method according to claim 4, characterized in that Determining the zeroing positioning signal according to the pre-processed satellite signal includes: performing anti-interference processing on the pre-processed satellite signal to obtain a zeroing signal; The zeroing signal is subjected to frequency conversion and conversion processing to obtain the zeroing positioning signal.

7. The method according to claim 1, characterized in that Before obtaining the beam signal according to the received pre-processed satellite signal and the direction information, the method further includes: Acquire initial satellite signals; Frequency conversion and transformation processing are performed on the initial satellite signal to obtain a zero-frequency baseband signal; Channel equalization processing is performed on the zero-frequency baseband signal to obtain the preprocessed satellite signal.

8. A beam pointing anti-interference device, characterized in that: Applied to a satellite navigation system, the satellite navigation system includes a beam pointing anti-interference module, the beam pointing anti-interference module includes a control terminal, the control terminal includes an inertial navigation, and the device includes: An acquisition module, configured to acquire at least two directional signals and a baseline; a direction angle determination module, configured to determine a reference reference angle and the direction angles of multiple satellites in geocentric coordinates based on the directional signal and the baseline, wherein the reference reference angle is the angle between the baseline and the true north direction; A target attitude information determination module, configured to determine target attitude information based on the reference reference angle; a direction information determination module, configured to determine direction information based on the direction angles of the plurality of satellites in the geocentric coordinate system, the target attitude information, and the reference reference angle; The beam signal determination module is used to obtain the beam signal according to the received pre-processed satellite signal and the direction information.

9. A control terminal comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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