Satellite navigation interference correction method and system

Abstract

The present invention discloses a satellite navigation interference correction method and system. The satellite navigation interference correction method comprises the following steps: acquiring and preprocessing satellite navigation real-time monitoring data and then analyzing it; judging whether the current satellite navigation is interfered with according to the satellite navigation signal quality index; formulating corresponding satellite navigation interference correction measures when the satellite navigation is interfered with; judging whether the current satellite navigation interference is effectively corrected according to the satellite navigation signal quality index; analyzing the satellite navigation interference correction strength to implement regular maintenance of the satellite navigation interference correction method. The present invention implements regular maintenance of the satellite navigation interference correction method by analyzing the satellite navigation interference correction strength, thereby judging whether the current satellite navigation interference correction method needs to be optimized according to the satellite navigation interference correction strength, thereby improving the satellite navigation interference correction strength, and solving the problem of low satellite navigation interference correction strength in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation interference technology, and in particular to a satellite navigation interference correction method and system. Background Art

[0002] With the rapid development of science and technology, satellite navigation has become an indispensable part of modern society. Satellite navigation uses a series of satellites orbiting the earth to determine the location of any place by sending precise signals. Today, satellite navigation technology has gradually become civilian and is widely used in transportation, aviation, navigation and other fields, providing important support for the development and progress of human society. Satellite navigation interference refers to malicious or unintentional interference, which causes the receiving equipment to be unable to accurately receive and decode navigation signals. This interference may come from natural factors, technical failures or malicious human intervention. The background of satellite navigation interference is closely related to technological development. Nowadays, people are paying more and more attention to the security and stability of the system. Therefore, it is particularly important to prevent and resolve satellite navigation interference.

[0003] At present, there are many aspects of research on satellite navigation interference. For example, Chinese invention patent CN109507698A discloses a satellite navigation anti-interference steering vector automatic correction system, which is implemented by the following technical scheme: a multi-channel down-conversion radio frequency module down-converts the received N-channel array antenna radio frequency signals into N-channel intermediate frequency digital signal column vectors, and divides them into two channels, one of which is sent to the DBF processing module for weighted processing, and the other is sent to the steering vector correction processing module; when the steering vector correction processing module sends a correction control instruction to the satellite navigation digital receiver and the DBF processing module, the satellite navigation digital receiver and the DBF processing module cooperate with the steering vector correction processing module to perform steering vector correction processing, and correlate the reconstructed local reference signal of the kth satellite with the N-channel intermediate frequency digital signals to perform despreading processing, calculate the array steering vector error complex vector in the direction of the kth satellite and correct the target steering vector; for example, Chinese invention patent CN112240957A discloses a method for correcting antenna amplitude and phase characteristics in satellite navigation interference direction finding, and realizes antenna amplitude and phase characteristic correction through subspace projection and compressed sensing feature extraction. Antenna amplitude and phase characteristic calibration and correction is the main way to correct the error introduced by antenna engineering error in satellite navigation interference direction finding. The traditional calibration and correction method requires the construction of a complex calibration environment, which is time-consuming and cannot achieve correction while interfering with direction finding. In the satellite navigation interference direction finding, the present invention uses spatial projection to filter out the interference signal, and performs compressed sensing feature extraction on the signal after filtering out the interference to obtain the antenna amplitude and phase characteristics, thereby achieving the correction of antenna amplitude and phase characteristics while interfering with direction finding in an interference environment.

[0004] However, with the development of technology, satellite navigation jammers may use more complex and difficult to identify interference signals, which makes the identification and suppression of satellite navigation interference more difficult. Factors such as weather and terrain may affect the signal transmission of satellite navigation, reducing its ability to respond to interference. At the same time, the antenna design of satellite navigation may have defects or deficiencies, reducing its ability to resist interference signals, resulting in a decrease in the strength of satellite navigation interference correction.

[0005] Therefore, in summary, the prior art has the problem of low satellite navigation interference correction strength. Summary of the invention

[0006] The embodiments of the present application provide a satellite navigation interference correction method and system, thereby solving the problem of low satellite navigation interference correction strength in the prior art and improving the satellite navigation interference correction strength.

[0007] The embodiment of the present application provides a satellite navigation interference correction method, comprising the following steps: after obtaining satellite navigation real-time monitoring data, preprocessing the satellite navigation real-time monitoring data, analyzing the preprocessed data, and obtaining a satellite navigation real-time monitoring accuracy index, wherein the satellite navigation real-time monitoring accuracy index is used to evaluate the accuracy of satellite navigation monitoring by a satellite navigation receiving device; obtaining a satellite navigation signal quality index based on the satellite navigation real-time monitoring data analysis, when the satellite navigation signal quality index is lower than a first threshold value, it indicates that the current satellite navigation is subject to interference, and the satellite navigation signal quality index is used to evaluate the possibility that the currently received satellite navigation signal is subject to interference; when it is determined that the current satellite navigation is subject to interference, in-depth analysis and mining of the current satellite navigation real-time monitoring data are performed, and corresponding satellite navigation interference correction measures are formulated; after completing the satellite navigation interference correction, analyzing the satellite navigation signal quality index again, when the satellite navigation signal quality index is higher than the first threshold value, it indicates that the current satellite navigation interference is effectively corrected; analyzing the satellite navigation interference correction strength to implement regular maintenance of the satellite navigation interference correction method, and when the satellite navigation interference correction strength is lower than a second threshold value, optimizing the satellite navigation interference correction method.

[0008] Furthermore, the specific method for preprocessing the satellite navigation real-time monitoring data is: detecting missing data and abnormal data of the satellite navigation real-time monitoring data, filling the missing data by interpolation, and correcting the abnormal data; decoding the satellite navigation real-time monitoring data and converting it into a form for subsequent further analysis; reducing the interference caused by multipath propagation in the satellite navigation real-time monitoring data by filtering, and removing noise and bad data points by smoothing; converting the above processed satellite navigation real-time monitoring data to the same unit and standardizing it; storing the preprocessed satellite navigation real-time monitoring data in a database.

[0009] Furthermore, the specific method for deriving the satellite navigation real-time monitoring accuracy index is: obtaining the total number of obstacles encountered during the propagation of satellite navigation signals, the number of satellites received by the receiving device and the calibration period of the receiving device, and constructing a satellite navigation monitoring accuracy index analysis formula based thereon; and analyzing the satellite navigation monitoring accuracy index according to the satellite navigation monitoring accuracy index analysis formula.

[0010] Furthermore, the specific analysis method of the satellite navigation signal quality index is: according to the real-time monitoring data of satellite navigation, the signal strength, signal-to-noise ratio and bit error rate of the satellite navigation signal are obtained, and a satellite navigation signal quality index calculation formula is constructed based on the data; the satellite navigation signal quality index is calculated according to the satellite navigation signal quality index calculation formula; the satellite navigation signal quality index calculation formula is: Where ZL is the satellite navigation signal quality index, XQD is the satellite navigation signal strength, XZB is the signal-to-noise ratio, WML is the bit error rate, and α 1 is the weight ratio of signal strength to satellite navigation signal quality index, α 2 is the weight ratio of the signal-to-noise ratio to the satellite navigation signal quality index, α 3 is the weight ratio of bit error rate to satellite navigation signal quality index.

[0011] Furthermore, the specific method for in-depth analysis and mining of the current satellite navigation real-time monitoring data is: comparing and analyzing the interference data at different locations in the satellite navigation real-time monitoring data to determine the location range of the interference source; analyzing and obtaining the satellite navigation type assessment index and the satellite navigation interference intensity based on the preprocessed satellite navigation real-time monitoring data; and taking different satellite navigation interference correction measures based on the satellite navigation interference type index and the satellite navigation interference intensity.

[0012] Furthermore, the specific analysis method of the satellite navigation type assessment index is: obtaining the interference duration, signal-to-noise ratio and bit error rate of the satellite navigation interference, and constructing a satellite navigation type assessment index analysis formula based thereon; obtaining the satellite navigation type assessment index according to the satellite navigation type assessment index analysis formula, and the satellite navigation type assessment index is used to evaluate the type of current satellite navigation interference; when the satellite navigation type assessment index is higher than the third threshold, it indicates that the current satellite navigation type is intentional interference; when the satellite navigation type assessment index is lower than the third threshold, it indicates that the current satellite navigation type is natural interference.

[0013] Furthermore, the specific analysis method of the satellite navigation interference intensity is: obtaining the satellite navigation monitoring accuracy index, interference source power, satellite navigation signal power and transmission path loss, and constructing a satellite navigation interference intensity analysis formula based thereon; and analyzing the satellite navigation interference intensity according to the satellite navigation interference intensity analysis formula.

[0014] Furthermore, the specific method of taking different satellite navigation interference correction measures according to the satellite navigation interference type index and the satellite navigation interference intensity is: analyzing and obtaining the satellite navigation type evaluation index and the satellite navigation interference intensity based on the pre-processed satellite navigation real-time monitoring data; determining whether the current satellite navigation interference type is intentional interference or natural interference through the satellite navigation type evaluation index, and taking different correction strategies for different types of satellite navigation interference; determining whether further interference correction measures are needed according to the satellite navigation interference intensity; when the satellite navigation interference intensity is lower than the fourth threshold, it indicates that the current satellite navigation interference is mild interference and further interference correction measures are needed; when the satellite navigation interference intensity is higher than the fourth threshold, it indicates that the current satellite navigation interference is severe interference and no further interference correction measures are needed.

[0015] Furthermore, the specific analysis method of the satellite navigation interference correction strength is: obtaining the interference source frequency of the current satellite navigation, the satellite navigation interference correction response time and the satellite navigation correction completion time, and constructing a satellite navigation interference correction strength analysis formula based thereon; and analyzing the satellite navigation interference correction strength according to the satellite navigation interference correction strength analysis formula.

[0016] The embodiment of the present application provides a satellite navigation interference correction system, which includes: a data preprocessing module, an interference judgment module, a correction measure formulation module, a correction result judgment module and a correction intensity analysis module; wherein the data preprocessing module is used to obtain the satellite navigation real-time monitoring data, preprocess the satellite navigation real-time monitoring data, analyze the preprocessed data, and obtain the satellite navigation real-time monitoring accuracy index, and the satellite navigation real-time monitoring accuracy index is used to evaluate the accuracy of satellite navigation receiving equipment in satellite navigation monitoring; the interference judgment module is used to obtain the satellite navigation signal quality index according to the satellite navigation real-time monitoring data analysis, when the satellite navigation signal quality index is lower than the first threshold value, it indicates that the current satellite navigation is interfered with, and the satellite navigation signal quality index is lower than the first threshold value, indicating that the current satellite navigation is interfered with. The navigation signal quality index is used to evaluate the possibility that the currently received satellite navigation signal is interfered with; the correction measure formulation module is used to, when it is determined that the current satellite navigation is interfered with, conduct in-depth analysis and mining of the current satellite navigation real-time monitoring data, and formulate corresponding satellite navigation interference correction measures; the correction result judgment module is used to analyze the satellite navigation signal quality index again after completing the satellite navigation interference correction. When the satellite navigation signal quality index is higher than the first threshold, it indicates that the current satellite navigation interference has been effectively corrected; the correction strength analysis module is used to analyze the satellite navigation interference correction strength to implement regular maintenance of the satellite navigation interference correction method. When the satellite navigation interference correction strength is lower than the second threshold, the satellite navigation interference correction method is optimized.

[0017] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0018] 1. Regular maintenance of the satellite navigation interference correction method is achieved by analyzing the satellite navigation interference correction strength, so as to determine whether the current satellite navigation interference correction method needs to be optimized according to the satellite navigation interference correction strength, thereby improving the satellite navigation interference correction strength and solving the problem of low satellite navigation interference correction strength in the prior art.

[0019] 2. The satellite navigation signal quality index is obtained through real-time satellite navigation monitoring data analysis, and then it is judged whether the current satellite navigation is interfered according to the satellite navigation signal quality index, thereby realizing timely detection of satellite navigation interference and ensuring the quality and stability of satellite navigation.

[0020] 3. The satellite navigation interference intensity is obtained by analyzing the pre-processed satellite navigation real-time monitoring data, so as to determine whether further interference correction measures are needed based on the satellite navigation interference intensity, thereby achieving accurate judgment of the interference intensity and formulating targeted interference correction measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A flow chart of a satellite navigation interference correction method provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the structure of a satellite navigation interference correction system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The embodiments of the present application solve the problem of low satellite navigation interference correction intensity in the prior art by providing a satellite navigation interference correction method and system. The satellite navigation interference correction intensity is analyzed to achieve regular maintenance of the satellite navigation interference correction method, thereby determining whether the current satellite navigation interference correction method needs to be optimized based on the satellite navigation interference correction intensity, thereby improving the satellite navigation interference correction intensity.

[0024] The technical solution in the embodiment of the present application is to solve the problem of low satellite navigation interference correction strength. The overall idea is as follows:

[0025] The satellite navigation real-time monitoring data is obtained through the satellite navigation receiving device, the total number of obstacles encountered by the satellite navigation signal, the number of satellites receiving the signal of the receiving device and the calibration period of the receiving device are obtained, and the satellite navigation monitoring accuracy index is analyzed to pre-process the satellite navigation real-time monitoring data; the signal strength, signal-to-noise ratio and bit error rate of the satellite navigation signal are obtained, and the satellite navigation signal quality index is analyzed. When the satellite navigation signal quality index is lower than the first threshold, it means that the satellite navigation is interfered with; when it is determined that there is interference with the satellite navigation, the satellite navigation interference is deeply analyzed and mined, and the satellite navigation type evaluation index and the satellite navigation interference intensity are analyzed to obtain different satellite navigation interference correction measures according to the satellite navigation interference type index and the satellite navigation interference intensity; after completing the satellite navigation interference correction, the satellite navigation signal quality index is analyzed. When the satellite navigation signal quality index is higher than the first threshold, it means that the satellite navigation interference is effectively corrected; the satellite navigation interference correction intensity is analyzed to achieve regular maintenance and optimization of the satellite interference correction method. When the satellite navigation interference correction intensity is lower than the third threshold, it means that the satellite navigation interference correction intensity is low, and the satellite navigation interference correction method needs to be further optimized, so as to improve the satellite navigation interference correction intensity.

[0026] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] like Figure 1As shown, it is a flow chart of the satellite navigation interference correction method provided in an embodiment of the present application. The method is applied in a satellite navigation interference correction system, and the method includes the following steps: obtaining and preprocessing the satellite navigation real-time monitoring data and then analyzing it: after obtaining the satellite navigation real-time monitoring data, preprocessing the satellite navigation real-time monitoring data, analyzing the preprocessed data, and obtaining the satellite navigation real-time monitoring accuracy index. The satellite navigation real-time monitoring accuracy index is used to evaluate the accuracy of satellite navigation monitoring by the satellite navigation receiving device; judging whether the current satellite navigation is subject to interference: obtaining the satellite navigation signal quality index based on the satellite navigation real-time monitoring data analysis. When the satellite navigation signal quality index is lower than the first threshold value, it indicates that the current satellite navigation is subject to interference. The satellite navigation signal quality index is used to evaluate whether the currently received satellite navigation signal is subject to interference. possibility; when satellite navigation receives interference, formulate corresponding satellite navigation interference correction measures: when satellite navigation receives interference, formulate corresponding satellite navigation interference correction measures: after determining that the current satellite navigation receives interference, conduct in-depth analysis and mining of the current satellite navigation real-time monitoring data, and formulate corresponding satellite navigation interference correction measures; determine whether the current satellite navigation interference has been effectively corrected: after completing the satellite navigation interference correction, analyze the satellite navigation signal quality index again. When the satellite navigation signal quality index is higher than the first threshold, it means that the current satellite navigation interference has been effectively corrected; regularly maintain the satellite navigation interference correction method: analyze the satellite navigation interference correction intensity to implement regular maintenance of the satellite navigation interference correction method. When the satellite navigation interference correction intensity is lower than the second threshold, optimize the satellite navigation interference correction method.

[0028] In this embodiment, professional satellite navigation receiving equipment is used, such as a GPS receiver, a GLONASS receiver, a BeiDou receiver, etc., to monitor the received satellite navigation signal data in real time. The use of professional satellite navigation receiving equipment can provide real-time satellite navigation data such as signal strength, number of satellites, and location information.

[0029] Furthermore, the specific method for preprocessing the satellite navigation real-time monitoring data is: detecting missing data and abnormal data of the satellite navigation real-time monitoring data, filling the missing data with interpolation method, and correcting the abnormal data; decoding the satellite navigation real-time monitoring data, and converting it into a form for subsequent further analysis; reducing the interference caused by multipath propagation in the satellite navigation real-time monitoring data by filtering, and removing noise and bad data points by smoothing; converting the above processed satellite navigation real-time monitoring data to the same unit and standardizing it; storing the preprocessed satellite navigation real-time monitoring data in the database.

[0030] In this embodiment, the data quality check includes checking whether the signal strength is normal to ensure that a sufficient number of satellite signals are received to support the accuracy of satellite navigation interference monitoring; for missing data in the satellite navigation real-time monitoring data, linear interpolation, time series analysis and other methods can be used to fill in the missing data. For abnormal data, according to the type of abnormal data, decide to remove or correct the abnormal data. Extreme abnormal data will be removed, and non-extreme abnormal data will be corrected using the average value; the received signal in the satellite navigation real-time monitoring data is demodulated, de-jammed and other processing is performed to convert it into a form that can be used for analysis.

[0031] Furthermore, a specific method for deriving the satellite navigation real-time monitoring accuracy index is as follows: obtaining the total number of obstacles encountered during the propagation of satellite navigation signals, the number of satellites received by the receiving device and the calibration period of the receiving device, and constructing a satellite navigation monitoring accuracy index analysis formula based thereon; analyzing the satellite navigation monitoring accuracy index according to the satellite navigation monitoring accuracy index analysis formula.

[0032] In this embodiment, the satellite navigation monitoring accuracy index analysis formula is: Where ZQ is the satellite navigation monitoring accuracy index, ZAW is the total number of obstacles, WX is the number of receiving satellites, JZ is the calibration period of the receiving equipment, β 1 is the weight ratio of the total number of obstacles to the satellite navigation monitoring accuracy index, β 2 is the weight ratio of the number of received satellites to the satellite navigation monitoring accuracy index, β 3 β is the weight ratio of the calibration period of the receiving equipment to the satellite navigation monitoring accuracy index, and π is the pi. The satellite navigation monitoring accuracy index indicates that the higher the accuracy of satellite navigation receiving equipment in satellite navigation monitoring, the higher the accuracy of satellite navigation monitoring. 1 +β 2 +β 3 =1.

[0033] Furthermore, the specific analysis method of the satellite navigation signal quality index is as follows: according to the real-time monitoring data of satellite navigation, the signal strength, signal-to-noise ratio and bit error rate of the satellite navigation signal are obtained, and a satellite navigation signal quality index calculation formula is constructed based on the data; the satellite navigation signal quality index is calculated according to the satellite navigation signal quality index calculation formula; the satellite navigation signal quality index calculation formula is: Where ZL is the satellite navigation signal quality index, XQD is the satellite navigation signal strength, XZB is the signal-to-noise ratio, WML is the bit error rate, and α 1 is the weight ratio of signal strength to satellite navigation signal quality index, α 2 is the weight ratio of the signal-to-noise ratio to the satellite navigation signal quality index, α 3 is the weight ratio of the bit error rate to the satellite navigation signal quality index, α 1 +α2 +α 3 =1.

[0034] In this embodiment, real-time monitoring of the satellite navigation signal quality index can evaluate the availability and accuracy of the navigation signal and promptly discover whether the navigation system is interfered with; the higher the satellite navigation signal quality index, the higher the quality of the satellite navigation signal received by the current satellite navigation receiving device, and the less likely it is to be interfered with; the signal strength of the satellite navigation indicates the power level of the satellite signal received by the satellite navigation receiving device. When the satellite navigation signal is interfered with, the signal strength may decrease, causing the navigation signal receiving device to be unable to decode the signal normally; the signal-to-noise ratio is the ratio of signal power to background noise power. A higher signal-to-noise ratio generally indicates better signal quality, while a lower signal-to-noise ratio may indicate that the signal is interfered with. Monitoring the signal-to-noise ratio can help determine whether the satellite navigation signal is interfered with; the bit error rate is the proportion of errors generated by the receiver when decoding the signal. When the satellite navigation signal is interfered with, the bit error rate generally increases because the interference may cause the receiver to incorrectly decode the signal.

[0035] Furthermore, the specific method for in-depth analysis and mining of the current satellite navigation real-time monitoring data is: comparative analysis of interference data at different locations in the satellite navigation real-time monitoring data to determine the location range of the interference source; based on the preprocessed satellite navigation real-time monitoring data, analyzing and obtaining the satellite navigation type assessment index and satellite navigation interference intensity; taking different satellite navigation interference correction measures according to the satellite navigation interference type index and satellite navigation interference intensity.

[0036] In this embodiment, for different types of satellite navigation interference, interference correction measures need to be comprehensively considered and implemented in combination with actual conditions. It may be necessary to apply a combination of multiple technical means to improve the stability and reliability of satellite navigation. For natural interference, technical means such as optimizing receiver parameters and improving signal processing algorithms are usually adopted to reduce the impact of interference on the navigation system. For intentional interference, more active and effective interference monitoring and positioning, interference source shielding or removal, etc. may be needed to eliminate the interference source. Different levels of resources need to be allocated to deal with interference of different intensities. For minor interference, it may only be necessary to adjust the receiver parameters, while for severe interference, more technical and human resources may need to be used to solve it.

[0037] Furthermore, the specific analysis method of the satellite navigation type assessment index is: obtain the interference duration, signal-to-noise ratio and bit error rate of the satellite navigation interference, and construct a satellite navigation type assessment index analysis formula based thereon; analyze and obtain the satellite navigation type assessment index according to the satellite navigation type assessment index analysis formula, and the satellite navigation type assessment index is used to evaluate the type of current satellite navigation interference; when the satellite navigation type assessment index is higher than the third threshold, it indicates that the current satellite navigation type is intentional interference; when the satellite navigation type assessment index is lower than the third threshold, it indicates that the current satellite navigation type is natural interference.

[0038] In this embodiment, intentional interference usually causes a decrease in the signal-to-noise ratio and may cause a significant increase in the bit error rate of the navigation receiving device, and intentional interference usually has a long duration, which may last for several hours or even longer; the decrease in signal-to-noise ratio and increase in bit error rate caused by natural interference are relatively mild, usually not reaching the same level as intentional interference, and the duration of natural interference is usually short, which may correspond to the duration of a natural event; the satellite navigation type evaluation index analysis formula is: Where PG is the satellite navigation type evaluation index, CX is the interference duration, XZB is the signal-to-noise ratio, WML is the bit error rate, and χ 1 is the weight ratio of interference duration to satellite navigation type assessment index, χ 2 is the weight ratio of the signal-to-noise ratio to the satellite navigation type evaluation index, χ 3 is the weight ratio of the bit error rate to the satellite navigation type evaluation index, χ 1 +χ 2 +χ 3 =1.

[0039] Furthermore, a specific analysis method for satellite navigation interference intensity is: obtaining the satellite navigation monitoring accuracy index, interference source power, satellite navigation signal power and transmission path loss, and constructing a satellite navigation interference intensity analysis formula based thereon; and analyzing the satellite navigation interference intensity according to the satellite navigation interference intensity analysis formula.

[0040] In this embodiment, the satellite navigation interference intensity analysis formula is: Where GQD is the satellite navigation interference intensity, ZQ is the satellite navigation monitoring accuracy index, GL is the interference source power, XH is the satellite navigation signal power, SH is the transmission path loss, and δ 1 is the weight ratio of the satellite navigation monitoring accuracy index to the satellite navigation interference intensity, δ 2 is the weight ratio of the interference source power to the satellite navigation interference intensity, δ 3 is the weight ratio of satellite navigation signal power to satellite navigation interference intensity, δ 4is the weight ratio of transmission path loss to satellite navigation interference intensity, e is a natural constant; the higher the satellite navigation interference intensity, the more serious the current satellite navigation interference is, δ 1 +δ 2 +δ 3 +δ 4 =1.

[0041] Furthermore, the specific method of taking different satellite navigation interference correction measures according to the satellite navigation interference type index and the satellite navigation interference intensity is: according to the pre-processed satellite navigation real-time monitoring data, analyzing and obtaining the satellite navigation type evaluation index and the satellite navigation interference intensity; determining whether the current satellite navigation interference type is intentional interference or natural interference through the satellite navigation type evaluation index, and taking different correction strategies for different types of satellite navigation interference; determining whether further interference correction measures are needed according to the satellite navigation interference intensity; when the satellite navigation interference intensity is lower than the fourth threshold, it indicates that the current satellite navigation interference is mild interference and further interference correction measures are needed; when the satellite navigation interference intensity is higher than the fourth threshold, it indicates that the current satellite navigation interference is severe interference and no further interference correction measures are needed.

[0042] In this embodiment, for intentional interference, the location of the interference source is determined by signal positioning technology, and the interfered signal is filtered using signal processing technology to eliminate the interference signal and retain the valid signal. At the same time, spectrum analysis is performed to identify the frequency and characteristics of the interference signal for further interference correction. For natural interference, beamforming, adaptive filtering, etc. can be used to suppress the influence of multipath signals and improve the anti-interference ability of the navigation system. At the same time, weather environment monitoring can be carried out, and early warning of possible interference can be given to take corresponding measures to deal with it. Mild interference means that the interference signal has little impact on the satellite navigation system, which may cause a slight decrease in positioning accuracy, but It will not cause serious failure of the navigation system. Some simple corrective measures such as adjusting receiver parameters and optimizing signal processing algorithms can be considered to improve the anti-interference ability of the navigation system, but usually there is no need to take overly complex and emergency measures; serious interference means that the interference signal has a very serious impact on the navigation system, which may completely destroy the normal function of satellite navigation and make it impossible to use navigation services normally. For serious interference, it is necessary to immediately take emergency and effective interference correction measures including locating the interference source and shielding or removing it, reporting to relevant departments and requesting support, switching to the backup navigation system, suspending satellite navigation services, etc., so as to restore the normal operation of the satellite navigation system as soon as possible.

[0043] Furthermore, a specific analysis method for the satellite navigation interference correction strength is: obtaining the interference source frequency of the current satellite navigation, the satellite navigation interference correction response time and the satellite navigation correction completion time, and constructing a satellite navigation interference correction strength analysis formula based thereon; and analyzing the satellite navigation interference correction strength according to the satellite navigation interference correction strength analysis formula.

[0044] In this embodiment, the satellite navigation interference correction strength analysis formula is: Where JQD is the satellite navigation interference correction strength, PL is the interference source frequency, XSJ is the satellite navigation interference correction response time, WSJ is the satellite navigation interference correction completion time, and ε 1 is the weight ratio of the interference source frequency to the satellite navigation interference correction strength, ε 2 is the weight ratio of satellite navigation interference correction response time to satellite navigation interference correction strength, ε 3 It is the weight ratio of the satellite navigation interference correction completion time to the satellite navigation interference correction strength. The higher the satellite navigation interference correction strength is, the stronger the current satellite navigation interference correction capability is.

[0045] like Figure 2 As shown, it is a structural schematic diagram of the satellite navigation interference correction system provided in the embodiment of the present application. The satellite navigation interference correction system provided in the embodiment of the present application includes: a data preprocessing module, an interference judgment module, a correction measure formulation module, a correction result judgment module and a correction intensity analysis module; wherein the data preprocessing module is used to obtain the satellite navigation real-time monitoring data, preprocess the satellite navigation real-time monitoring data, analyze the preprocessed data, and obtain the satellite navigation real-time monitoring accuracy index, and the satellite navigation real-time monitoring accuracy index is used to evaluate the accuracy of satellite navigation receiving equipment in satellite navigation monitoring; the interference judgment module is used to analyze the satellite navigation real-time monitoring data to obtain the satellite navigation signal quality index. When the satellite navigation signal quality index is lower than the first threshold value, it indicates that the current When the satellite navigation is interfered with, the satellite navigation signal quality index is used to evaluate the possibility that the currently received satellite navigation signal is interfered with; the correction measure formulation module is used to conduct in-depth analysis and mining of the current satellite navigation real-time monitoring data after determining that the current satellite navigation is interfered with, and formulate corresponding satellite navigation interference correction measures; the correction result judgment module is used to analyze the satellite navigation signal quality index again after completing the satellite navigation interference correction. When the satellite navigation signal quality index is higher than the first threshold, it indicates that the current satellite navigation interference has been effectively corrected; the correction strength analysis module is used to analyze the satellite navigation interference correction strength to realize regular maintenance of the satellite navigation interference correction method. When the satellite navigation interference correction strength is lower than the second threshold, the satellite navigation interference correction method is optimized.

[0046] In summary, with the help of the above-mentioned technical scheme of the present invention, the satellite navigation interference correction method is regularly maintained by analyzing the satellite navigation interference correction strength, so as to judge whether the current satellite navigation interference correction method needs to be optimized according to the satellite navigation interference correction strength, thereby achieving the improvement of the satellite navigation interference correction strength.

[0047] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the specific device can be divided into different functional modules to complete all or part of the functions described above.

[0048] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0049] In several embodiments covered by the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, or it can be an electrical, mechanical or other form of connection.

[0050] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0051] In addition, each functional module in each embodiment of the present application can be implemented in the form of hardware or in the form of software functional modules. If these functional modules are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or part of the prior art that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a computer program product, which includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer program product is stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, a computer instruction can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. The available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)).

[0052] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A satellite navigation interference correction method, characterized in that: The following steps are involved: After obtaining the satellite navigation real-time monitoring data, preprocessing the satellite navigation real-time monitoring data, analyzing the preprocessed data, and obtaining a satellite navigation real-time monitoring accuracy index, wherein the satellite navigation real-time monitoring accuracy index is used to evaluate the accuracy of satellite navigation monitoring by the satellite navigation receiving device; deriving a satellite navigation signal quality index according to the real-time satellite navigation monitoring data analysis, wherein when the satellite navigation signal quality index is lower than a first threshold, it indicates that the current satellite navigation is subject to interference, and the satellite navigation signal quality index is used to assess the possibility that the currently received satellite navigation signal is subject to interference; When it is determined that the current satellite navigation is interfered with, the real-time monitoring data of the current satellite navigation is deeply analyzed and mined, and corresponding satellite navigation interference correction measures are formulated; After the satellite navigation interference correction is completed, the satellite navigation signal quality index is analyzed again. When the satellite navigation signal quality index is higher than the first threshold, it indicates that the current satellite navigation interference has been effectively corrected. Analyzing the satellite navigation interference correction strength to implement regular maintenance of the satellite navigation interference correction method, and optimizing the satellite navigation interference correction method when the satellite navigation interference correction strength is lower than a second threshold; The specific analysis method of the satellite navigation signal quality index is: According to the real-time monitoring data of satellite navigation, the signal strength, signal-to-noise ratio and bit error rate of the satellite navigation signal are obtained, and the calculation formula of the satellite navigation signal quality index is constructed based on them; Calculate the satellite navigation signal quality index according to the satellite navigation signal quality index calculation formula; The satellite navigation signal quality index calculation formula is: Wherein, ZL is the satellite navigation signal quality index, XQD is the satellite navigation signal strength, XZB is the signal-to-noise ratio, WML is the bit error rate, α1 is the weight ratio of signal strength to the satellite navigation signal quality index, α2 is the weight ratio of signal-to-noise ratio to the satellite navigation signal quality index, and α3 is the weight ratio of bit error rate to the satellite navigation signal quality index.

2. The satellite navigation interference correction method as claimed in claim 1, characterized in that: The specific method for preprocessing satellite navigation real-time monitoring data is: Detect missing data and abnormal data of satellite navigation real-time monitoring data, use interpolation method to fill in missing data, and correct abnormal data; Decode satellite navigation real-time monitoring data and convert it into a form for further analysis; The interference caused by multipath propagation in the real-time monitoring data of satellite navigation is reduced by filtering, and the noise and bad data points are removed by smoothing. After the satellite navigation real-time monitoring data processed above is converted into the same unit and standardized; The pre-processed satellite navigation real-time monitoring data is stored in the database.

3. The satellite navigation interference correction method as claimed in claim 1, characterized in that: The specific method for obtaining the satellite navigation real-time monitoring accuracy index is: Obtain the total number of obstacles encountered during the propagation of satellite navigation signals, the number of satellites received by the receiving device, and the calibration period of the receiving device, and construct a satellite navigation monitoring accuracy index analysis formula based on them; The accuracy of satellite navigation monitoring is analyzed according to the satellite navigation monitoring accuracy index analysis formula.

4. The satellite navigation interference correction method as claimed in claim 1, characterized in that: The specific method for in-depth analysis and mining of current satellite navigation real-time monitoring data is as follows: Compare and analyze interference data at different locations in real-time satellite navigation monitoring data to determine the location range of the interference source; According to the pre-processed satellite navigation real-time monitoring data, the satellite navigation interference type index and satellite navigation interference intensity are analyzed; Different satellite navigation interference correction measures are taken according to the satellite navigation interference type index and the satellite navigation interference intensity.

5. The satellite navigation interference correction method as claimed in claim 4, characterized in that: The specific analysis method of the satellite navigation interference type index is: Obtain the interference duration, signal-to-noise ratio and bit error rate of satellite navigation interference, and construct a satellite navigation interference type index analysis formula based on them; The satellite navigation interference type index is used to evaluate the type of current satellite navigation interference; When the satellite navigation interference type index is higher than the third threshold, it indicates that the current satellite navigation type is intentional interference; When the satellite navigation interference type index is lower than the third threshold, it indicates that the current satellite navigation type is natural interference.

6. The satellite navigation interference correction method as claimed in claim 4, characterized in that: The specific analysis method of the satellite navigation interference intensity is: Obtain satellite navigation monitoring accuracy index, interference source power, satellite navigation signal power and transmission path loss, and construct a satellite navigation interference intensity analysis formula based on them; The satellite navigation interference intensity is analyzed according to the satellite navigation interference intensity analysis formula.

7. The satellite navigation interference correction method as claimed in claim 4, characterized in that: The specific method of taking different satellite navigation interference correction measures according to the satellite navigation interference type index and the satellite navigation interference intensity is: According to the pre-processed satellite navigation real-time monitoring data, the satellite navigation interference type index and satellite navigation interference intensity are analyzed; The satellite navigation interference type index is used to determine whether the current satellite navigation interference type is intentional interference or natural interference, and different correction strategies are adopted for different types of satellite navigation interference; Determine whether further interference correction measures are needed based on the intensity of satellite navigation interference; When the satellite navigation interference intensity is lower than the fourth threshold, it indicates that the current satellite navigation interference is mild interference and further interference correction measures need to be taken; When the satellite navigation interference intensity is higher than the fourth threshold, it indicates that the current satellite navigation interference is severe interference and no further interference correction measures are required.

8. The satellite navigation interference correction method as claimed in claim 1, characterized in that: The specific analysis method of the satellite navigation interference correction strength is: Obtain the interference source frequency of the current satellite navigation, the satellite navigation interference correction response time and the satellite navigation correction completion time, and construct a satellite navigation interference correction intensity analysis formula based on them; The satellite navigation interference correction strength is analyzed according to the satellite navigation interference correction strength analysis formula.

9. A satellite navigation interference correction system, characterized in that: include: Data preprocessing module, interference judgment module, correction measure formulation module, correction result judgment module and correction intensity analysis module; The data preprocessing module is used to preprocess the satellite navigation real-time monitoring data after acquiring the satellite navigation real-time monitoring data, analyze the preprocessed data, and obtain the satellite navigation real-time monitoring accuracy index, and the satellite navigation real-time monitoring accuracy index is used to evaluate the accuracy of the satellite navigation receiving device in satellite navigation monitoring; The interference judgment module is used to analyze the satellite navigation real-time monitoring data to obtain a satellite navigation signal quality index. When the satellite navigation signal quality index is lower than a first threshold, it indicates that the current satellite navigation is subject to interference. The satellite navigation signal quality index is used to assess the possibility that the currently received satellite navigation signal is subject to interference. The correction measure formulation module is used to perform in-depth analysis and mining of the current satellite navigation real-time monitoring data and formulate corresponding satellite navigation interference correction measures when it is determined that the current satellite navigation is interfered with; The correction result judgment module is used to analyze the satellite navigation signal quality index again after completing the satellite navigation interference correction. When the satellite navigation signal quality index is higher than the first threshold, it indicates that the current satellite navigation interference has been effectively corrected; The correction strength analysis module is used to analyze the satellite navigation interference correction strength to implement regular maintenance of the satellite navigation interference correction method, and when the satellite navigation interference correction strength is lower than the second threshold, optimize the satellite navigation interference correction method; The satellite navigation signal quality index calculation formula is: Wherein, ZL is the satellite navigation signal quality index, XQD is the satellite navigation signal strength, XZB is the signal-to-noise ratio, WML is the bit error rate, α1 is the weight ratio of signal strength to the satellite navigation signal quality index, α2 is the weight ratio of signal-to-noise ratio to the satellite navigation signal quality index, and α3 is the weight ratio of bit error rate to the satellite navigation signal quality index.

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