A diversity anti-interference Beidou navigation positioning method and device

Abstract

The present invention relates to the field of satellite navigation, and specifically to a diversity anti-interference Beidou navigation positioning method and device. The navigation antenna in the present application adopts multiple array elements and an antenna ring arrangement. Compared with the planar array layout, the navigation antenna in the present application can save more installation space. In addition, the antenna in the present application receives signals while rotating. Before signal combination, the target receiving angle range of each antenna is calculated, and the signal is received in the main lobe direction of each single antenna, and combined, thereby improving the signal-to-noise ratio of the input signal. After the input signal with a higher signal-to-noise ratio is processed by diversity anti-interference, a more accurate positioning signal can be obtained. In the diversity anti-interference processing method in the present application, each input signal is used as a reference signal, and the weighting coefficient is determined multiple times, so that while maintaining the positioning effect, a large number of antennas can be reduced, further saving the installation space of the antenna.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation, and in particular to a diversity anti-interference Beidou navigation positioning method and device. Background Art

[0002] With the continuous improvement of the Beidou system, the Beidou satellite navigation system is widely used in many military and civilian fields. However, Beidou satellite navigation receivers are extremely susceptible to intentional or unintentional electromagnetic interference and cannot work normally. Therefore, it is of great significance to develop receivers with anti-interference capabilities to overcome the influence of various interferences on the accuracy of satellite navigation positioning.

[0003] In addition, the existing Beidou antennas include the traditional four-element Beidou anti-interference satellite navigation antenna. The traditional four-element Beidou anti-interference satellite navigation antenna often adopts a planar array layout, and the spacing between antenna elements is half the wavelength of the receiving frequency. As the receiving signal frequency is lower, the distance between the elements becomes larger, resulting in a larger installation size of the Beidou four-array antenna. At the same time, the existing planar array layout cannot always receive signals in the main lobe direction, resulting in a low signal-to-noise ratio. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a diversity anti-interference Beidou navigation positioning method and device to solve the problems in the background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A diversity anti-interference Beidou navigation and positioning method of the present invention comprises the steps of:

[0007] Acquire signal amplitude variation data of each single antenna in the annular array antenna in a target frequency band in multiple rotation cycles, wherein the signal amplitude variation data includes rotation angles of the multiple rotation cycles and signal amplitudes corresponding to the rotation angles, the annular array antenna includes multi-channel annular array elements, and each array element includes multiple single antennas evenly distributed around a circumference;

[0008] Determine a target receiving angle range for each single antenna based on the signal amplitude variation data of the multiple rotation cycles, wherein the signal-to-noise ratio within the target receiving angle range is the highest;

[0009] Determine the receiving time window of each single antenna based on the rotation speed of the annular array antenna and the target receiving angle range, obtain the receiving signal of each single antenna, and combine all the receiving signals in the same array element to obtain the input signal of each array element;

[0010] The input signals of multiple array elements are respectively used as reference signals, and weighting coefficients of the multiple input signals are determined multiple times based on the reference signals; the multiple input signals are weighted based on the weighting coefficients of the multiple input signals to obtain an output signal with minimized power, and the output signal is used as a positioning signal.

[0011] In one embodiment of the present application, determining the target receiving angle range of each single antenna based on the signal amplitude change data of the multiple rotation cycles includes:

[0012] Extract the maximum signal amplitude of each rotation cycle and the maximum signal amplitude The corresponding rotation angle rad t , where t is the rotation cycle number;

[0013] For all rotation angles rad t Perform clustering to obtain one or more clusters;

[0014] When there is a rotation angle rad exceeding the preset ratio t When the target cluster is , calculate the rotation angle angle within the target cluster t The average value mean(∑angle t ), and based on the mean value mean(∑angle t ) Construct the target receiving angle range of a single antenna Wherein, C is the number of single antennas of a single array element, and α is an adjustment parameter.

[0015] In one embodiment of the present application, determining the receiving time window of each single antenna based on the rotation speed of the annular array antenna and the target receiving angle range includes:

[0016] Get the current time t n and the current rotation angle angle of the annular array antenna n ;

[0017] Based on the rotation speed v1 of the annular array antenna and the current time t n , the current rotation angle angle n And the target receiving angle range Constructing a target receiving time window Among them, d n It is the period difference between the rotation period of the target receiving time window and the rotation period of the current time.

[0018] In an embodiment of the present application, determining weighting coefficients of multiple input signals based on the reference signal multiple times includes:

[0019] S11, determining a reference signal of the current order, and constructing an input vector x(n) of the navigation antenna based on multiple input signals, wherein the mathematical expression of the input vector x(n) is:

[0020] x(n)=[x1(n),x2(n),…x M (n)] T

[0021] Where x1(n) is the signal received by the first element at time n, x2(n) is the signal received by the second element at time n, and x M (n) is the signal received by the Mth array element at time n, [·] T represents the transposed matrix;

[0022] S12, assigning an initial weighting coefficient to each array element to obtain a weighted vector w, wherein the mathematical expression of the weighted vector w is:

[0023] w=[w1,w2,…w M ] T

[0024] Where w1 is the initial weighting coefficient of the first array element, w2 is the initial weighting coefficient of the second array element, and w M is the initial weighting coefficient of the Mth array element;

[0025] S13, calculating the minimum output power of the navigation antenna and the optimal weighted vector w corresponding to the minimum output power based on the reference signal of the current order, the input vector x(n) and the weighted vector w opt , or, based on the reference signal of the current order, the input vector x(n) and the weight vector w, a space-time two-dimensional adaptive algorithm is performed to obtain weight coefficients of multiple input signals, wherein the optimal weight vector w opt including weighting coefficients of multiple input signals;

[0026] S14, taking the reference signal of the next order as the reference signal of the current order, and returning to step S1, until the weighting coefficients of the multiple input signals are determined based on all the reference signals.

[0027] In one embodiment of the present application, the minimum output power of the navigation antenna and the optimal weighted vector w corresponding to the minimum output power are calculated based on the reference signal of the current order, the input vector x(n) and the weighted vector w. opt ,include:

[0028] The output y(n) of the navigation antenna is calculated based on the input vector x(n) and the weighted vector w, wherein the mathematical expression of the output y(n) of the navigation antenna is:

[0029] y(n)=w H ·x(n)

[0030] The output power P of the navigation antenna is calculated based on the input vector x(n), the output y(n) of the navigation antenna and the weight vector w. out , where the output power P out The mathematical expression is:

[0031] P out =E[y(n) 2 ]=E[(w H ·x(n))·(w H ·x(n)) H ]=E[w H ·R xx ·w]

[0032] In the formula, R xx is the autocorrelation matrix of the input vector x(n), R xx =E[x(n)·x H (n)],[·] H represents the conjugate transposed matrix;

[0033] Configuration constraints w H s = 1, so that the weight coefficient of the first array element is 1 and serves as the reference signal of the current order, where s is the weight coefficient constraint vector; based on the constraint condition and the output power P out The mathematical expression of constructs the Lagrangian function, wherein the mathematical expression of the Lagrangian function L(w) is:

[0034] L(w)=w H R xx w+λ(w H s-1)

[0035] Where λ is the Lagrange multiplier;

[0036] For the M-order Hermitian autocorrelation matrix R xx , satisfying f = w H R xx w, then the following gradient equation holds:

[0037]

[0038] Take the gradient of the mathematical expression of the Lagrangian function L(w), and substitute the gradient equation into the mathematical expression of the Lagrangian function L(w) after taking the gradient to obtain the optimal weight vector w opt , where w opt =-λR xx-1 s.

[0039] In one embodiment of the present application, it also includes:

[0040] The optimal weight vector w opt The mathematical expression of w opt =-λR xx -1 s combines the constraints w H ·s=1, the Lagrangian multiplier λ is obtained, wherein the mathematical expression of the Lagrangian multiplier λ is:

[0041]

[0042] Combine the mathematical expression of the Lagrange multiplier λ, the optimal weight vector w opt The mathematical expression and the gradient equation give the minimum output power P omin , where the minimum output power P omin The mathematical expression is:

[0043]

[0044] In the formula, [·] H represents the conjugate transposed matrix;

[0045] Based on the minimum output power P omin The mathematical expression of the optimal weight vector w opt rewrite

[0046] In one embodiment of the present application, a space-time two-dimensional adaptive algorithm is performed based on the reference signal of the current order, the input vector x(n) and the weight vector w to obtain weight coefficients of multiple input signals, including:

[0047] S21, taking the reference signal of the current order as the expected signal d(n), and calculating the error e(n) between each input signal in the input vector x(n) except the expected signal d(n) and the expected signal d(n), wherein e(n)=d(n)-w H (n)·x(n), the weight vector w(n) at time n is determined by time n-1;

[0048] S22, constructing a cost function based on minimizing the mean square error, wherein the mathematical expression of the cost function is:

[0049] J(w)=E[|d(n)-w H ·x(n)|]=E[|d(n)| 2 ]-2Re[w H·r xd ]+w H R xx w

[0050] In the formula, J(W) is the substitution value, Re represents the real part, and R xx is the autocorrelation matrix of the input vector x(n), r xd A cross-correlation matrix between the input vector x(n) and the desired signal d(n);

[0051] S23, calculating the weighted vector w(n)' corresponding to the minimum cost value of the cost function to obtain weighted coefficients of the multiple input signals;

[0052] S24, taking the reference signal of the next order as the reference signal of the current order, and returning to step S21, until the calculation of the weighted coefficients based on all the reference signals is completed.

[0053] In one embodiment of the present application, it also includes:

[0054] The weighted vector w(n+1) at time n+1 is updated based on the weighted vector w(n)' corresponding to the minimum cost value of the cost function, wherein the update formula is:

[0055] w(n+1)=w(n)'+μx(n)e * (n)

[0056] Where μ is the adjustable step size factor, e * (n) is the companion matrix of the error e(n).

[0057] In an embodiment of the present application, the navigation antenna includes two array elements, one of which is a reference channel and the other is an auxiliary channel.

[0058] The present application also provides a diversity anti-interference Beidou navigation and positioning device, comprising:

[0059] An acquisition module is used to acquire signal amplitude variation data of each single antenna in the annular array antenna in a target frequency band in multiple rotation cycles, wherein the signal amplitude variation data includes rotation angles of multiple rotation cycles and signal amplitudes corresponding to the rotation angles, and the annular array antenna includes multi-channel annular array elements, and each array element includes multiple single antennas evenly distributed around a circumference;

[0060] A range determination module, configured to determine a target receiving angle range of each single antenna based on the signal amplitude variation data of the plurality of rotation cycles, wherein the signal-to-noise ratio within the target receiving angle range is the highest;

[0061] A signal screening module, used to determine the receiving time window of each single antenna based on the rotation speed of the annular array antenna and the target receiving angle range, obtain the receiving signal of each single antenna, and combine all the receiving signals in the same array element to obtain the input signal of each array element;

[0062] The diversity processing module is used to use the input signals of multiple array elements as reference signals respectively, and determine the weighting coefficients of the multiple input signals based on the reference signals for multiple times; weight the multiple input signals based on the weighting coefficients of the multiple input signals to obtain an output signal with minimized power, and use the output signal as a positioning signal.

[0063] The beneficial effects of the present invention are: a diversity anti-interference Beidou navigation positioning method and device of the present invention, the navigation antenna in the present application adopts multiple array elements and an antenna ring arrangement. Compared with the planar array layout, the navigation antenna in the present application can save more installation space. In addition, the antenna in the present application receives signals while rotating. Before combining the signals, the target receiving angle range of each antenna is calculated, and the signals are received in the main lobe direction of each single antenna, and combined, thereby improving the signal-to-noise ratio of the input signal. After the input signal with a higher signal-to-noise ratio is processed by diversity anti-interference, a more accurate positioning signal can be obtained. In the diversity anti-interference processing method in the present application, each input signal is used as a reference signal, and the weighting coefficient is determined multiple times, so that while maintaining the positioning effect, a large number of antennas can be reduced, further saving the installation space of the antenna. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0065] Figure 1 It is a structural diagram of a diversity anti-interference Beidou navigation antenna shown in an embodiment of the present application;

[0066] Figure 2 It is a flow chart of a diversity anti-interference Beidou navigation and positioning method shown in an embodiment of the present application;

[0067] Figure 3 This is a schematic diagram of the structure of the two-dimensional processing in the present application;

[0068] Figure 4 It is a structural diagram of a diversity anti-interference Beidou navigation and positioning device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0069] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0070] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show the layers related to the present invention rather than being drawn according to the number, shape and size of the layers in actual implementation. In actual implementation, the type, quantity and proportion of each layer may be changed arbitrarily, and the layer layout may also be more complicated.

[0071] In the following description, numerous details are discussed to provide a more thorough explanation of embodiments of the present invention; however, it is apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details.

[0072] Figure 1 is a structural diagram of a diversity anti-interference Beidou navigation antenna shown in an embodiment of the present application, such as Figure 1 As shown, a diversity anti-interference Beidou navigation antenna in the present application includes multiple array elements, each array element includes multiple annularly distributed antennas, which are used to obtain input signals after combining and amplifying the received signals of the multiple antennas of each array element when rotating.

[0073] Specifically, an eight-unit microstrip omnidirectional receiving method conformal to the carrier is adopted, the angle between every two antennas is 45 degrees, and the eight antennas are combined and amplified to output a signal to the back-end receiver module.

[0074] The navigation antenna in the present application uses two independent loop antennas to form a two-element anti-interference array. The output of one antenna element is selected as a reference signal, and the output of the other element is selected as an auxiliary signal.

[0075] Since each RF signal is generated by combining 8 antennas, the signal-to-noise ratio of the received satellite signal is low, which makes anti-interference processing difficult. Therefore, the following navigation and positioning method is used for signal anti-interference processing.

[0076] Figure 2 is a flow chart of a diversity anti-interference Beidou navigation and positioning method shown in an embodiment of the present application, such as Figure 2 As shown: A diversity anti-interference Beidou navigation and positioning method of this embodiment may include steps S210 to S240:

[0077] S210, obtaining signal amplitude variation data of each single antenna in the annular array antenna in a target frequency band in multiple rotation cycles, wherein the signal amplitude variation data includes rotation angles of the multiple rotation cycles and signal amplitudes corresponding to the rotation angles, the annular array antenna includes multi-channel annular array elements, and each array element includes multiple single antennas evenly distributed around a circumference;

[0078] The navigation antenna in this application rotates at a fixed speed when in use, so each single antenna can receive positioning signals from 0-360 degrees respectively. Therefore, before formal positioning, this application rotates the navigation antenna N times, collects the signal amplitude change data received by each antenna, and finds the main lobe direction of each antenna from the change in signal amplitude.

[0079] S220, determining a target receiving angle range for each single antenna based on the signal amplitude change data of the multiple rotation cycles, wherein the signal-to-noise ratio within the target receiving angle range is the highest;

[0080] Since each single antenna can receive positioning signals from 0-360° respectively. It is easy to understand that when a single antenna receives signals in the main lobe direction, the signal-to-noise ratio is the highest, and when the noise is stable, the signal amplitude of the corresponding frequency band is the highest. Therefore, the present application determines the target receiving angle range of each single antenna by the following method, so that each single antenna can receive signals in the main lobe direction during the rotation of the antenna array, specifically including:

[0081] S221, extracting the maximum signal amplitude of each rotation cycle and the maximum signal amplitude The corresponding rotation angle rad t , where t is the rotation cycle number;

[0082] The maximum amplitude of each rotation cycle corresponds to the maximum amplitude of the positioning signal of the target frequency band that can be received in which direction during this rotation cycle. This maximum amplitude is generally the maximum amplitude caused by the positioning signal, but in some cases, it may also be the maximum amplitude caused by noise. This application first extracts the maximum amplitude and the rotation angle corresponding to the maximum amplitude, and performs screening processing in the subsequent process to obtain the main lobe direction.

[0083] S222, for all rotation angles rad t Perform clustering to obtain one or more clusters;

[0084] Since the single antenna structure used in the antenna array in this application is consistent, the transmitting source (satellite) of the positioning signal can be regarded as fixed in a short time, so in the main lobe direction, all single antennas are roughly consistent. Therefore, clustering can be performed based on the signal amplitude change data of a single antenna, or based on the signal amplitude change data of all single antennas. The clusters obtained by clustering contain the rotation angle rad within an angle range. t .

[0085] In order to ensure the clustering of rotation angles, the present application may adopt the DBSCAN clustering method.

[0086] S223, when there is a rotation angle rad exceeding a preset ratio t When the target cluster is , calculate the rotation angle angle within the target cluster t The average value mean(∑angle t ), and based on the mean value mean(∑angle t ) Construct the target receiving angle range of a single antenna Wherein, C is the number of single antennas of a single array element, and α is an adjustment parameter.

[0087] If a target cluster appears, which contains more than 80% of the rotation angle data points, then the average value is calculated from this target cluster as the center of the target receiving angle range, that is, the main lobe direction mean (∑anglet), to filter out the abnormal data caused by noise points, and construct the target receiving angle range with the center of the target receiving angle range.

[0088] In this application, each array element contains 8 single antennas, so the corresponding target receiving angle range is (mean(∑angle t )-22.5°-α, mean(∑angle t )+22.5°+α), the purpose of setting the adjustment parameter α is to widen the range so that the signals of adjacent single antennas can be partially overlapped to avoid signal loss.

[0089] In addition, if there is no target cluster containing more than 80% of the rotation angle data points, then the window extraction is determined to have failed, the antenna is rotated N times again, and the above operation is repeated until the target receiving angle range is extracted.

[0090] S230, determining a receiving time window of each single antenna based on the rotation speed of the annular array antenna and the target receiving angle range, obtaining a receiving signal of each single antenna, and combining all receiving signals in the same array element to obtain an input signal of each array element;

[0091] Specifically, the process of determining the time window includes:

[0092] S231, obtain current time t n and the current rotation angle angle of the annular array antenna n ;

[0093] S232, based on the rotation speed v1 of the annular array antenna and the current time t n , the current rotation angle angle n And the target receiving angle range Constructing a target receiving time window Among them, d n It is the period difference between the rotation period of the target receiving time window and the rotation period of the current time.

[0094] In this embodiment, based on the current time t n And the current rotation angle of each single antenna n The angle range is converted into a time range, so that the signal can be received based on the time window in each subsequent rotation cycle. Finally, the combiner is used to combine the signals to obtain the input signal of each array element.

[0095] S240, using input signals of multiple array elements as reference signals respectively, and determining weighting coefficients of the multiple input signals based on the reference signals for multiple times; weighting the multiple input signals based on the weighting coefficients of the multiple input signals to obtain an output signal with minimized power, and using the output signal as a positioning signal.

[0096] In an embodiment of the present application, determining weighting coefficients of multiple input signals based on the reference signal multiple times includes:

[0097] S11, determining a reference signal of the current order, and constructing an input vector x(n) of the navigation antenna based on multiple input signals, wherein the mathematical expression of the input vector x(n) is:

[0098] x(n)=[x1(n),x2(n),…x M (n)] T

[0099] Where x1(n) is the signal received by the first element at time n, x2(n) is the signal received by the second element at time n, and x M (n) is the signal received by the Mth array element at time n, [·] T represents the transposed matrix;

[0100] S12, assigning an initial weighting coefficient to each array element to obtain a weighted vector w, wherein the mathematical expression of the weighted vector w is:

[0101] w=[w1,w2,…w M ] T

[0102] Where w1 is the initial weighting coefficient of the first array element, w2 is the initial weighting coefficient of the second array element, and w M is the initial weighting coefficient of the Mth array element;

[0103] S13, calculating the minimum output power of the navigation antenna and the optimal weighted vector w corresponding to the minimum output power based on the reference signal of the current order, the input vector x(n) and the weighted vector w opt , or, based on the reference signal of the current order, the input vector x(n) and the weight vector w, a space-time two-dimensional adaptive algorithm is performed to obtain weight coefficients of multiple input signals, wherein the optimal weight vector w opt including weighting coefficients of multiple input signals;

[0104] S14, taking the reference signal of the next order as the reference signal of the current order, and returning to step S11, until the weighting coefficients of the multiple input signals are determined based on all the reference signals.

[0105] The present application adopts two parallel schemes to calculate the weighting coefficients of the multi-path input signals: (1) by calculating the minimum output power of the navigation antenna and the optimal weighting vector w corresponding to the minimum output power opt ; (2) Space-time two-dimensional adaptive algorithm.

[0106] (1) Calculating the minimum output power of the navigation antenna and the optimal weighted vector w corresponding to the minimum output power based on the reference signal, the input vector x(n) and the weighted vector w opt ,include:

[0107] The output y(n) of the navigation antenna is calculated based on the input vector x(n) and the weighted vector w, wherein the mathematical expression of the output y(n) of the navigation antenna is:

[0108] y(n)=w H ·x(n)

[0109] The output power P of the navigation antenna is calculated based on the input vector x(n), the output y(n) of the navigation antenna and the weight vector w. out , where the output power P out The mathematical expression is:

[0110] Pout =E[y(n) 2 ]=E[(w H ·x(n))·(w H ·x(n)) H ]=E[w H ·R xx ·w]

[0111] In the formula, R xx is the autocorrelation matrix of the input vector x(n), R xx =E[x(n)·x H (n)],[·] H represents the conjugate transposed matrix;

[0112] Configuration constraints w H s = 1, so that the weight coefficient of the first array element is 1, and it is used as the reference signal of the current order. In this application, let s = [1, 0, ... 0] T , from which we can get w1 = 1, which constrains the weight coefficient of the first branch to always be 1, and this branch is used as the reference channel. This optimal array does not distinguish between signal and interference, it only tries to minimize the output power.

[0113] Wherein, s is the weighted coefficient constraint vector; based on the constraint condition and the output power P out The mathematical expression of constructs the Lagrangian function, wherein the mathematical expression of the Lagrangian function L(w) is:

[0114] L(w)=w H R xx w+λ(w H s-1)

[0115] Where λ is the Lagrange multiplier;

[0116] According to matrix theory, R xx is an M-order Hermitian matrix, w is an M-dimensional complex vector, and for the M-order Hermitian autocorrelation matrix R xx , satisfying f = w H R xx w, then the following gradient equation holds:

[0117]

[0118] Take the gradient of the mathematical expression of the Lagrangian function L(w), that is, Substitute the gradient equation into the mathematical expression of the Lagrangian function L(w) after taking the gradient to obtain the optimal weight vector w opt ,in,

[0119] w opt=-λR xx -1 s

[0120] The optimal weight vector w opt The mathematical expression of w opt =-λR xx -1 s combines the constraints w H s = 1, that is, the optimal weight vector w opt The expression of the combined constraint w H s=1 to obtain the Lagrange multiplier λ, wherein the mathematical expression of the Lagrange multiplier λ is:

[0121]

[0122] Combine the mathematical expression of the Lagrange multiplier λ, the optimal weight vector w opt The mathematical expression and the gradient equation give the minimum output power P omin , where the minimum output power P omin The mathematical expression is:

[0123]

[0124] In the formula, [·] H represents the conjugate transposed matrix;

[0125] Based on the minimum output power P omin The mathematical expression of the optimal weight vector w opt rewrite

[0126] In addition to the above solution, the present application also provides a method for calculating the weight coefficient vector using the steepest descent LMS algorithm, as follows:

[0127] In one embodiment of the present application, a space-time two-dimensional adaptive algorithm is performed based on the reference signal of the current order, the input vector x(n) and the weight vector w to obtain weight coefficients of multiple input signals, including:

[0128] S21, taking the reference signal of the current order as the expected signal d(n), and the other channel signals are x(n)=[x1(n),x2(n),...,x M-1 (n)], the corresponding weighting coefficient is w(n)=[w1(n),w2(n),...,w M-1 (n)];

[0129] and calculating an error e(n) between each input signal other than the expected signal d(n) in the input vector x(n) and the expected signal d(n);

[0130] e(n)=d(n)-w H (n)·x(n)

[0131] Among them, the weighted vector w(n) at time n is determined by the time n-1; that is, the weighted vector at the current time is determined by the weighted vector actually calculated at the previous time, and the specific determination method is introduced later.

[0132] S22, constructing a cost function based on minimizing the mean square error, wherein the mathematical expression of the cost function is:

[0133] J(w)=E[|d(n)-w H ·x(n)|]=E[|d(n)| 2 ]-2Re[w H ·r xd ]+w H R xx w

[0134] In the formula, J(W) is the substitution value, Re represents the real part, and R xx is the autocorrelation matrix of the input vector x(n), r xd A cross-correlation matrix between the input vector x(n) and the desired signal d(n);

[0135] S23, calculating the weighted vector w(n)' corresponding to the minimum cost value of the cost function to obtain weighted coefficients of the multiple input signals;

[0136] S24, taking the reference signal of the next order as the reference signal of the current order, and returning to step S21, until the calculation of the weighted coefficients based on all the reference signals is completed.

[0137] In one embodiment of the present application, it also includes:

[0138] The weighted vector w(n+1) at time n+1 is updated based on the weighted vector w(n)' corresponding to the minimum cost value of the cost function, wherein the update formula is:

[0139] w(n+1)=w(n)'+μx(n)e * (n)

[0140] Where μ is the adjustable step size factor, e * (n) is the companion matrix of the error e(n). Since the weight iteration of the algorithm is based on the LMS algorithm, the μ value should be reasonably selected according to the characteristics of the signal and interference when the system is implemented, so as to better balance the convergence speed and steady-state error of the algorithm.

[0141] Finally, whether by calculating the minimum output power of the navigation antenna and the optimal weighting vector w corresponding to the minimum output power opt ; The weighting coefficients are calculated using a space-time two-dimensional adaptive algorithm. The weighting coefficient corresponding to the minimum output power is selected for weighted summation and output.

[0142] Figure 3 This is a schematic diagram of the structure of the two-dimensional processing in the present application, such as Figure 3 As shown, the idea of ​​space-time two-dimensional processing in this application is to generalize the one-dimensional time domain, frequency domain or spatial domain filtering to the two-dimensional domain of time and space to form a space-time two-dimensional processing structure. From the perspective of each array element channel, each level of delay constitutes an FIR filter, so interference can be removed in the time domain; from the same time delay node, different array elements constitute an adaptive filter in the spatial domain, so interference sources with different spatial distributions can be distinguished, and corresponding zero points are formed at the direction of the interference to suppress interference. Therefore, space-time processing has the ability to suppress interference in the space-time two-dimensional domain. Compared with simple time domain, frequency domain or spatial domain filtering methods, space-time joint processing utilizes more received data information, so better interference suppression performance can be obtained.

[0143] Figure 3 In the embodiment, the RF signal is input through multiple antenna array elements (ANT1, ANT2, ... ANTn), and then converted into a digital signal by an analog-to-digital converter ADC, and its weight is updated based on adaptive weighting, such as Figure 3 w in 11 、w 12 , ..., w 1L is the weight of the input signal of antenna element ANT1 in multiple update steps, and the same is true for ANT2, ...ANTn. x1(n), x1(n-1), ..., x1(n-L+1) are the corresponding input signals of the input signal of antenna element ANT1 in multiple update steps, and the same is true for ANT2, ...ANTn. Finally, the input signals of multiple antenna elements (ANT1, ANT2, ...ANTn) are weighted and summed by the obtained weight coefficients and sent to the receiver.

[0144] In addition, the present application adopts diversity processing technology. The basic idea of ​​diversity technology is to use multiple receiving paths to obtain multiple independent signal samples. These samples may be interfered or faded to different degrees on different paths. Therefore, through appropriate merging strategies, the overall quality of the signal can be effectively improved.

[0145] Due to the inherent defects of the two-element array, the anti-interference capability measured when the interference source is located at different positions will be quite different. Dual diversity processing is used in the program, that is, two anti-interference processing modules are implemented. One module uses the output of the first ring antenna as the reference signal and the output of the second ring antenna as the auxiliary signal. The other module uses the output of the second ring antenna as the reference signal and the output of the first ring antenna as the auxiliary signal. The receiver receives the output signals of the two anti-interference modules for diversity processing. In this way, the anti-interference capability remains basically stable when the position of the interference source changes.

[0146] In addition, the relationship between the reference channel and the auxiliary channel in the present application can be swapped, so that a two-element structure can be used to achieve the positioning function and positioning accuracy of four elements, and a ring antenna structure can be used to greatly save the installation space of the antenna.

[0147] A diversity anti-interference Beidou navigation positioning method of the present invention, the navigation antenna in the present application adopts multiple array elements and an antenna ring arrangement. Compared with the planar array layout, the navigation antenna in the present application can save more installation space. In addition, the antenna in the present application receives signals while rotating. Before combining the signals, the target receiving angle range of each antenna is calculated, and the signal is received in the main lobe direction of each single antenna, and combined, thereby improving the signal-to-noise ratio of the input signal. After the input signal with a higher signal-to-noise ratio is processed by diversity anti-interference, a more accurate positioning signal can be obtained. In the diversity anti-interference processing method in the present application, each input signal is used as a reference signal, and the weighting coefficient is determined multiple times, so that while maintaining the positioning effect, a large number of antennas can be reduced, further saving the installation space of the antenna.

[0148] like Figure 4 As shown, the present application also provides a diversity anti-interference Beidou navigation and positioning device, including:

[0149] An acquisition module is used to acquire signal amplitude variation data of each single antenna in the annular array antenna in a target frequency band in multiple rotation cycles, wherein the signal amplitude variation data includes rotation angles of multiple rotation cycles and signal amplitudes corresponding to the rotation angles, and the annular array antenna includes multi-channel annular array elements, and each array element includes multiple single antennas evenly distributed around a circumference;

[0150] A range determination module, configured to determine a target receiving angle range of each single antenna based on the signal amplitude variation data of the plurality of rotation cycles, wherein the signal-to-noise ratio within the target receiving angle range is the highest;

[0151] A signal screening module, used to determine the receiving time window of each single antenna based on the rotation speed of the annular array antenna and the target receiving angle range, obtain the receiving signal of each single antenna, and combine all the receiving signals in the same array element to obtain the input signal of each array element;

[0152] The diversity processing module is used to use the input signals of multiple array elements as reference signals respectively, and determine the weighting coefficients of the multiple input signals based on the reference signals for multiple times; weight the multiple input signals based on the weighting coefficients of the multiple input signals to obtain an output signal with minimized power, and use the output signal as a positioning signal.

[0153] A diversity anti-interference Beidou navigation and positioning device of the present invention, the navigation antenna in the present application adopts multiple array elements and an antenna ring arrangement. Compared with the planar array layout, the navigation antenna in the present application can save more installation space. In addition, the antenna in the present application receives signals while rotating. Before combining the signals, the target receiving angle range of each antenna is calculated, and the signals are received in the main lobe direction of each single antenna, and combined, thereby improving the signal-to-noise ratio of the input signal. After the input signal with a higher signal-to-noise ratio is processed by diversity anti-interference, a more accurate positioning signal can be obtained. In the diversity anti-interference processing method in the present application, each input signal is used as a reference signal, and the weighting coefficient is determined multiple times, so that while maintaining the positioning effect, a large number of antennas can be reduced, further saving the installation space of the antenna.

[0154] This embodiment further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, any one of the methods in this embodiment is implemented, wherein the method is the execution logic of this system.

[0155] This embodiment also provides an electronic terminal, including: a processor and a memory;

[0156] The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes any one of the methods in this embodiment.

[0157] The computer-readable storage medium in this embodiment can be understood by ordinary technicians in this field: all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0158] The electronic terminal provided in this embodiment includes a processor, a memory, a transceiver and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication with each other. The memory is used to store computer programs, the communication interface is used to communicate, and the processor and the transceiver are used to run computer programs so that the electronic terminal executes each step of the above method.

[0159] In this embodiment, the memory may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0160] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0161] In the above-mentioned embodiments, although the present invention has been described in conjunction with the specific embodiments of the present invention, many replacements, modifications and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description. The embodiments of the present invention are intended to cover all such replacements, modifications and variations falling within the broad scope of the appended claims.

[0162] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A diversity anti-interference Beidou navigation and positioning method, characterized in that: Includes steps: Acquire signal amplitude variation data of each single antenna in the annular array antenna in a target frequency band in multiple rotation cycles, wherein the signal amplitude variation data includes rotation angles of the multiple rotation cycles and signal amplitudes corresponding to the rotation angles, the annular array antenna includes multi-channel annular array elements, and each array element includes multiple single antennas evenly distributed around a circumference; Determine a target receiving angle range for each single antenna based on the signal amplitude variation data of the multiple rotation cycles, wherein the signal-to-noise ratio within the target receiving angle range is the highest; Determine the receiving time window of each single antenna based on the rotation speed of the annular array antenna and the target receiving angle range, obtain the receiving signal of each single antenna, and combine all the receiving signals in the same array element to obtain the input signal of each array element; The input signals of multiple array elements are respectively used as reference signals, and weighting coefficients of the multiple input signals are determined multiple times based on the reference signals; the multiple input signals are weighted based on the weighting coefficients of the multiple input signals to obtain an output signal with minimized power, and the output signal is used as a positioning signal.

2. A diversity anti-interference Beidou navigation and positioning method according to claim 1, characterized in that: Determining a target receiving angle range of each single antenna based on the signal amplitude variation data of the multiple rotation cycles includes: Extract the maximum signal amplitude of each rotation cycle and the maximum signal amplitude Corresponding rotation angle ,in, is the rotation cycle number; For all rotation angles Perform clustering to obtain one or more clusters; When there is a rotation angle exceeding the preset ratio When the target cluster is , the rotation angle within the target cluster is calculated The average , and based on the average Constructing the target receiving angle range of a single antenna ,in, is the number of single antennas in a single array element, To adjust the parameters.

3. A diversity anti-interference Beidou navigation and positioning method according to claim 2, characterized in that: Determining a receiving time window of each single antenna based on the rotation speed of the annular array antenna and the target receiving angle range includes: Get the current time and the current rotation angle of the annular array antenna ; Based on the rotation speed of the annular array antenna , the current time , the current rotation angle And the target receiving angle range Constructing a target receiving time window ,in, It is the period difference between the rotation period of the target receiving time window and the rotation period of the current time.

4. The diversity anti-interference Beidou navigation and positioning method according to claim 1, characterized in that: Determining weighting coefficients of multiple input signals based on the reference signal for multiple times includes: S11, determine the reference signal of the current order, and construct the input vector of the navigation antenna based on the multiple input signals , where the input vector The mathematical expression is: In the formula, is the first array element at time The received signal, For the second array element at time The received signal, For the The array element at time The received signal, \left [ {\cdot} \right ]^{T} represents the transposed matrix; S12, assigning initial weighting coefficients to each array element to obtain a weighted vector , where the weight vector The mathematical expression is: In the formula, is the initial weighting coefficient of the first array element, is the initial weighting coefficient of the second array element, For the The initial weighting coefficients of the array elements; S13, based on the reference signal of the current order, the input vector and the weight vector Calculate the minimum output power of the navigation antenna and the optimal weighted vector corresponding to the minimum output power , or, based on the reference signal of the current order, the input vector and the weight vector Execute the space-time two-dimensional adaptive algorithm to obtain the weighting coefficients of the multi-channel input signals, wherein the optimal weighting vector including weighting coefficients of multiple input signals; S14, taking the reference signal of the next order as the reference signal of the current order, and returning to step S11, until the weighting coefficients of the multiple input signals are determined based on all the reference signals.

5. The diversity anti-interference Beidou navigation and positioning method according to claim 4 is characterized in that: Based on the reference signal of the current order, the input vector and the weight vector Calculate the minimum output power of the navigation antenna and the optimal weighted vector corresponding to the minimum output power ,include: Based on the input vector and the weight vector Calculate the output of the navigation antenna , where the output of the navigation antenna The mathematical expression is: Based on the input vector , the output of the navigation antenna and the weight vector Calculate the output power of the navigation antenna , wherein the output power The mathematical expression is: In the formula, For the input vector The autocorrelation matrix of ,\left [ {\cdot} \right ]^{H} represents the conjugate transposed matrix; Configuring Constraints , so that the weighted coefficient of the first array element is 1, and it serves as the reference signal of the current order, where, is a weighted coefficient constraint vector; based on the constraint conditions and the output power The mathematical expression of constructing the Lagrangian function, where the Lagrangian function The mathematical expression is: In the formula, is the Lagrange multiplier; For the M-order Hermitian autocorrelation matrix ,satisfy , then the following gradient equation holds: For the Lagrangian function The mathematical expression of takes the gradient, and substitutes the gradient equation into the Lagrangian function after taking the gradient In the mathematical expression of ,in, .

6. A diversity anti-interference Beidou navigation and positioning method according to claim 5, characterized in that: Also includes: The optimal weight vector Mathematical expression of Combine the constraints , we get the Lagrange multiplier , where the Lagrange multiplier The mathematical expression is: Combine the Lagrange multipliers The mathematical expression of the optimal weight vector The mathematical expression and the gradient equation give the minimum output power , where the minimum output power The mathematical expression is: Where, \left [ {\cdot} \right ]^{H} represents the conjugate transposed matrix; Based on the minimum output power The mathematical expression for the optimal weight vector rewrite .

7. The diversity anti-interference Beidou navigation and positioning method according to claim 4, characterized in that: Based on the reference signal of the current order, the input vector and the weight vector Execute the space-time two-dimensional adaptive algorithm to obtain the weighting coefficients of the multi-channel input signals, including: S21, taking the reference signal of the current order as the expected signal , and calculate the input vector Except for the expected signal Each input signal other than the expected signal The error between ,in, , The weight vector at time Depend on The moment is determined; S22, constructing a cost function based on minimizing the mean square error, wherein the mathematical expression of the cost function is: In the formula, For the value of represents the real part, For the input vector The autocorrelation matrix of For the input vector With the expected signal The cross-correlation matrix of S23, calculating the weighted vector corresponding to the minimum cost value of the cost function , get the weighting coefficients of the multi-channel input signals; S24, taking the reference signal of the next order as the reference signal of the current order, and returning to step S21, until the calculation of the weighted coefficients based on all the reference signals is completed.

8. The diversity anti-interference Beidou navigation and positioning method according to claim 7, characterized in that: Also includes: The weighted vector corresponding to the minimum cost value of the cost function right The weight vector at time Update, where the update formula is: In the formula, is an adjustable step size factor, Error The adjoint matrix of .

9. The diversity anti-interference Beidou navigation and positioning method according to claim 1, characterized in that: The annular array antenna includes two array elements, one of which is a reference channel and the other is an auxiliary channel.

10. A diversity anti-interference Beidou navigation and positioning device, characterized in that: include: An acquisition module is used to acquire signal amplitude variation data of each single antenna in the annular array antenna in a target frequency band in multiple rotation cycles, wherein the signal amplitude variation data includes rotation angles of multiple rotation cycles and signal amplitudes corresponding to the rotation angles, and the annular array antenna includes multi-channel annular array elements, and each array element includes multiple single antennas evenly distributed around a circumference; A range determination module, configured to determine a target receiving angle range of each single antenna based on the signal amplitude variation data of the plurality of rotation cycles, wherein the signal-to-noise ratio within the target receiving angle range is the highest; A signal screening module, used to determine the receiving time window of each single antenna based on the rotation speed of the annular array antenna and the target receiving angle range, obtain the receiving signal of each single antenna, and combine all the receiving signals in the same array element to obtain the input signal of each array element; The diversity processing module is used to use the input signals of multiple array elements as reference signals respectively, and determine the weighting coefficients of the multiple input signals based on the reference signals for multiple times; weight the multiple input signals based on the weighting coefficients of the multiple input signals to obtain an output signal with minimized power, and use the output signal as a positioning signal.

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