High-precision positioning phase compensation method, device and medium in array anti-interference mode

Abstract

The present invention discloses a high-precision positioning phase compensation method, device and medium in an array anti-interference mode, the method comprising: obtaining the direction vector of all currently tracked satellite signals; calculating the phase change caused by anti-interference processing on the satellite signal in the direction corresponding to the satellite signal vector based on the array anti-interference weighted vector and the corresponding satellite signal vector; determining the compensation amount of each satellite signal according to the phase change amount, and using the compensation amount of each satellite signal to compensate the signal output by the anti-interference weighted output respectively. The adaptive zeroing array anti-interference technology and the RTK high-precision precise positioning technology are effectively integrated, high-precision positioning is achieved with the array anti-interference function, and the adaptability of the satellite navigation system to various environments is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation anti-interference technology, and more specifically, to a high-precision positioning phase compensation method, device and medium in an array anti-interference mode. Background Art

[0002] At present, array anti-interference technology is increasingly widely used in satellite navigation terminals, which can filter out various types of suppression interference from the airspace; on the other hand, satellite navigation terminals can achieve centimeter-level and millimeter-level high-precision positioning through real-time dynamic differential (RTK) technology. If the terminal has both array anti-interference function and RTK high-precision positioning on this basis, it can adapt to a wider range of application scenarios and play a greater practical value. However, in practice, in the array anti-interference mode, the adaptive zeroing process will cause a certain phase distortion to the signal, resulting in a much larger jitter in the weighted signal phase than when receiving with a single antenna, especially when the interference arrival direction and the satellite signal arrival direction are close. At this time, the continuous jitter of the phase causes the RTK positioning solution to fail to converge and cannot obtain a fixed solution. In some scenarios, array anti-interference processing can use a digital multi-beam algorithm to constrain the direction of the satellite signal, which can effectively alleviate this problem. However, compared with the adaptive zeroing algorithm, the complexity of digital multi-beam is higher. In actual application, an inertial navigation system needs to be installed to assist in measuring the attitude of the array antenna and to correct the beam direction in real time. At the same time, the data output by digital multi-beam needs to be input to the receiver in a multi-channel parallel manner, which is incompatible with the conventional mainstream receiver interface. The hardware usually needs to be equipped with an optical port. Therefore, the technical complexity and implementation cost of this method are relatively high. Summary of the invention

[0003] The present invention is provided to solve the above-mentioned problems existing in the prior art. Therefore, a high-precision positioning phase compensation method, device and medium in the array anti-interference mode are needed, considering the effective compensation of the output signal of the adaptive zeroing anti-interference, eliminating the phase fluctuation introduced at the algorithm level, making the adaptive zeroing suitable for RTK solution, thereby realizing RTK high-precision positioning in the array anti-interference mode. Compared with the digital multi-beam algorithm structure, on the one hand, adaptive zeroing can reduce the complexity of array anti-interference processing, and on the other hand, because the adaptive zeroing algorithm structure can be directly connected to the RF interface of a conventional receiver, there is no need to change the hardware, which can reduce the implementation cost.

[0004] According to a first aspect of the present invention, a high-precision positioning phase compensation method in an array anti-interference mode is provided, the method comprising:

[0005] Get the direction vectors of all currently tracked satellite signals;

[0006] Based on the array anti-interference weighted vector and the corresponding satellite signal vector, calculate the phase change amount caused by the anti-interference processing on the satellite signal in the direction corresponding to the satellite signal vector;

[0007] The compensation amount of each satellite signal is determined according to the phase change amount, and the signals output by anti-interference weighting are compensated respectively by using the compensation amount of each satellite signal.

[0008] Furthermore, the direction vectors of all currently tracked satellite signals are obtained, including:

[0009] Before the receiver enters RTK mode, the satellite coordinates are obtained based on the ephemeris, and the azimuth and elevation angles of the satellite relative to the receiver are obtained based on the floating-point solution output by the receiver. The direction vector of each satellite signal is then calculated based on the array element coordinates.

[0010] Further, based on the array anti-interference weighted vector and the corresponding satellite signal vector, the phase change amount caused by the anti-interference processing on the satellite signal in the direction corresponding to the satellite signal vector is calculated, including:

[0011] Based on the array anti-interference weighted vector w and the signal vector corresponding to the i-th satellite Calculate the anti-jamming processing effect on the satellite's elevation and azimuth relative to the receiver The amount of phase change caused by the satellite signal in the direction:

[0012]

[0013] Here, H represents the conjugate transpose.

[0014] Furthermore, the compensation amount of the satellite signal is the conjugate of the phase change amount.

[0015] Furthermore, the process of using the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal is expressed as:

[0016]

[0017] Where y = w H x represents the signal output by the array adaptive zeroing, x represents the signal originally received by the array antenna, It represents the result after compensation of the signal corresponding to the i-th satellite. represents the compensation amount of the satellite signal corresponding to the i-th satellite, and j represents an imaginary unit;

[0018] According to the compensation result of the signal corresponding to the i-th satellite, the capture and tracking channels of the input receiver are processed respectively.

[0019] Further, determining the compensation amount of each satellite signal according to the phase change amount, and using the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal respectively, including:

[0020] The phase change of the satellite signal is calculated by the inverse tangent function Find the phase angle and get the phase angle φ i , phase angle φ i Take the inverse to get the compensation amount -φ i ;

[0021] Using the compensation amount -φ i The carrier phase and code phase are compensated in the tracking loop of each channel.

[0022] According to a second aspect of the present invention, a high-precision positioning phase compensation device in an array anti-interference mode is provided, the device comprising:

[0023] A satellite signal direction vector calculation unit is configured to obtain direction vectors of all currently tracked satellite signals;

[0024] A phase deviation calculation unit is configured to calculate, based on the array anti-interference weighted vector and the corresponding satellite signal vector, a phase change amount caused by the anti-interference processing on the satellite signal in the direction corresponding to the satellite signal vector;

[0025] The phase compensation unit is configured to determine the compensation amount of each satellite signal according to the phase change amount, and use the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal respectively.

[0026] Furthermore, the satellite signal direction vector calculation unit is further configured to obtain satellite coordinates based on the ephemeris before the receiver enters the RTK mode, and obtain the azimuth and pitch angle of the satellite relative to the receiver based on the floating-point solution output by the receiver, and then calculate the direction vector of each satellite signal based on the array element coordinates.

[0027] Furthermore, the phase compensation unit is further configured as follows:

[0028] The process of using the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal is expressed as follows:

[0029]

[0030] Where y = w H x represents the signal output by the array adaptive zeroing, x represents the signal originally received by the array antenna, It represents the result after compensation of the signal corresponding to the i-th satellite. represents the compensation amount of the satellite signal corresponding to the i-th satellite, and j represents an imaginary unit;

[0031] According to the compensation result of the signal corresponding to the i-th satellite, the capture and tracking channels of the input receiver are processed respectively.

[0032] According to a third aspect of the present invention, there is provided a readable storage medium storing one or more programs, wherein the one or more programs can be executed by one or more processors to implement the method as described above.

[0033] The present invention has at least the following beneficial effects:

[0034] (1) Effectively integrate the adaptive zeroing array anti-interference technology and RTK high-precision positioning technology, achieve high-precision positioning with the array anti-interference function, and enhance the adaptability of the satellite navigation system to various environments.

[0035] (2) Compared with digital multi-beam, the overall implementation complexity and cost are significantly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flow chart of a high-precision positioning phase compensation method in an array anti-interference mode according to an embodiment of the present invention is shown.

[0037] Figure 2 A specific implementation flow chart of a high-precision positioning phase compensation method in an array anti-interference mode according to an embodiment of the present invention is shown.

[0038] Figure 3 The present invention shows a specific implementation flow chart of a high-precision positioning phase compensation method in an array anti-interference mode when the phase compensation process is placed in a tracking channel.

[0039] Figure 4 A structural diagram of a high-precision positioning phase compensation device in an array anti-interference mode according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific embodiments, but are not intended to limit the present invention. For the various steps described herein, if there is no necessity for a causal relationship between each other, the order in which they are described as examples herein should not be regarded as a limitation, and those skilled in the art should know that they can be adjusted in order, as long as the logic between them is not destroyed, resulting in the inability to implement the entire process.

[0041] The embodiment of the present invention provides a high-precision positioning phase compensation method in an array anti-interference mode. Figure 1 As shown, the method includes the following steps S100 to S300, which are described in detail as follows.

[0042] Step S100, obtaining direction vectors of all currently tracked satellite signals.

[0043] Specifically, Figure 2 and Figure 3 As shown in the figure, before the receiver enters the RTK high-precision mode, the coordinates of the i-th satellite (x i ,y i ,z i ), where i represents the satellite number; then based on the floating point solution (x0, y0, z0) output by the receiver, the elevation angle and azimuth angle of the satellite relative to the receiver can be obtained Based on the array element coordinates (x m ,y m ,z m ), (where m represents the array element number), the direction vector of the satellite signal can be calculated

[0044] Step S200: Based on the array anti-interference weighted vector and the corresponding satellite signal vector, calculate the phase change amount caused by the anti-interference processing on the satellite signal in the direction corresponding to the satellite signal vector.

[0045] Specifically, Figure 2 and Figure 3 As shown, based on the array anti-interference weighted vector w and the signal vector corresponding to the i-th satellite Calculate the anti-interference processing The phase change caused by the satellite signal in the direction is:

[0046]

[0047] Here, H represents the conjugate transpose.

[0048] Step S300: determining the compensation amount of each satellite signal according to the phase change amount, and using the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal respectively.

[0049] For step S300, this embodiment provides two compensation methods. It should be noted that the two compensation methods can be the same in the calculation method of the direction vector and phase change of the satellite signal, and the details can refer to the previous steps S100 and S200.

[0050] In the first compensation method, if Figure 2 As shown, the signals output by the anti-interference weighted method are compensated respectively, and the compensation amount is the conjugate of the satellite signal phase change amount output by the phase deviation calculation unit: The compensation process is as follows:

[0051]

[0052] Where y = w H x represents the signal output by the array adaptive zeroing, where x represents the signal originally received by the array antenna, thus obtaining the result after compensation of the signal corresponding to the i-th satellite Then the corresponding input receiver capture and tracking channels are processed respectively. Since the signal phase deviation of the adaptive zeroing output is compensated, the receiver can perform RTK calculation normally and obtain a fixed solution to achieve high-precision positioning.

[0053] In the second compensation method, if Figure 3 As shown in Figure 1, the phase compensation process is placed in the receiver tracking channel and integrated with the tracking process. In this way, the phase change of each satellite signal output by the phase deviation calculation unit is calculated by the inverse tangent function atan2. Find the phase angle and get φ i , and then take the inverse to get the compensation amount -φ i , and then directly compensate the carrier phase and code phase in the tracking loop of each channel.

[0054] The embodiment of the present invention also provides a high-precision positioning phase compensation device in an array anti-interference mode, such as Figure 4 As shown, the device 400 includes:

[0055] The satellite signal direction vector calculation unit 401 is configured to obtain the direction vectors of all currently tracked satellite signals;

[0056] The phase deviation calculation unit 402 is configured to calculate the phase change amount caused by the anti-interference processing on the satellite signal in the direction corresponding to the satellite signal vector based on the array anti-interference weighted vector and the corresponding satellite signal vector;

[0057] The phase compensation unit 403 is configured to determine the compensation amount of each satellite signal according to the phase change amount, and use the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal respectively.

[0058] In some embodiments, the satellite signal direction vector calculation unit is further configured to obtain satellite coordinates based on the ephemeris before the receiver enters the RTK mode, and obtain the azimuth and pitch angle of the satellite relative to the receiver based on the floating-point solution output by the receiver, and then calculate the direction vector of each satellite signal based on the array element coordinates.

[0059] In some embodiments, the phase deviation calculation unit is further configured to:

[0060] Based on the array anti-interference weighted vector w and the signal vector corresponding to the i-th satellite Calculate the anti-jamming processing effect on the satellite's elevation and azimuth relative to the receiver The amount of phase change caused by the satellite signal in the direction:

[0061]

[0062] Here, H represents the conjugate transpose.

[0063] In some embodiments, the compensation amount of the satellite signal is a conjugate of the phase change amount.

[0064] In some embodiments, the phase compensation unit is further configured to:

[0065] The process of using the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal is expressed as follows:

[0066]

[0067] Where y = w H x represents the signal output by the array adaptive zeroing, x represents the signal originally received by the array antenna, It represents the result after compensation of the signal corresponding to the i-th satellite. represents the compensation amount of the satellite signal corresponding to the i-th satellite, and j represents an imaginary unit;

[0068] According to the compensation result of the signal corresponding to the i-th satellite, the capture and tracking channels of the input receiver are processed respectively.

[0069] In some embodiments, the phase compensation unit is further configured to:

[0070] The satellite signal phase change e is calculated by the inverse tangent function jφ i Find the phase angle and get the phase angle φ i , phase angle φ i The compensation amount is obtained by negation -φ i ;

[0071] Using the compensation amount -φ i The carrier phase and code phase are compensated in the tracking loop of each channel.

[0072] It should be noted that the various device structures described in this embodiment belong to the same technical concept as the previously described method, and achieve the same technical effect through the same principle, which will not be repeated here.

[0073] An embodiment of the present invention further provides a readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the method described in any of the above embodiments.

[0074] In addition, although exemplary embodiments have been described herein, the scope includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., various embodiments intersecting schemes), adaptations or changes. The elements in the claims will be interpreted broadly based on the language adopted in the claims, and are not limited to the examples described in this specification or during the implementation of this application, and the examples will be interpreted as non-exclusive. Therefore, this specification and examples are intended to be considered as examples only, and the true scope and spirit are indicated by the following claims and the full scope of their equivalents.

[0075] The above description is intended to be illustrative rather than restrictive. For example, the above examples (or one or more of them) can be used in combination with each other. For example, those of ordinary skill in the art can use other embodiments when reading the above description. In addition, in the above-mentioned specific embodiments, various features can be grouped together to simplify the present invention. This should not be interpreted as a feature of an invention that is not claimed for protection being necessary for any claim. On the contrary, the subject matter of the present invention may be less than all the features of the embodiments of a specific invention. Thus, the following claims are incorporated into the specific embodiments as examples or embodiments, wherein each claim is independently used as a separate embodiment, and it is considered that these embodiments can be combined with each other in various combinations or arrangements. The scope of the present invention should be determined with reference to the full scope of the equivalent forms of the attached claims and these claims.

Claims

1. A high-precision positioning phase compensation method in array anti-interference mode, characterized in that: The method comprises: Get the direction vectors of all currently tracked satellite signals; Based on the array anti-interference weighted vector and the corresponding direction vector of the satellite signal, calculate the phase change amount caused by the anti-interference processing on the satellite signal in the direction corresponding to the direction vector of the satellite signal; Determine the compensation amount of each satellite signal according to the phase change amount, and use the compensation amount of each satellite signal to compensate the signal output by anti-interference weighting respectively; Based on the array anti-interference weighted vector and the corresponding direction vector of the satellite signal, the phase change amount caused by the anti-interference processing on the satellite signal in the direction corresponding to the direction vector of the satellite signal is calculated, including: Based on the array anti-interference weighted vector w and the direction vector corresponding to the i-th satellite Calculate the anti-jamming processing effect on the satellite's elevation and azimuth relative to the receiver The amount of phase change caused by the satellite signal in the direction: Where H represents the conjugate transpose; φ i represents the phase angle; The process of using the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal is expressed as follows: Where y = w H x represents the signal output by the array adaptive zeroing, x represents the signal originally received by the array antenna, It represents the result after compensation of the signal corresponding to the i-th satellite. represents the compensation amount of the satellite signal corresponding to the i-th satellite, and j represents an imaginary unit; According to the compensation result of the signal corresponding to the i-th satellite, the capture and tracking channels of the input receiver are processed respectively.

2. The method according to claim 1, characterized in that Get the direction vectors of all currently tracked satellite signals, including: Before the receiver enters RTK mode, the satellite coordinates are obtained based on the ephemeris, and the azimuth and elevation angles of the satellite relative to the receiver are obtained based on the floating-point solution output by the receiver. The direction vector of each satellite signal is then calculated based on the array element coordinates.

3. The method according to claim 1, characterized in that The compensation amount of each satellite signal is determined according to the phase change amount, and the compensation amount of each satellite signal is used to compensate the signal output by the anti-interference weighting, and the compensation method also includes: The phase change of the satellite signal is calculated by the inverse tangent function Find the phase angle and get the phase angle φ i , phase angle φ i The compensation amount is obtained by negation -φ i ; Using the compensation amount -φ i The carrier phase and code phase are compensated in the tracking loop of each channel.

4. A high-precision positioning phase compensation device in array anti-interference mode, characterized in that: The device comprises: A satellite signal direction vector calculation unit is configured to obtain direction vectors of all currently tracked satellite signals; A phase deviation calculation unit is configured to calculate, based on the array anti-interference weighted vector and the corresponding direction vector of the satellite signal, a phase change amount caused by the anti-interference processing on the satellite signal in the direction corresponding to the direction vector of the satellite signal; a phase compensation unit, configured to determine a compensation amount for each satellite signal according to the phase change amount, and to compensate the signals output by the anti-interference weighting using the compensation amount for each satellite signal; The phase deviation calculation unit is further configured as follows: Based on the array anti-interference weighted vector w and the direction vector corresponding to the i-th satellite Calculate the anti-jamming processing effect on the satellite's elevation and azimuth relative to the receiver The amount of phase change caused by the satellite signal in the direction: Where H represents the conjugate transpose; φ i represents the phase angle; The phase compensation unit is further configured as follows: The process of using the compensation amount of each satellite signal to compensate the interference-resistant weighted output signal is expressed as follows: Where y = w H x represents the signal output by the array adaptive zeroing, x represents the signal originally received by the array antenna, It represents the result after compensation of the signal corresponding to the i-th satellite. represents the compensation amount of the satellite signal corresponding to the i-th satellite, and j represents an imaginary unit; According to the compensation result of the signal corresponding to the i-th satellite, the capture and tracking channels of the input receiver are processed respectively.

5. The device according to claim 4, characterized in that The satellite signal direction vector calculation unit is further configured to obtain satellite coordinates based on the ephemeris before the receiver enters the RTK mode, and obtain the azimuth and elevation angle of the satellite relative to the receiver based on the floating-point solution output by the receiver, and then calculate the direction vector of each satellite signal based on the array element coordinates. 6 . A non-transitory computer-readable storage medium storing instructions, which, when executed by a processor, executes the method according to claim 1 .

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