A method and system for detecting and suppressing anti-suppression deception interference

Abstract

The present invention discloses a method and system for detecting and suppressing anti-suppression deception interference. Combining the advantages of fully autonomous navigation of inertial navigation and satellite signal anti-interference processing technology, it comprehensively utilizes 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.

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. BDS3 boasts a rich frequency range, high positioning accuracy, and mature technology. Along with the US's GPS, Europe's Galileo, and Russia's GLONASS, BDS3 forms one of the four major global navigation satellite systems, surpassing some of the other three in performance.

[0003] Due to mature technology and affordable client receivers, global satellite navigation systems have been widely deployed, including in civil aviation, low-altitude aircraft, autonomous vehicles, trains, high-speed trains, autonomous yachts, and cruise ships. However, because satellite signals are extremely weak when they reach the ground, they are easily drowned out by noise and subject to interference from other radio signals. The most typical, common, and harmful types of interference are suppression jamming, spoofing jamming, and a combination of suppression and spoofing. When subjected to suppression jamming, satellite navigation receivers lose their positioning, preventing users from operating or performing their intended functions. When subjected to spoofing jamming, satellite navigation receivers track spoofed signals for navigation, forcing users to follow spoofed paths, potentially endangering their lives and property. Both types of interference ultimately pose significant risks to satellite navigation users and result in significant loss of life and property. Combined suppression and spoofing are particularly susceptible to spoofing.

[0004] Unlike satellite navigation, inertial navigation is a completely autonomous navigation method, unaffected by external signal interference. However, inertial navigation suffers from the problem of navigation errors diverging over time. Therefore, inertial and satellite navigation can be integrated to form inertial / satellite navigation, which can be applied to anti-spoofing jamming detection and suppression.

[0005] Currently, most anti-jamming technologies or methods focus on detecting or suppressing interference through satellite navigation signal processing, resulting in relatively incomplete anti-jamming capabilities. Existing methods for using inertial navigation to aid satellite navigation against pressure spoofing jamming rely solely on the use of inertial dead reckoning pseudoranges and pseudorange rates. When subjected to pressure spoofing jamming, inertial positioning errors can be significant, leading to large errors in inertial dead reckoning pseudoranges and pseudorange rates, making it impossible to effectively detect spoofing signals. 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 nulling filtering algorithm, beamforming algorithm and other methods to achieve 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 after low noise amplification processing to the anti-interference receiver for signal processing;

[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 for 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 direction vector of the antenna array sent by the navigation baseband module and the beam direction vector of the identified deceptive interference satellite, detects other possible deceptive interference signals again, adjusts the zeroing adaptive filtering weight parameters, and suppresses the deceptive 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, and satellite navigation message analysis to obtain the original observation quantity, and then compensates the observation quantity for space segment error and user segment error, and then performs positioning, speed measurement and timing solution to obtain the position, speed and time information of the receiver; during capture 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; during 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, and performs strapdown inertial navigation solution and initial alignment / combined navigation solution. During the solution process, the received acceleration and angular velocity values ​​are error compensated using the inertial device error estimated by filtering, and the position, velocity, and attitude error of the strapdown inertial navigation solution are error compensated using the estimated position, velocity, and attitude error to suppress error divergence.

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

[0018] The state variables of the integrated navigation solution system 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

[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 subscript b both represent the carrier coordinate system, and the subscript i 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 posture 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 gyroscope output noise, ε a The output noise of the 3D 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] The measurement noise vector V is composed as follows:

[0042]

[0043] The variance of each element in V is obtained from the variance of the pseudorange and pseudorange rate errors of each corresponding channel.

[0044] The beam direction vector based on the antenna array port is obtained as follows:

[0045] The direction vector of the i-th satellite is calculated from the GNSS / INS integrated 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 jamming 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 through 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 deceptive 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-jamming module, the deception jamming signal is suppressed by adjusting the adaptive filter weights;

[0060] In the acquisition and tracking of the navigation baseband module, the corresponding acquisition 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, a system for detecting and suppressing interference against deception is provided, 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 radio frequency signals output by the multi-element satellite array antenna 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 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 elements; n ≥ 4; one of the microstrip antenna elements is located at the center of an array plane formed by all the microstrip antenna elements, and the other microstrip antenna elements are arranged in a geometrically symmetrical manner with the microstrip antenna element as the center point; all the microstrip antenna elements 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 on the high-frequency RF signal, perform intermediate frequency filtering, and then output an intermediate frequency analog signal with a bandwidth not less than the bandwidth of the satellite navigation signal to the anti-jamming module in the anti-jamming 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 to obtain a digital intermediate frequency signal, and perform zero-adjustment adaptive filtering on the digital intermediate frequency signal to achieve suppression interference detection and suppression of multiple interference sources; digital communication is designed between the navigation baseband module, receiving the antenna array beam vector and the identified deceptive interference satellite beam vector sent by the navigation baseband module, and then detecting other possible deceptive interference signals again, adjusting the zero-adjustment adaptive filtering weight parameters, and suppressing the deceptive interference signals;

[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, and analyze satellite navigation messages to obtain the original observation quantity, and then compensate the observation quantity for space segment error and user segment error. It then performs positioning, velocity measurement, and timing calculation to obtain the position, velocity, and time information of the receiver. During capture and tracking, a multi-peak capture detection method is used to identify existing deceptive interference signals, and only the earliest captured signal is used. During tracking, earlier peak signals are periodically searched. When a deceptive interference signal is detected, the channel of the captured and tracked deceptive 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 / combined navigation solution; during the solution process, use the filtered estimated inertial device error 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 solution to suppress its error divergence;

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

[0073] The solution proposed in the present invention proposes an anti-suppression deception interference detection and suppression solution based on satellite / inertial combined navigation. Combining the advantages of fully autonomous navigation of inertial navigation and satellite signal anti-interference processing technology, it comprehensively utilizes 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 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 combined navigation with the zeroing adaptive algorithm based on multi-element satellite antenna array and 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.

[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 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 Schematic diagram of the layout of the multi-element satellite array antenna element in an embodiment of the present invention;

[0079] Figure 4 Schematic diagram of the radio frequency front-end signal processing flow in an embodiment of the present invention;

[0080] Figure 5 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 the signal processing flow of the navigation baseband module in an embodiment of the present invention;

[0082] Figure 7 The figure 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 with reference to 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. Some of the parameters are specific physical values, while others are simply letters and symbols required for conventional mathematical calculations. For values ​​with actual physical meanings, the embodiments of the present invention provide specific explanations and elaborations of their physical meanings. For symbols and letters involved in conventional mathematical calculations, conventional usage in the prior art shall prevail, and the embodiments of the present invention will not provide specific explanations of their meanings one by one.

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

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

[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, which receives radio frequency signals from a 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, which performs integrated navigation processing.

[0090] In step 103, the anti-interference receiver receives the RF signal output by the multi-element satellite array antenna and performs 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 and performs combined navigation solution, and detects and suppresses the deception interference signal in combination with the anti-suppression interference processing results and beamforming information.

[0091] In one embodiment of the present invention, an anti-interference receiver receives radio frequency signals output by a multi-element satellite array antenna to perform radio frequency signal processing, detection and suppression of anti-suppression deception interference signals, navigation positioning, speed measurement and timing processing; receives angular velocity and acceleration values ​​output by an inertial measurement unit to perform combined navigation solution, and detects and suppresses deception interference signals in combination with the anti-suppression interference processing results and beamforming information.

[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 The anti-interference receiver is mainly composed of a radio frequency front end, an anti-suppression interference module, and a navigation baseband module.

[0093] The multi-element satellite array antenna consists of n (n≥4) microstrip antenna elements, one of which is located at the center of the array plane 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 component of the anti-interference receiver. It performs n-channel down-conversion processing on the high-frequency RF signal and performs intermediate frequency filtering, 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 anti-interference processing chip). It receives the intermediate frequency analog signal output by the RF front end, performs AD sampling on it, and obtains a digital intermediate frequency signal. The FPGA anti-interference processor performs zero-adaptive filtering on the digital intermediate frequency signal 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. It receives the antenna array beam vector sent by the navigation baseband module and the identified deceptive interference satellite beam vector. It then detects other possible deceptive interference signals, adjusts the zero-adaptive filtering weight parameters, and suppresses 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-jamming digital intermediate frequency signal output by the anti-suppression jamming module, performs acquisition and tracking processing, and parses the satellite navigation message to obtain the original observation data. It then compensates for the spatial segment error and user segment error of the observation data. It then performs positioning, velocity measurement, and timing calculations to obtain the receiver's position, velocity, and time information. During acquisition and tracking, a multi-peak acquisition detection method is used to identify existing spoofing jamming signals, and only the earliest acquired signal is used. During tracking, the system periodically searches for earlier peaks to avoid mistakenly tracking spoofing jamming signals. When a spoofing jamming signal is detected, the channel containing the captured and tracked spoofing jamming signal is deleted.

[0098] At the same time, the navigation baseband module receives acceleration and angular velocity output from the inertial measurement unit (IMU) and performs strapdown inertial navigation and initial alignment / combined navigation solutions. During the solution process, the received acceleration and angular velocity values ​​are compensated using filtered inertial device errors. The position, velocity, and attitude errors calculated by the strapdown inertial navigation are then compensated for errors, suppressing error divergence.

[0099] After completing GNSS positioning, velocity measurement, and timing solutions, as well as SINS / GNSS integrated navigation solutions, a relatively accurate receiver position can be obtained. Combined with the satellite positions calculated using satellite ephemeris, the beam approach vector in the station-centered coordinate system can be calculated. Combined with the attitude matrix calculated using integrated navigation, the beam approach vector based on the antenna array aperture can be obtained. These beam approach vectors can be used to identify spoofing jamming signals that are invisible or have low visibility at the antenna array aperture, as well as spoofing jamming signals coming from the same direction.

[0100] The navigation baseband module sends the vector and identified deceptive jamming satellite based on the wave velocity of the antenna array to the anti-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 integrated navigation filter uses the pseudorange and pseudorange rate output by each channel as measurement input. Because the receiver is in common view of all visible satellites, the clock error parameters contained in the pseudoranges and the clock drift parameters contained in the pseudorange rates are identical. Therefore, pseudorange and pseudorange rate differences between available channels can be used to eliminate these errors. This reduces the dimensionality of the combined filter, reduces the computational burden, and improves the accuracy of the estimated 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 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 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 subscript b both represent the carrier coordinate system, and the subscript i 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 posture matrix, is the specific force output by the accelerometer.

[0110] Note 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] Based on the above state equation and observation equation, a Kalman filter is designed to estimate the error. The steps to implement the Kalman filter 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 gyroscope output noise, ε a is the three-dimensional accelerometer output noise, which 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 equation is constructed as follows:

[0126]

[0127] The variance of each element in V is obtained from the variance of the pseudorange and pseudorange rate errors of each corresponding channel.

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

[0129]

[0130] In the above formula, θ (i) is the elevation angle of the i-th satellite, α (i) is the azimuth angle 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 through 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 judged 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-jamming module, the deception jamming signal is suppressed by adjusting the adaptive filter weights;

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

[0143] During positioning, speed measurement and solution, the residual test method is used to eliminate the ones with large residuals.

[0144] In this embodiment of the present invention, the beam vector calculated by integrated navigation is combined with a zeroing adaptive algorithm based on a multi-element satellite antenna array and an anti-spoofing jamming module to detect and suppress spoofing jamming signals. Furthermore, integrated navigation, the multi-element satellite antenna array zeroing adaptive algorithm, and the satellite navigation anti-spoofing jamming signal processing method are integrated into a single system.

[0145] In this embodiment of the present invention, the inertial measurement unit (IMU) can be replaced with a strapdown inertial navigation system (SINS), as long as the transmitted information includes acceleration and angular velocity values. The anti-jamming module and navigation baseband module can be integrated or separated. The GNSS / INS integrated navigation method is not limited to a deep integration; a loose integration method is also possible.

[0146] In order to realize 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 from the global navigation satellite system and output n radio frequency signals to the anti-interference receiver for signal processing after low noise amplification.

[0148] Inertial measurement unit 22, used to output acceleration and angular velocity values ​​to the 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 deception interference signals in combination with the anti-suppression interference processing results and beamforming information.

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

[0151] The anti-interference receiver 23 includes:

[0152] The RF front end is used to perform n-channel down-conversion processing on the high-frequency RF signal, perform intermediate frequency filtering, and then output an intermediate frequency analog signal with a bandwidth not less than the bandwidth of the satellite navigation signal to the anti-jamming module in the anti-jamming 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 to obtain a digital intermediate frequency signal, and perform zero-adjustment adaptive filtering on the digital intermediate frequency signal to achieve suppression interference detection and suppression of multiple interference sources; digital communication is designed between the navigation baseband module, receiving the antenna array beam vector and the identified deceptive interference satellite beam vector sent by the navigation baseband module, and then detecting other possible deceptive interference signals again, adjusting the zero-adjustment adaptive filtering weight parameters, and suppressing the deceptive interference signals;

[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, and analyze satellite navigation messages to obtain the original observation quantity, and then compensate the observation quantity for space segment error and user segment error. It then performs positioning, velocity measurement, and timing calculation to obtain the position, velocity, and time information of the receiver. During capture and tracking, a multi-peak capture detection method is used to identify existing deceptive interference signals, and only the earliest captured signal is used. During tracking, earlier peak signals are periodically searched. When a deceptive interference signal is detected, the channel of the captured and tracked deceptive 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 / combined 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 error 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 integrated navigation solutions, a more accurate receiver position is obtained. Combined with the satellite position calculated by satellite ephemeris, the beam approach vector in the station center coordinate system is calculated. Combined with the attitude matrix calculated by the integrated navigation, the beam approach vector based on the antenna array port is obtained. Through the beam approach vector, deceptive jamming signals that are invisible to the antenna array port and deceptive jamming 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. Combining the advantages of fully autonomous navigation of inertial navigation and satellite signal anti-interference processing technology, it comprehensively utilizes 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. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, 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 magnetic 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 flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 flowcharts and / or block diagrams. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

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

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 after low noise amplification processing to the anti-interference receiver for signal processing; 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 and performs 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; 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 an array plane 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 performs digital communication between the anti-interference suppression module and the navigation baseband module, receives the beam direction vector of the antenna array and the identified deception interference satellite beam direction vector sent by the navigation baseband module, detects other possible deception interference signals again, adjusts the zeroing adaptive filtering weight parameters, and suppresses the deception interference signals; The navigation baseband module receives the anti-interference intermediate frequency signal output by the anti-suppression interference module, performs capture and tracking processing, and satellite navigation message analysis to obtain the original observation quantity, and then compensates the observation quantity for space segment error and user segment error, and then performs positioning, speed measurement and timing solution to obtain the position, speed and time information of the receiver; during capture 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; during 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, and performs strapdown inertial navigation solution and initial alignment / combined navigation solution. During the solution process, the received acceleration and angular velocity values ​​are error compensated using the inertial device error estimated by filtering, and the position, velocity, and attitude error of the strapdown inertial navigation solution are error compensated using the estimated position, velocity, and attitude error to suppress error divergence. After completing GNSS positioning, velocity measurement and timing solutions, as well as SINS / GNSS integrated navigation solutions, a relatively accurate receiver position is obtained. Combined with the satellite position calculated by satellite ephemeris, the beam approach vector in the station center coordinate system is calculated. Combined with the attitude matrix calculated by the integrated navigation, the beam approach vector based on the antenna array port is obtained. Through the beam approach vector, deceptive jamming signals based on the invisibility or low visibility of the antenna array port and deceptive jamming signals with the same approach direction are identified.

2. The method for detecting and suppressing anti-suppression deception interference according to claim 1, characterized in that: The state variables of the integrated navigation solution system include the attitude, velocity, position error, three-axis gyro drift, and three-axis accelerometer 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; ε g is the three-dimensional gyroscope output noise, ε a The output noise of the 3D accelerometer is obtained by testing and modeling the gyroscope and accelerometer data; 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.

3. The method for detecting and suppressing anti-suppression deception interference according to claim 2, characterized in that: The Kalman filter estimates the error amount, including: Step 1: Prediction in, Q k =w k (w k ) T Step 2: Measurement Update in, R=V(V) T The measurement noise vector V is composed as follows: The variance of each element in V is obtained from the variance of the pseudorange and pseudorange rate errors of each corresponding channel.

4. The method for detecting and suppressing anti-suppression deception interference according to claim 3, characterized in that: The beam direction vector based on the antenna array port is obtained as follows: The direction vector of the i-th satellite is calculated from the GNSS / INS integrated 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:

5. The method for detecting and suppressing anti-suppression deception interference according to claim 1, characterized in that: The detection of the anti-suppression deception jamming 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 through 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 deceptive 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-jamming module, the deception jamming signal is suppressed by adjusting the adaptive filter weights; In the acquisition and tracking of the navigation baseband module, the corresponding acquisition 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 values ​​with large residuals.

6. A system for detecting and suppressing interference against deception, 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 radio frequency signals output by the multi-element satellite array antenna 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 for combined navigation solution, and combine the anti-suppression interference processing results and beamforming information to detect and suppress deception interference signals; The system further comprises: The multi-element satellite array antenna comprises: at least n microstrip antenna elements; n ≥ 4; one of the microstrip antenna elements is located at the center of an array plane formed by all the microstrip antenna elements, and the other microstrip antenna elements are arranged in a geometrically symmetrical manner with the microstrip antenna element as the center point; all the microstrip antenna elements 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 on the high-frequency RF signal, perform intermediate frequency filtering, and then output an intermediate frequency analog signal with a bandwidth not less than the bandwidth of the satellite navigation signal to the anti-jamming module in the anti-jamming 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 to obtain a digital intermediate frequency signal, and perform zero-adjustment adaptive filtering on the digital intermediate frequency signal to achieve suppression interference detection and suppression of multiple interference sources; digital communication is designed between the navigation baseband module, receiving the antenna array beam vector and the identified deceptive interference satellite beam vector sent by the navigation baseband module, and then detecting other possible deceptive interference signals again, adjusting the zero-adjustment adaptive filtering weight parameters, and suppressing the deceptive interference signals; 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, and analyze satellite navigation messages to obtain the original observation quantity, and then compensate the observation quantity for space segment error and user segment error. It then performs positioning, velocity measurement, and timing calculation to obtain the position, velocity, and time information of the receiver. During capture and tracking, a multi-peak capture detection method is used to identify existing deceptive interference signals, and only the earliest captured signal is used. During tracking, earlier peak signals are periodically searched. When a deceptive interference signal is detected, the channel of the captured and tracked deceptive interference signal is deleted. Receive the acceleration and angular velocity output by the inertial measurement unit, perform strapdown inertial navigation solution and initial alignment / combined navigation solution; during the solution process, use the filtered estimated inertial device error 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 solution to suppress its error divergence; After completing GNSS positioning, velocity measurement and timing solutions, as well as SINS / GNSS integrated navigation solutions, a more accurate receiver position is obtained. Combined with the satellite position calculated by satellite ephemeris, the beam approach vector in the station center coordinate system is calculated. Combined with the attitude matrix calculated by the integrated navigation, the beam approach vector based on the antenna array port is obtained. Through the beam approach vector, deceptive jamming signals that are invisible to the antenna array port and deceptive jamming signals with the same approach direction are identified.

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