Anti-suppression deception jamming detection suppression method and system

Abstract

The invention discloses an anti-suppression deception jamming detection suppression method and system, which combines the advantages of full autonomous navigation of inertial navigation, combines a satellite signal anti-interference processing technology, and comprehensively applies methods such as inertial / satellite integrated navigation, a multi-element satellite antenna array adaptive zeroing filtering algorithm, a beam forming algorithm and the like. And detection and suppression of suppression deception jamming are realized. According to the scheme of the embodiment of the invention, integrated navigation, a multi-array-element satellite antenna array zeroing adaptive algorithm and a satellite navigation anti-deception jamming signal processing method are integrated into one system at the same time; and a wave beam incoming vector obtained through combined navigation calculation is combined with a zero setting adaptive algorithm based on a multi-array-element satellite antenna array and an anti-suppression interference module, so that detection and suppression of suppression deception interference signals are realized. The scheme provided by the embodiment of the invention has a good anti-interference deception suppression effect.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a method and system for detecting and suppressing anti-suppression deception interference. Background Art

[0002] my country's third-generation BeiDou Satellite Navigation System (BDS3) has completed global networking, providing all-weather, all-day satellite navigation positioning, speed measurement, timing and short message services to the world. The BeiDou satellite navigation system has rich navigation frequencies, high positioning accuracy and mature technology. Together with the US GPS, Europe's Galileo and Russia's GLONASS, it forms the four major global satellite navigation systems, and some of its performance is better than the other three satellite navigation systems.

[0003] Due to mature technology and cheap client receivers, the global satellite navigation system has been widely used, and has been widely used in civil aviation, low-altitude aircraft, self-driving cars, trains, high-speed railways, self-driving yachts, cruise ships, etc. However, since the satellite signal is very weak when it reaches the ground, it is easy to be submerged in the noise signal and interfered by other radio signals. Among them, the most typical, most common and most harmful are suppression interference, deception interference and suppression and deception combination interference. When subjected to suppression interference, the satellite navigation receiver will not be able to locate, resulting in the user in motion being unable to operate or run in the predetermined manner; when subjected to deception interference, the satellite navigation receiver will track the deception signal for navigation, which will cause the user to operate or run according to the deception path, resulting in life and property safety issues; these two types of interference will eventually put satellite navigation users at great risk of life and property losses. The combination of suppression and deception interference is more likely to be deceived.

[0004] Unlike satellite navigation, inertial navigation is a completely autonomous navigation method that is not affected by external signals. However, inertial navigation has the problem of navigation errors diverging over time. Therefore, inertial navigation and satellite navigation can be integrated to form inertial / satellite navigation, which can be applied to anti-suppression deception interference detection and suppression.

[0005] At present, most anti-interference technologies or methods focus on the detection or suppression of anti-interference from the aspect of satellite navigation signal processing, and the anti-interference function is relatively incomplete. The existing methods of using inertial navigation to assist satellite navigation in anti-pressure deception interference only stay at the use of inertial navigation pseudorange and pseudorange rate. When subjected to suppression deception interference, the inertial navigation positioning error is large, resulting in large errors in inertial navigation pseudorange and pseudorange rate, and the deception signal cannot be effectively detected. Summary of the invention

[0006] The present invention provides a method and system for detecting and suppressing anti-suppression deception interference, which comprehensively utilizes inertial / satellite combined navigation, multi-element satellite antenna array adaptive zeroing filtering algorithm, beamforming algorithm and other methods to realize detection and suppression of anti-suppression deception interference.

[0007] According to one aspect of the present invention, a method for detecting and suppressing anti-suppression deception interference is provided, comprising the following steps:

[0008] The multi-element satellite array antenna receives the radio frequency signal of the global navigation satellite system, and outputs n radio frequency signals to the anti-interference receiver for signal processing after low noise amplification;

[0009] The inertial measurement unit outputs acceleration and angular velocity values ​​to the anti-interference receiver for integrated navigation processing;

[0010] The anti-interference receiver receives the RF signal output by the multi-element satellite array antenna to perform RF signal processing, anti-suppression deception interference signal detection and suppression processing, navigation positioning, speed measurement and timing processing; receives the angular velocity and acceleration values ​​output by the inertial measurement unit for combined navigation solution, and combines the anti-suppression interference processing results and beamforming information to detect and suppress deception interference signals.

[0011] The multi-element satellite array antenna comprises:

[0012] At least n microstrip antenna elements; wherein n≥4;

[0013] One of the microstrip antenna arrays is located at the center of the array surface formed by all microstrip antenna arrays, and the other microstrip antenna arrays are arranged in a geometrically symmetrical manner with the microstrip antenna array as the center point; all microstrip antenna arrays receive satellite navigation signals of the same frequency.

[0014] The anti-interference receiver performs digital communication between the anti-interference suppression module and the navigation baseband module, receives the beam vector of the antenna array sent by the navigation baseband module and the beam vector of the identified deception interference satellite, detects other possible deception interference signals again, adjusts the zeroing adaptive filtering weight parameters, and suppresses the deception interference signals.

[0015] The navigation baseband module receives the anti-interference digital intermediate frequency signal output by the anti-suppression interference module, performs capture and tracking processing, satellite navigation telegram analysis, obtains the original observation quantity, and performs space segment error and user segment error compensation on the observation quantity, and then performs positioning, speed measurement and timing solution to obtain the position, speed and time information of the receiver; when capturing and tracking, the existing deception interference signal is identified according to the multi-peak capture detection method, and only the earliest captured signal is used; when tracking, the earlier peak signal is periodically searched; when a deception interference signal is detected, the channel of the captured and tracked deception interference signal is deleted;

[0016] The navigation baseband module receives the acceleration and angular velocity output by the inertial measurement unit, the strapdown inertial navigation solution and the initial alignment / integrated navigation solution; in the solution process, the received acceleration and angular velocity values ​​are error compensated by using the inertial device error estimated by filtering, and the position, velocity, and attitude error of the strapdown inertial navigation solution are error compensated by using the estimated position, velocity, and attitude error to suppress the error divergence;

[0017] After completing GNSS positioning, velocity measurement and timing solutions, as well as SINS / GNSS combined navigation solutions, a relatively accurate receiver position is obtained. Combined with the satellite position calculated by the satellite ephemeris, the beam approach vector in the station center coordinate system is calculated. Combined with the attitude matrix calculated by the combined navigation, the beam approach vector based on the antenna array mouth is obtained. Through the beam approach vector, the invisible deception interference signals based on the antenna array mouth and the deception interference signals with the same approach direction are identified.

[0018] The state variables of the integrated navigation solution system include the attitude, speed, position error, three-axis gyro drift, and three-axis accelerometer zero bias of the strapdown inertial navigation (SINS); the state variables are selected as

[0019]

[0020] in, is the inertial navigation attitude error, δV e is the inertial velocity error, δP e is the inertial positioning error, the superscript e indicates that it is in the ECEF coordinate system, is the gyro angular rate error, is the acceleration error of the accelerometer, the superscript b and the b in the subscript both represent the carrier coordinate system, and the i in the subscript represents the inertial coordinate system;

[0021] The state equation is:

[0022]

[0023] in, is the antisymmetric matrix of the Earth's rotation angular velocity, is the attitude matrix, is the specific force output by the accelerometer;

[0024] δρ i , are the pseudorange error and pseudorange rate error output by the i-th channel respectively;

[0025] Select the kth channel as the reference channel, and the observation equation based on differential pseudorange and pseudorange rate is:

[0026]

[0027] According to the state equation and the observation equation, the error amount is estimated using a Kalman filter.

[0028] The Kalman filter estimates the error amount, including:

[0029] Step 1: Prediction

[0030]

[0031] in,

[0032]

[0033] Q k =w k (w k ) T

[0034]

[0035] Among them, ε g is the three-dimensional gyro output noise, ε a The output noise of the three-dimensional accelerometer is obtained by testing and modeling the gyroscope and accelerometer data;

[0036] Step 2: Measurement Update

[0037]

[0038] in,

[0039]

[0040] R=V(V) T

[0041] Among them, the measurement noise vector V is composed as follows:

[0042]

[0043] The variance value of each element in V is obtained by the variance value of the pseudorange and pseudorange rate error of each corresponding channel.

[0044] The beam direction vector based on the antenna array port is obtained according to the following method:

[0045] The direction vector of the i-th satellite is calculated from the GNSS / INS combined navigation position and the satellite position:

[0046]

[0047] Among them, θ (i)is the elevation angle of the i-th satellite, α (i) is the azimuth of the i-th satellite;

[0048] The beam vector based on the antenna array port is:

[0049]

[0050] Beam elevation angle θ′ based on the antenna array port (i) and azimuth α′ (i) ,as follows:

[0051]

[0052] The detection of the anti-suppression deception interference signal is achieved by the following means:

[0053] In the anti-suppression interference module, the suppression interference signal is detected by the zeroing adaptive algorithm;

[0054] In the anti-jamming module, the deceptive jamming signal is detected by the consistency of the beam vector;

[0055] In the acquisition and tracking of the navigation baseband module, deception jamming signals are detected by multi-peak detection and searching for earlier peaks during tracking;

[0056] In the navigation baseband module, the beam direction vector based on the antenna array port is calculated by combining the navigation results and the satellite position, and the consistency and visibility of the beam direction are determined to detect deception interference signals.

[0057] The suppression of anti-suppression deception jamming signals is achieved through the following means:

[0058] In the anti-suppression interference module, the suppression of the suppression interference signal is achieved through the zeroing adaptive algorithm;

[0059] In the anti-suppression jamming module, the suppression of deceptive jamming signals is achieved by adjusting the adaptive filtering weights;

[0060] In the capture and tracking of the navigation baseband module, the corresponding capture and tracking channel of the deception interference signal is deleted to suppress the deception interference signal;

[0061] During positioning, speed measurement and solution, the residual test method is used to eliminate the values ​​with large residuals.

[0062] According to another aspect of the present invention, there is provided an anti-suppression deception interference detection and suppression system, comprising:

[0063] A multi-element satellite array antenna is used to receive radio frequency signals from the global navigation satellite system, and after low-noise amplification processing, output n radio frequency signals to the anti-interference receiver for signal processing;

[0064] Inertial measurement unit, used to output acceleration and angular velocity values ​​to the anti-interference receiver for integrated navigation processing;

[0065] The anti-interference receiver is used to receive the RF signal output by the multi-satellite array antenna for RF signal processing, anti-suppression deception interference signal detection and suppression processing, navigation positioning, speed measurement and timing processing; receive the angular velocity and acceleration values ​​output by the inertial measurement unit for combined navigation solution, and combine the anti-suppression interference processing results and beamforming information to detect and suppress deception interference signals.

[0066] The multi-element satellite array antenna comprises: at least n microstrip antenna arrays; n≥4; one of the microstrip antenna arrays is located at the center of the array surface formed by all the microstrip antenna arrays, and the other microstrip antenna arrays are arranged in a geometrically symmetrical manner with the microstrip antenna array as the center point; all the microstrip antenna arrays receive satellite navigation signals of the same frequency;

[0067] The anti-interference receiver comprises:

[0068] The RF front end is used to perform n-channel down-conversion processing and IF filtering on the high-frequency RF signal, and then output an IF analog signal with a bandwidth not less than the bandwidth of the satellite navigation signal to the anti-suppression interference module in the anti-interference receiver;

[0069] The anti-suppression interference module is used to receive the intermediate frequency analog signal output by the RF front end, perform AD sampling on it, obtain a digital intermediate frequency signal, and perform zeroing adaptive filtering on the digital intermediate frequency signal to realize suppression interference detection and suppression of multiple interference sources; digital communication is designed between the navigation baseband module, receiving the beam vector of the antenna array sent by the navigation baseband module, the beam vector of the identified deception interference satellite, and detecting other possible deception interference signals again, adjusting the zeroing adaptive filtering weight parameters, and suppressing the deception interference signal;

[0070] The navigation baseband module is used to receive the anti-interference digital intermediate frequency signal output by the anti-suppression interference module, perform capture and tracking processing, satellite navigation message analysis, obtain the original observation quantity, and compensate the observation quantity for space segment error and user segment error, and then perform positioning, speed measurement and timing calculation to obtain the position, speed and time information of the receiver; when capturing and tracking, a multi-peak capture detection method is used to identify the existing deception interference signal, and only the earliest captured signal is used; when tracking, an earlier peak signal is periodically searched, and when a deception interference signal is detected, the channel of the captured and tracked deception interference signal is deleted;

[0071] Receive the acceleration and angular velocity output by the inertial measurement unit, perform strapdown inertial navigation solution and initial alignment / integrated navigation solution; in the solution process, use the inertial device error estimated by filtering to perform error compensation on the received acceleration and angular velocity values, and use the estimated position, velocity, and attitude errors to perform error compensation on the position, velocity, and attitude solved by the strapdown inertial navigation to suppress its error divergence;

[0072] After completing GNSS positioning, velocity measurement and timing solutions, as well as SINS / GNSS combined navigation solutions, a more accurate receiver position is obtained. Combined with the satellite position obtained by satellite ephemeris calculation, the beam approach vector in the station center coordinate system is calculated. Combined with the attitude matrix obtained by combined navigation calculation, the beam approach vector based on the antenna array mouth is obtained. Through the beam approach vector, deception interference signals that are invisible to the antenna array mouth and deception interference signals with the same approach direction are identified.

[0073] In the scheme proposed in the present invention, a method for detecting and suppressing anti-suppression deception interference based on satellite / inertial combined navigation is proposed. Combining the advantages of fully autonomous navigation of inertial navigation and satellite signal anti-interference processing technology, the inertial / satellite combined navigation, multi-element satellite antenna array adaptive zeroing filtering algorithm, beamforming algorithm and other methods are comprehensively used to realize the detection and suppression of anti-suppression deception interference. The scheme of the embodiment of the present invention integrates the combined navigation, multi-element satellite antenna array zeroing adaptive algorithm and satellite navigation anti-suppression interference signal processing method into one system, and combines the beam direction vector calculated by the combined navigation with the zeroing adaptive algorithm based on the multi-element satellite antenna array and the anti-suppression interference module to realize the detection and suppression of the suppression deception interference signal. The scheme provided by the embodiment of the present invention has a good anti-interference suppression deception effect.

[0074] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0076] Figure 1 This is a principle flow chart of a method for detecting and suppressing anti-suppression deception interference in an embodiment of the present invention;

[0077] Figure 2 It is a schematic diagram of the structure of an anti-suppression deception interference detection and suppression system based on inertial / satellite integrated navigation in an embodiment of the present invention;

[0078] Figure 3 It is a schematic diagram of the layout of the multiple satellite array antenna array in an embodiment of the present invention;

[0079] Figure 4 This is a schematic diagram of the RF front-end signal processing flow in an embodiment of the present invention;

[0080] Figure 5 This is a schematic diagram of the signal processing flow of the anti-suppression and interference module in an embodiment of the present invention;

[0081] Figure 6 This is a schematic diagram of a navigation baseband module signal processing flow in an embodiment of the present invention;

[0082] Figure 7 It is a schematic diagram of the structure of an anti-suppression deception interference detection and suppression system in an embodiment of the present invention. DETAILED DESCRIPTION

[0083] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0084] The embodiments of the present invention involve multiple mathematical calculation steps and multiple mathematical formulas, in which various parameters are either specific physical values ​​or just letter symbols required for conventional mathematical calculations. For values ​​with actual physical meanings, the embodiments of the present invention provide specific explanations and elaborations of physical meanings. For symbols, letters, etc. involved in conventional mathematical calculations, the conventional usage in the prior art shall prevail, and the embodiments of the present invention will not provide specific meaning explanations one by one.

[0085] Figure 1 FIG. 1 is a flow chart showing the principle of a method for detecting and suppressing anti-suppression deception interference in Embodiment 1 of the present invention. Figure 1 As shown, the process includes the following steps:

[0086] Step 101: The multi-element satellite array antenna receives radio frequency signals from the global navigation satellite system, and outputs n radio frequency signals to the anti-interference receiver for signal processing after low noise amplification.

[0087] In one embodiment of the present invention, a multi-element satellite array antenna includes at least n (n≥4) antenna elements with the same frequency point, receives the radio frequency signal of the global navigation satellite system, and outputs n radio frequency signals to an anti-interference receiver after low noise amplification processing for signal processing.

[0088] Step 102: The inertial measurement unit outputs acceleration and angular velocity values ​​to the anti-interference receiver for integrated navigation processing.

[0089] In one embodiment of the present invention, the inertial measurement unit outputs acceleration and angular velocity values ​​at a frequency of more than 100 Hz to the anti-interference receiver, and the anti-interference receiver performs integrated navigation processing.

[0090] Step 103, the anti-interference receiver receives the RF signal output by the multi-satellite array antenna to perform RF signal processing, anti-suppression deception interference signal detection and suppression processing, navigation positioning, speed measurement and timing processing; receives the angular velocity and acceleration values ​​output by the inertial measurement unit to perform combined navigation solution, and combines the anti-suppression interference processing results and beamforming information to detect and suppress the deception interference signal.

[0091] In one embodiment of the present invention, an anti-interference receiver receives the RF signal output by the multi-satellite array antenna to perform RF signal processing, anti-suppression deception interference signal detection and suppression processing, navigation positioning, speed measurement and timing processing; receives the angular velocity and acceleration values ​​output by the inertial measurement unit to perform combined navigation solution, and combines the anti-suppression interference processing results and beamforming information to detect and suppress the deception interference signal.

[0092] Specifically, in the embodiment of the present invention, the solution of the present invention can be implemented by a specific system, which mainly includes: a multi-element satellite antenna array, an inertial measurement unit and an anti-interference receiver, etc. Figure 2 Among them, the anti-interference receiver is mainly composed of the RF front end, the anti-suppression interference module and the navigation baseband module.

[0093] The multi-element satellite array antenna includes n (n≥4) microstrip antenna elements, one of which is located at the center of the array surface formed by all the elements, and the other elements are arranged in a geometrically symmetrical manner around the center point. These elements all receive satellite navigation signals of the same frequency. For the specific structure, see Figure 3 After receiving the satellite signal, the array performs low noise amplification processing and outputs n-channel RF signals to the anti-interference receiver.

[0094] The RF front end is an important part of the anti-interference receiver. It performs n-channel down-conversion and intermediate frequency filtering on the high-frequency RF signal, and then outputs an intermediate frequency analog signal with a bandwidth not less than the bandwidth of the satellite navigation signal to the anti-suppression interference module in the anti-interference receiver. The processing flow is as follows: Figure 4 shown.

[0095] The anti-suppression interference module is mainly composed of an AD sampling chip and an FPGA anti-interference processor (or an anti-interference processing chip). It receives the intermediate frequency analog signal output by the RF front end, performs AD sampling on it, obtains a digital intermediate frequency signal, and performs zero-adjusted adaptive filtering on the digital intermediate frequency signal by the FPGA anti-interference processor to achieve suppression interference detection and suppression of multiple interference sources. Digital communication is designed between the FPGA anti-interference processor and the navigation baseband module to receive the beam vector of the antenna array sent by the navigation baseband module and the beam vector of the identified deceptive interference satellite, detect other possible deceptive interference signals again, adjust the zero-adjusted adaptive filtering weight parameters, and suppress the deceptive interference signals.

[0096] The processing flow of the anti-suppression interference module is as follows: Figure 5 shown.

[0097] The navigation baseband module receives the anti-interference digital intermediate frequency signal output by the anti-suppression interference module, performs capture and tracking processing, parses the satellite navigation message, obtains the original observation quantity, and compensates the space segment error and user segment error of the observation quantity, and then performs positioning, speed measurement and timing calculation to obtain the position, speed and time information of the receiver. When capturing and tracking, a multi-peak capture detection method is used to identify the existing deception interference signal, and only the earliest captured signal is used; when tracking, the earlier peak signal is periodically searched to avoid mistakenly tracking the deception interference signal. When a deception interference signal is detected, the channel of the captured and tracked deception interference signal is deleted.

[0098] At the same time, the navigation baseband module receives the acceleration and angular velocity output by the inertial measurement unit (IMU), the strapdown inertial navigation solution and the initial alignment / combined navigation solution. During the solution process, the received acceleration and angular velocity values ​​are compensated by the inertial device error estimated by filtering, and the position, velocity, and attitude error of the strapdown inertial navigation solution are compensated by the estimated position, velocity, and attitude error to suppress the error divergence.

[0099] After completing GNSS positioning, velocity measurement and timing solutions, as well as SINS / GNSS integrated navigation solutions, a more accurate receiver position can be obtained. Combined with the satellite position calculated by the satellite ephemeris, the beam vector in the station center coordinate system can be calculated. Combined with the attitude matrix calculated by the integrated navigation, the beam vector based on the antenna array mouth can be obtained. Through these beam vectors, deceptive jamming signals based on the invisibility and low visibility of the antenna array mouth and deceptive jamming signals with the same direction can be identified.

[0100] The navigation baseband module sends the vector, identified deceptive jamming satellite based on the wave velocity of the antenna array to the anti-suppression jamming module through the digital communication interface.

[0101] The processing flow of the navigation baseband module is as follows: Figure 6 shown.

[0102] In this embodiment, the combined navigation adopts a tight combined navigation mode.

[0103] The combined navigation filter uses the pseudorange and pseudorange rate output by each channel as measurement input. Since the receiver is in common view of all visible stars, the clock error parameters contained in the pseudorange are the same, and the clock drift parameters contained in the pseudorange rate are the same. Therefore, the pseudorange difference and pseudorange rate difference between available channels can be used to eliminate them, so as to reduce the dimension of the combined filter, reduce the calculation burden, and improve the estimation accuracy of the system error.

[0104] The system state variables of the integrated navigation filter include the attitude, velocity, position error, three-axis gyro drift, and three-axis accelerometer zero bias of the strapdown inertial navigation (SINS). The state variables are selected as

[0105]

[0106] In the above formula, is the inertial navigation attitude error, δV e is the inertial velocity error, δP e is the inertial navigation positioning error, and the superscript e indicates that it is in the ECEF coordinate system. is the gyro angular rate error, is the acceleration error of the accelerometer, the superscript b and the b in the subscript both represent the carrier coordinate system, and the i in the subscript represents the inertial coordinate system.

[0107] Then the state equation is:

[0108]

[0109] In the above formula, is the antisymmetric matrix of the Earth's rotation angular velocity, is the attitude matrix, is the specific force output by the accelerometer.

[0110] Let δρ i , are the pseudorange error and pseudorange rate error output by the i-th channel respectively.

[0111] Select the kth channel (k is selected according to the actual situation, in the following formula, k≠1, k≠n) as the reference channel, and the observation equation based on differential pseudorange and pseudorange rate can be obtained as follows:

[0112]

[0113] According to the above state equation and observation equation, a Kalman filter is designed to estimate the error. The steps to implement Kalman filtering are as follows:

[0114] predict:

[0115]

[0116] in:

[0117]

[0118] Q k =w k (w k ) T

[0119] In the above formula, ε g is the three-dimensional gyro output noise, ε a The three-dimensional accelerometer output noise can be obtained by testing and modeling the gyroscope and accelerometer data.

[0120] Measurement Update:

[0121]

[0122] in:

[0123]

[0124] R=V(V) T

[0125] The measurement noise vector V in the above formula is constructed as follows:

[0126]

[0127] The variance value of each element in V is obtained by the variance value of the pseudorange and pseudorange rate error of each corresponding channel.

[0128] The direction vector of the i-th satellite can be calculated from the GNSS / INS combined navigation position and the satellite position:

[0129]

[0130] In the above formula, θ (i) is the elevation angle of the i-th satellite, α (i) is the azimuth of the i-th satellite. Then the beam vector based on the antenna array port is:

[0131]

[0132] Then the beam elevation angle θ′ based on the antenna array port can be obtained (i) and azimuth α′ (i) ,as follows:

[0133]

[0134] Furthermore, the detection of anti-suppression deception jamming signals is achieved through the following means:

[0135] In the anti-suppression interference module, the suppression interference signal is detected by the zeroing adaptive algorithm;

[0136] In the anti-jamming module, the deceptive jamming signal is detected by the consistency of the beam vector;

[0137] In the acquisition and tracking of the navigation baseband module, deception jamming signals are detected by multi-peak detection and searching for earlier peaks during tracking;

[0138] In the navigation baseband module, the beam direction vector based on the antenna array port is calculated by combining the navigation results and the satellite position, and the consistency and visibility of the beam direction are determined to detect deception interference signals.

[0139] The suppression of anti-suppression deception jamming signals is achieved through the following means:

[0140] In the anti-suppression interference module, the suppression of the suppression interference signal is achieved through the zeroing adaptive algorithm;

[0141] In the anti-suppression jamming module, the suppression of deceptive jamming signals is achieved by adjusting the adaptive filtering weights;

[0142] In the capture and tracking of the navigation baseband module, the corresponding capture and tracking channel of the deception interference signal is deleted to suppress the deception interference signal;

[0143] During positioning, speed measurement and solution, the residuals with large errors are eliminated through residual inspection.

[0144] In the embodiment of the present invention, the beam vector obtained by the combined navigation calculation is combined with the zeroing adaptive algorithm based on the multi-element satellite antenna array and the anti-suppression jamming module to realize the detection and suppression of the suppression deception jamming signal. At the same time, the combined navigation, the multi-element satellite antenna array zeroing adaptive algorithm and the satellite navigation anti-suppression jamming signal processing method are integrated into one system.

[0145] In the embodiment of the present invention, the inertial measurement unit (IMU) can be replaced with a strapdown inertial navigation system (SINS), as long as the information sent includes acceleration and angular velocity values. The anti-suppression interference module and the navigation baseband module can be integrated or split. The GNSS / INS combined navigation method is not limited to deep combination, but can also be a loose combination method.

[0146] In order to implement the above process, the technical solution of the present invention also provides an anti-suppression deception interference detection and suppression system, such as Figure 7 As shown, the system includes:

[0147] The multi-element satellite array antenna 21 is used to receive radio frequency signals of the global navigation satellite system, and output n radio frequency signals to the anti-interference receiver for signal processing after low noise amplification;

[0148] An inertial measurement unit 22 is used to output acceleration and angular velocity values ​​to an anti-interference receiver for integrated navigation processing;

[0149] The anti-interference receiver 23 is used to receive the radio frequency signal output by the multi-satellite array antenna 21 for radio frequency signal processing, anti-suppression deception interference signal detection and suppression processing, navigation positioning, speed measurement and timing processing; receive the angular velocity and acceleration values ​​output by the inertial measurement unit 22 for combined navigation solution, and detect and suppress the deception interference signal in combination with the anti-suppression interference processing results and beamforming information.

[0150] The multi-element satellite array antenna 21 comprises: at least n microstrip antenna arrays; n≥4; one of the microstrip antenna arrays is located at the center of the array surface formed by all the microstrip antenna arrays, and the other microstrip antenna arrays are arranged in a geometrically symmetrical manner with the microstrip antenna array as the center point; all the microstrip antenna arrays receive satellite navigation signals of the same frequency;

[0151] The anti-interference receiver 23 comprises:

[0152] The RF front end is used to perform n-channel down-conversion processing and IF filtering on the high-frequency RF signal, and then output an IF analog signal with a bandwidth not less than the bandwidth of the satellite navigation signal to the anti-suppression interference module in the anti-interference receiver;

[0153] The anti-suppression interference module is used to receive the intermediate frequency analog signal output by the RF front end, perform AD sampling on it, obtain a digital intermediate frequency signal, and perform zeroing adaptive filtering on the digital intermediate frequency signal to realize suppression interference detection and suppression of multiple interference sources; digital communication is designed between the navigation baseband module, receiving the beam vector of the antenna array sent by the navigation baseband module, the beam vector of the identified deception interference satellite, and detecting other possible deception interference signals again, adjusting the zeroing adaptive filtering weight parameters, and suppressing the deception interference signal;

[0154] The navigation baseband module is used to receive the anti-interference digital intermediate frequency signal output by the anti-suppression interference module, perform capture and tracking processing, satellite navigation message analysis, obtain the original observation quantity, and compensate the observation quantity for space segment error and user segment error, and then perform positioning, speed measurement and timing calculation to obtain the position, speed and time information of the receiver; when capturing and tracking, a multi-peak capture detection method is used to identify the existing deception interference signal, and only the earliest captured signal is used; when tracking, an earlier peak signal is periodically searched, and when a deception interference signal is detected, the channel of the captured and tracked deception interference signal is deleted;

[0155] Receive the acceleration and angular velocity output by the inertial measurement unit 22, and perform strapdown inertial navigation solution and initial alignment / integrated navigation solution; in the solution process, use the inertial device error estimated by filtering to perform error compensation on the received acceleration and angular velocity values, and use the estimated position, velocity, and attitude errors to perform error compensation on the position, velocity, and attitude of the strapdown inertial navigation solution to suppress its error divergence;

[0156] After completing GNSS positioning, velocity measurement and timing solutions, as well as SINS / GNSS combined navigation solutions, a more accurate receiver position is obtained. Combined with the satellite position obtained by satellite ephemeris calculation, the beam approach vector in the station center coordinate system is calculated. Combined with the attitude matrix obtained by combined navigation calculation, the beam approach vector based on the antenna array mouth is obtained. Through the beam approach vector, deception interference signals that are invisible to the antenna array mouth and deception interference signals with the same approach direction are identified.

[0157] In summary, the technical solution of the present invention proposes a method for detecting and suppressing anti-suppression deception interference based on satellite / inertial combined navigation, which combines the advantages of fully autonomous navigation of inertial navigation and satellite signal anti-interference processing technology, and comprehensively uses inertial / satellite combined navigation, multi-element satellite antenna array adaptive zeroing filtering algorithm, beamforming algorithm and other methods to achieve detection and suppression of anti-suppression deception interference. The solution of the embodiment of the present invention integrates the combined navigation, multi-element satellite antenna array zeroing adaptive algorithm and satellite navigation anti-suppression interference signal processing method into one system, and combines the beam direction vector calculated by the combined navigation with the zeroing adaptive algorithm based on the multi-element satellite antenna array and the anti-suppression interference module to achieve detection and suppression of suppression deception interference signals. The solution provided by the embodiment of the present invention has good anti-interference suppression deception effect.

[0158] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0159] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0160] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0161] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0162] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for detecting and suppressing anti-suppression deception interference, characterized in that: The following steps are involved: The multi-element satellite array antenna receives the radio frequency signal of the global navigation satellite system, and outputs n radio frequency signals to the anti-interference receiver for signal processing after low noise amplification; The inertial measurement unit outputs acceleration and angular velocity values ​​to the anti-interference receiver for integrated navigation processing; The anti-interference receiver receives the RF signal output by the multi-element satellite array antenna to perform RF signal processing, anti-suppression deception interference signal detection and suppression processing, navigation positioning, speed measurement and timing processing; receives the angular velocity and acceleration values ​​output by the inertial measurement unit for combined navigation solution, and combines the anti-suppression interference processing results and beamforming information to detect and suppress deception interference signals.

2. The method for detecting and suppressing anti-suppression deception interference according to claim 1, characterized in that: The multi-element satellite array antenna comprises: At least n microstrip antenna elements; wherein n≥4; One of the microstrip antenna arrays is located at the center of the array surface formed by all microstrip antenna arrays, and the other microstrip antenna arrays are arranged in a geometrically symmetrical manner with the microstrip antenna array as the center point; all microstrip antenna arrays receive satellite navigation signals of the same frequency.

3. The method for detecting and suppressing anti-suppression deception interference according to claim 1, characterized in that: The anti-interference receiver performs digital communication between the anti-interference suppression module and the navigation baseband module, receives the beam vector of the antenna array sent by the navigation baseband module and the beam vector of the identified deception interference satellite, detects other possible deception interference signals again, adjusts the zeroing adaptive filtering weight parameters, and suppresses the deception interference signals.

4. The method for detecting and suppressing anti-suppression deception interference according to claim 3, characterized in that: The navigation baseband module receives the anti-interference intermediate frequency signal output by the anti-suppression interference module, performs capture and tracking processing, satellite navigation telegram analysis, obtains the original observation quantity, and performs space segment error and user segment error compensation on the observation quantity, and then performs positioning, speed measurement and timing solution to obtain the position, speed and time information of the receiver; when capturing and tracking, the existing deception interference signal is identified according to the multi-peak capture detection method, and only the earliest captured signal is used; when tracking, the earlier peak signal is periodically searched; when a deception interference signal is detected, the channel of the captured and tracked deception interference signal is deleted; The navigation baseband module receives the acceleration and angular velocity output by the inertial measurement unit, the strapdown inertial navigation solution and the initial alignment / integrated navigation solution; In the solution process, the inertial device error estimated by filtering is used to compensate the received acceleration and angular velocity values, and the position, velocity and attitude error calculated by strapdown inertial navigation are compensated by the estimated position, velocity and attitude errors to suppress the error divergence. After completing GNSS positioning, velocity measurement and timing solutions, as well as SINS / GNSS combined navigation solutions, a relatively accurate receiver position is obtained. Combined with the satellite position obtained by satellite ephemeris calculation, the beam direction vector in the station center coordinate system is calculated. Combined with the attitude matrix obtained by combined navigation calculation, the beam direction vector based on the antenna array mouth is obtained. Through the beam direction vector, deception interference signals based on the invisibility and low visibility of the antenna array mouth and deception interference signals with the same direction are identified.

5. The method for detecting and suppressing anti-suppression deception interference according to claim 4, characterized in that: The state variables of the integrated navigation solution system include the attitude, speed, position error, three-axis gyro drift, and three-axis accelerometer zero bias of the strapdown inertial navigation (SINS); Select the state variable as in, is the inertial navigation attitude error, δV e is the inertial velocity error, δP e is the inertial positioning error, the superscript e indicates that it is in the ECEF coordinate system, is the gyro angular rate error, is the acceleration error of the accelerometer, the superscript b and the subscript b both represent the carrier coordinate system, and the subscript i represents the inertial coordinate system; The state equation is: in, is the antisymmetric matrix of the Earth's rotation angular velocity, is the posture matrix, is the specific force output by the accelerometer; δρ i , are the pseudorange error and pseudorange rate error output by the i-th channel respectively; Select the kth channel as the reference channel, and the observation equation based on differential pseudorange and pseudorange rate is: According to the state equation and the observation equation, the error amount is estimated using a Kalman filter.

6. The method for detecting and suppressing anti-suppression deception interference according to claim 5, characterized in that: The Kalman filter estimates the error amount, including: Step 1: Prediction in, Qq k =w k (w k ) T Among them, ε g is the three-dimensional gyro output noise, ε a The output noise of the three-dimensional accelerometer is obtained by testing and modeling the gyroscope and accelerometer data; Step 2: Measurement Update in, R=V(V) T Among them, the measurement noise vector V is composed as follows: The variance value of each element in V is obtained by the variance value of the pseudorange and pseudorange rate error of each corresponding channel.

7. The method for detecting and suppressing anti-suppression deception interference according to claim 6, characterized in that: The beam direction vector based on the antenna array port is obtained according to the following method: The direction vector of the i-th satellite is calculated from the GNSS / INS combined navigation position and the satellite position: Among them, θ (i) is the elevation angle of the i-th satellite, α (i) is the azimuth of the i-th satellite; The beam vector based on the antenna array port is: Beam elevation angle θ′ based on the antenna array port (i) and azimuth α′ (i) ,as follows:

8. The method for detecting and suppressing anti-suppression deception interference according to claim 1, characterized in that: The detection of the anti-suppression deception interference signal is achieved by the following means: In the anti-suppression interference module, the suppression interference signal is detected by the zeroing adaptive algorithm; In the anti-jamming module, the deceptive jamming signal is detected by the consistency of the beam vector; In the acquisition and tracking of the navigation baseband module, deception jamming signals are detected by multi-peak detection and searching for earlier peaks during tracking; In the navigation baseband module, the beam direction vector based on the antenna array port is calculated by combining the navigation results and the satellite position, and the consistency and visibility of the beam direction are determined to detect deception interference signals. The suppression of anti-suppression deception jamming signals is achieved through the following means: In the anti-suppression interference module, the suppression of the suppression interference signal is achieved through the zeroing adaptive algorithm; In the anti-suppression jamming module, the suppression of deceptive jamming signals is achieved by adjusting the adaptive filtering weights; In the capture and tracking of the navigation baseband module, the corresponding capture and tracking channel of the deception interference signal is deleted to suppress the deception interference signal; During positioning, speed measurement and solution, the residual test method is used to eliminate the values ​​with large residuals.

9. An anti-suppression deception interference detection and suppression system, characterized in that: include: A multi-element satellite array antenna is used to receive radio frequency signals from the global navigation satellite system, and after low-noise amplification processing, output n radio frequency signals to the anti-interference receiver for signal processing; Inertial measurement unit, used to output acceleration and angular velocity values ​​to the anti-interference receiver for integrated navigation processing; The anti-interference receiver is used to receive the RF signal output by the multi-satellite array antenna for RF signal processing, anti-suppression deception interference signal detection and suppression processing, navigation positioning, speed measurement and timing processing; receive the angular velocity and acceleration values ​​output by the inertial measurement unit for combined navigation solution, and combine the anti-suppression interference processing results and beamforming information to detect and suppress deception interference signals.

10. The anti-suppression deception interference detection and suppression system according to claim 9, characterized in that: The system further comprises: The multi-element satellite array antenna comprises: at least n microstrip antenna arrays; n≥4; one of the microstrip antenna arrays is located at the center of the array surface formed by all the microstrip antenna arrays, and the other microstrip antenna arrays are arranged in a geometrically symmetrical manner with the microstrip antenna array as the center point; all the microstrip antenna arrays receive satellite navigation signals of the same frequency; The anti-interference receiver comprises: The RF front end is used to perform n-channel down-conversion processing and IF filtering on the high-frequency RF signal, and then output an IF analog signal with a bandwidth not less than the bandwidth of the satellite navigation signal to the anti-suppression interference module in the anti-interference receiver; The anti-suppression interference module is used to receive the intermediate frequency analog signal output by the RF front end, perform AD sampling on it, obtain a digital intermediate frequency signal, and perform zeroing adaptive filtering on the digital intermediate frequency signal to realize suppression interference detection and suppression of multiple interference sources; digital communication is designed between the navigation baseband module, receiving the beam vector of the antenna array sent by the navigation baseband module, the beam vector of the identified deception interference satellite, and detecting other possible deception interference signals again, adjusting the zeroing adaptive filtering weight parameters, and suppressing the deception interference signal; The navigation baseband module is used to receive the anti-interference digital intermediate frequency signal output by the anti-suppression interference module, perform capture and tracking processing, satellite navigation message analysis, obtain the original observation quantity, and compensate the observation quantity for space segment error and user segment error, and then perform positioning, speed measurement and timing calculation to obtain the position, speed and time information of the receiver; when capturing and tracking, a multi-peak capture detection method is used to identify the existing deception interference signal, and only the earliest captured signal is used; when tracking, an earlier peak signal is periodically searched, and when a deception interference signal is detected, the channel of the captured and tracked deception interference signal is deleted; Receive the acceleration and angular velocity output by the inertial measurement unit, perform strapdown inertial navigation solution and initial alignment / integrated navigation solution; in the solution process, use the inertial device error estimated by filtering to perform error compensation on the received acceleration and angular velocity values, and use the estimated position, velocity, and attitude errors to perform error compensation on the position, velocity, and attitude solved by the strapdown inertial navigation to suppress its error divergence; After completing GNSS positioning, velocity measurement and timing solutions, as well as SINS / GNSS combined navigation solutions, a more accurate receiver position is obtained. Combined with the satellite position obtained by satellite ephemeris calculation, the beam approach vector in the station center coordinate system is calculated. Combined with the attitude matrix obtained by combined navigation calculation, the beam approach vector based on the antenna array mouth is obtained. Through the beam approach vector, deception interference signals that are invisible to the antenna array mouth and deception interference signals with the same approach direction are identified.

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