Blind beam broadband anti-interference system and method for GNSS receiver

Abstract

The invention relates to a blind beam broadband anti-interference system and method for a GNSS (Global Navigation Satellite System) receiver. The system comprises a multi-element antenna array, a radio frequency front end, an A / D analog-to-digital converter, a broadband anti-interference module, a received signal processing module and a positioning calculation module. According to the system, all-satellite list capturing and searching attempts can be performed on each generated wave beam, satellite signals captured by each wave beam are tracked, and if multiple wave beams exist, the same satellite can be successfully captured at the same time; if yes, the satellite signals in the beams are sent to the tracking channels of the tracking channel groups corresponding to the beams to be tracked respectively; and during positioning calculation, the observed quantity of the tracking channel with the maximum carrier-to-noise ratio of the satellite is selected for positioning calculation, and the tracking channels of other beams continue to keep the tracking state of the satellite so as to participate in observation quantity screening of a subsequent round. By adopting the system, the anti-interference capability and the navigation positioning performance of the receiver can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation receiver anti-interference technology, and in particular to a GNSS receiver blind beam broadband anti-interference system and method. Background Art

[0002] GNSS (Global Navigation Satellite System) can provide accurate position, speed and time information, making satellite navigation receivers more and more widely used. However, due to the fragility of navigation signals and the long transmission distance, the signal strength is about -133dBm when it reaches the ground, which is 20~30dB lower than the interference noise in the surrounding environment. It is easy to be subject to various intentional or unintentional interference. At this time, ordinary satellite navigation receivers will face the challenge of signal loss, which will cause the receiver's navigation and positioning performance to seriously degrade or fail to work properly. Therefore, it is very necessary to develop anti-interference technology for satellite navigation receivers.

[0003] In order to better deal with various interferences in the environment, especially broadband interference, antenna arrays are a commonly used technical means to suppress interference. According to whether gain can be formed in the signal direction, antenna array anti-interference algorithms can be divided into null-type algorithms and beamforming algorithms. Null-type algorithms aim nulls at interference and use suppression or cancellation methods to reduce the impact of interference, but no gain is formed, and the nulls formed are narrow, which is difficult to adapt to high dynamic environments. Beamforming algorithms refer to an antenna array that captures satellite signals from a certain direction and processes these satellite signals to obtain useful information. Specifically, it uses prior information such as satellite azimuth and elevation to obtain the corresponding steering vector to calculate the anti-interference weights so as to perform weighted processing on the data of different antenna array elements. This algorithm can suppress interference from different directions when the interference direction is unknown, so as to achieve the purpose of generating gain for useful signals and forming nulls in the interference direction to attenuate interference and noise. However, before the receiver successfully captures the signal, especially when the receiver is in cold start mode, the traditional beamforming algorithm cannot be used because the prior information such as satellite azimuth and elevation is unknown.

[0004] At present, blind beam technology is commonly used to solve this problem. Blind beam technology does not rely on prior information such as satellite azimuth and elevation. It automatically estimates the direction and characteristics of the signal by analyzing the statistical characteristics of the received signal, and then forms a suitable beam to capture the satellite signal and suppress interference. However, in the existing blind beam anti-interference scheme, one beam usually only corresponds to tracking one satellite signal, and more antenna arrays are required to form enough beams to capture the signal, which is easy to cause complex resource configuration but poor performance improvement. In addition, since the satellite signal will move between different beams, especially when the carrier is in high-speed motion, in order to obtain the satellite signal, it is necessary to continuously perform loss-of-lock recapture operations, and it takes a while to converge, and it is impossible to keep continuous tracking of a certain satellite signal. In addition, when interference falls into a certain beam, the satellite signal cannot be used, resulting in a reduction in the number of satellite signals that can participate in positioning, thereby affecting the navigation and positioning performance of the receiver. Summary of the invention

[0005] Based on this, in order to better utilize satellite information, improve the anti-interference ability of the receiver, and enhance the navigation and positioning performance of the receiver, to solve the problem that in the presence of interference, especially broadband interference, the satellite prior information is unknown and the beam cannot be formed, and when the receiver carrier moves at high speed, the traditional beam pointing cannot quickly track the pointed satellite, and when interference falls into a certain beam, the number of satellite signals participating in positioning is insufficient, resulting in low receiver navigation and positioning performance. A GNSS receiver blind beam broadband anti-interference system and method are provided.

[0006] A GNSS receiver blind beam broadband anti-interference system, the system comprising: a multi-element antenna array, a radio frequency front end, an A / D analog-to-digital converter, a broadband anti-interference module, a receiving signal processing module and a positioning solution module; Wherein, the multi-element antenna array comprises a plurality of array elements for receiving satellite signals; The RF front end is used to convert the satellite signals received by the multi-element antenna array into analog intermediate frequency signals; The A / D analog-to-digital converter is used to convert the analog intermediate frequency signal output by the RF front end into a digital intermediate frequency signal; The broadband anti-interference module is used to receive the digital intermediate frequency signal output by the A / D converter, use adaptive filtering to suppress interference filtering on the digital intermediate frequency signal, and use a beamformer to generate multiple beams to cover the upper hemisphere of the entire multi-element antenna array. Each beam automatically forms a null for the interference direction, and at the same time forms a gain for the satellite signal pointed by the beam. The receiving signal processing module is composed of a general capture module and a tracking channel group corresponding to each beam, which is used to receive the signal output by the broadband anti-interference module and perform capture and tracking processing in sequence; wherein, the general capture module is used to perform capture search attempts of the full satellite list of a certain frequency point for each beam, and after searching for a number of rounds consistent with the number of beams according to the polling search mode, the satellite signal captured by each beam is tracked using the tracking channel in the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively; The positioning solution module is used to select the observations of the tracking channel for positioning solution. If a satellite is tracked by tracking channels corresponding to multiple beams at the same time, the observations of the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning solution. The tracking channels of other beams continue to track the satellite signal and participate in the subsequent rounds of observation screening.

[0007] Furthermore, the multi-element antenna array includes no less than 4 array elements, the array element arrangements include circular, square and linear, and the array element spacing is set within 0.5 times the wavelength.

[0008] Further, considering M The multi-element antenna array consists of array elements to receive Beidou satellite navigation signals and After the Beidou satellite navigation signal is processed by the RF front end and the A / D converter, a certain array element reference point is The digital intermediate frequency signal received at the moment is expressed as: ; in, Indicates Visible Beidou satellite navigation signals; and Represent data code and pseudo-random code respectively; , , as well as They respectively represent the amplitude, code delay, carrier initial phase and Doppler frequency of the received Beidou satellite navigation signal; For the A broadband interference signal; is Gaussian white noise; and Respectively represent the number of visible satellites and the number of broadband noise interference, and are the index of the sampling point and the sampling time interval, respectively. Represents the base of natural logarithms.

[0009] Further, by M After the signal received by the multi-element antenna array composed of array elements is processed by the RF front end and the A / D analog-to-digital converter, the digital intermediate frequency signal obtained is: ; in, Indicated in Moment The digital intermediate frequency signal obtained by each array element; represents the transpose of a matrix, Indicates the number of array elements.

[0010] Furthermore, the directions of the multiple beams generated by the beamformer are set as follows: The azimuth Divide Each angle is ; Set the elevation angle Divide Each angle is ,and , is the number of beams, that is, the number of regions into which the upper hemisphere of the multi-element antenna array is evenly divided. The azimuth angle of the beam is set to and ; The elevation angle of the beam is set to and , each beam is combined according to the elevation angle and azimuth angle to form a beam pointing to a certain area.

[0011] Furthermore, the specific process of the receiving signal processing module performing capture and tracking processing includes: The total capture module attempts to capture the full satellite list of a certain frequency point for each beam, that is, the satellite signal captured by a certain beam contains at most the signals of all visible stars in the sky at the frequency point at the current moment. The total capture module uses a polling search mode for search and capture. Each beam is Capture the satellite signals captured by each beam and input them into the tracking channel group corresponding to the beam; The number of tracking channel groups is consistent with the number of beams. The number of tracking channels in each tracking channel group is configured according to system resources to ensure that all satellite signals captured by the beam are tracked. The satellite signal captured by each beam is tracked using the tracking channel of the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking respectively, and the carrier-to-noise ratio of the satellite signal is obtained respectively.

[0012] Furthermore, when the total acquisition module attempts to acquire and search the full satellite list at a certain frequency point for each beam, the frequency point includes a single frequency or multiple frequencies.

[0013] A GNSS receiver blind beam broadband anti-interference method, the method is applied to the above-mentioned GNSS receiver blind beam broadband anti-interference system, the method comprises the following steps: Step 1, using a multi-element antenna array including a plurality of array elements to receive satellite signals; Step 2, converting the satellite signal received by the multi-element antenna array into an analog intermediate frequency signal according to the radio frequency front end; Step 3, converting the analog intermediate frequency signal output by the RF front end into a digital intermediate frequency signal according to the A / D analog-to-digital converter; Step 4, receiving the digital intermediate frequency signal output by the A / D analog-to-digital converter through a broadband anti-interference module, the broadband anti-interference module uses adaptive filtering to suppress interference filtering on the digital intermediate frequency signal, and uses a beamformer to generate multiple beams to cover the upper hemisphere of the entire multi-element antenna array, and each beam automatically forms a null for the interference direction, and at the same time forms a gain for the satellite signal pointed by the beam; Step 5, based on a receiving signal processing module composed of a total capture module and a tracking channel group corresponding to each beam, the signal output by the broadband anti-interference module is received, and capture and tracking processing are performed in sequence; wherein the total capture module is used to perform a capture search attempt of a full satellite list of a certain frequency point for each beam, and after searching for a number of rounds consistent with the number of beams according to the polling search mode, the satellite signal captured by each beam is tracked using the tracking channel in the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively; Step 6: Select the observations of the tracking channel for positioning solution through the positioning solution module; if a satellite is tracked by tracking channels corresponding to multiple beams at the same time, the observations of the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning solution, and the tracking channels of other beams continue to track the satellite signal and participate in the subsequent rounds of observation screening.

[0014] Compared with the existing GNSS receiver anti-interference algorithm, the above-mentioned GNSS receiver blind beam broadband anti-interference system and method have the following beneficial effects: 1. In the case of a single antenna array, a beamformer is used to generate a beamforming technique that covers the upper hemisphere of the multi-element antenna array without prior satellite information. Nbeams, and a total capture module is used to attempt to capture and search the entire satellite list of a certain frequency point for each beam, so that all satellite signals can be captured in each direction, the gain of different satellite signals is improved, and the capture rate of satellite signals is significantly improved, especially in the case of weak signals or interference. Even if one direction is interfered with, beams in other directions can still effectively capture satellite signals.

[0015] 2. By assigning the corresponding tracking channel group to all satellite signals captured by each beam for tracking, it is ensured that the satellite signals captured by each beam can be fully tracked and processed, so that the system can better adapt to different signal environments. In addition, when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel group corresponding to each beam for tracking, respectively, to ensure the stability of satellite signal tracking, especially when the receiver carrier moves at high speed and the traditional beam pointing cannot quickly track the pointed satellite, when interference falls into a certain beam, or when the signal moves from one beam to another, other beams can achieve continuous tracking of satellite signals, reduce frequent recapture and even positioning interruption caused by signal loss, improve the robustness of the receiver system, and ensure the continuity of positioning services.

[0016] 3. When a satellite is tracked by tracking channels corresponding to multiple beams at the same time, the observations in the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning and solution, which can minimize the impact of noise on the positioning results, thereby improving the positioning accuracy. At the same time, the tracking channels of other beams continue to track the satellite signal. If the signal quality of the optimal beam currently used for positioning and solution deteriorates (such as due to obstruction, interference, etc., resulting in a decrease in the carrier-to-noise ratio), it can be directly switched to the tracking channel in other beams that tracks the satellite signal to continue positioning and solution, avoiding positioning interruption or a significant decrease in accuracy due to a single beam signal problem, thereby ensuring the reliability of positioning services. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a GNSS receiver blind beam broadband anti-interference system in one embodiment; Figure 2 The figure is a flow chart of a GNSS receiver blind beam broadband anti-interference method in one embodiment. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] In one embodiment, Figure 1 As shown, a GNSS receiver blind beam broadband anti-interference system is provided, which includes: a multi-element antenna array, a radio frequency front end, an A / D analog-to-digital converter, a broadband anti-interference module, a receiving signal processing module and a positioning solution module.

[0020] The multi-element antenna array includes multiple array elements for receiving satellite signals.

[0021] The RF front end is used to convert the satellite signals received by the multi-element antenna array into analog intermediate frequency signals.

[0022] The A / D analog-to-digital converter is used to convert the analog intermediate frequency signal output by the RF front end into a digital intermediate frequency signal.

[0023] The broadband anti-interference module is used to receive the digital intermediate frequency signal output by the A / D converter, use adaptive filtering to suppress interference filtering on the digital intermediate frequency signal, and use a beamformer to generate multiple beams to cover the upper hemisphere of the entire multi-element antenna array. Each beam automatically forms a null for the interference direction and forms a gain for the satellite signal pointed to by the beam.

[0024] The receiving signal processing module is composed of a general capture module and a tracking channel group corresponding to each beam, which is used to receive the signal output by the broadband anti-interference module and perform capture and tracking processing in sequence; wherein, the general capture module is used to perform capture search attempts of the full satellite list of a certain frequency point for each beam, and after searching for a number of rounds consistent with the number of beams according to the polling search mode, the satellite signal captured by each beam is tracked using the tracking channel of the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively; The positioning solution module is used to select the observations of the tracking channel for positioning solution. If a satellite is tracked by multiple tracking channels corresponding to beams at the same time, the observations of the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning solution. The tracking channels of other beams continue to track the satellite signal and participate in the subsequent rounds of observation screening, thereby ensuring that each positioning solution uses the observations with the largest carrier-to-noise ratio.

[0025] Specifically, the broadband anti-interference module is not limited to a specific adaptive filtering and beamforming algorithm. The signal processed by this module can capture and track the full satellite capture list for each beam, and finally select the satellite signal with the largest carrier-to-noise ratio to participate in the positioning solution, which can achieve the effect of improving gain and interference suppression. In addition, the above-mentioned "full satellite capture list" can be set according to user needs. It is not limited to the capture search of the full satellite list, and can also be used to capture and search a set satellite list. And the navigation receiver system and frequency point used in this system are not restricted.

[0026] Furthermore, the multi-element antenna array includes no less than 4 array elements, which can be specifically set to 7 array elements or 11 array elements. The array element arrangements include circular, square and linear. The array element spacing is set within 0.5 times the wavelength to form a beam with good directivity.

[0027] Further, considering M The multi-element antenna array consists of array elements to receive Beidou satellite navigation signals and After the Beidou satellite navigation signal is processed by the RF front end and the A / D converter, a certain array element reference point is The digital intermediate frequency signal received at the moment is expressed as: ; in, Indicates Visible Beidou satellite navigation signals; and Represent data code and pseudo-random code respectively; , , as well as They respectively represent the amplitude, code delay, carrier initial phase and Doppler frequency of the received Beidou satellite navigation signal; For the A broadband interference signal; is Gaussian white noise; and Respectively represent the number of visible satellites and the number of broadband noise interference, and are the index of the sampling point and the sampling time interval, respectively. Represents the base of natural logarithms.

[0028] Further, by M After the signal received by the multi-element antenna array composed of array elements is processed by the RF front end and the A / D analog-to-digital converter, the digital intermediate frequency signal obtained is: ; in, Indicated in Moment The digital intermediate frequency signal obtained by each array element; represents the transpose of a matrix, Indicates the number of array elements.

[0029] Furthermore, when the beamformer generates beams, different beam widths can be set to different numbers of beams, but it is ensured that the entire upper hemisphere of the antenna can be covered. The directions of the multiple beams generated by the beamformer are set as follows: The azimuth Divide Each angle is ; Set the elevation angle Divide Each angle is ,and , is the number of beams, that is, the number of regions into which the upper hemisphere of the multi-element antenna array is evenly divided. The azimuth angle of the beam is set to and ; The elevation angle of the beam is set to and , each beam is combined according to the elevation angle and azimuth angle to form a beam pointing to a certain area.

[0030] Furthermore, the specific process of the receiving signal processing module performing capture and tracking processing includes: The total capture module attempts to capture the full satellite list of a certain frequency point for each beam, that is, the satellite signal captured by a certain beam contains at most the signals of all visible stars in the sky at the frequency point at the current moment. The total capture module uses a polling search mode for search and capture. Each beam is Capture the satellite signals captured by each beam and input them into the tracking channel group corresponding to the beam; The number of tracking channel groups is consistent with the number of beams. The number of tracking channels in each tracking channel group is configured according to system resources to ensure that all satellite signals captured by the beam are tracked. The satellite signal captured by each beam is tracked using the tracking channel of the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking respectively, and the carrier-to-noise ratio of the satellite signal is obtained respectively.

[0031] Furthermore, when the total acquisition module attempts to acquire and search the full satellite list at a certain frequency point for each beam, the frequency point includes a single frequency or multiple frequencies.

[0032] Compared with the existing receiver anti-interference algorithm, the GNSS receiver blind beam broadband anti-interference system constructed by the present application can form multiple beams at the same time when the number of array elements of the multi-element antenna array is 4 to 7, and can poll and capture all satellite signals of the full satellite list of a certain frequency point in each direction through the total capture module, thereby improving the gain of different satellite signals and significantly improving the satellite signal capture rate, especially when the signal is weak or interfered, even if a certain direction is interfered, other directions can still effectively capture the signal. And for the successfully captured satellite signal, since the tracking channels of multiple beams all track the satellite signal, the system can realize continuous and stable tracking of the satellite signal, especially when the traditional beam pointing cannot quickly track the pointing satellite when the receiver carrier moves at high speed, when interference falls into a certain beam, or when the signal moves from one beam to another, it can directly switch to the tracking channel in other beams that tracks the satellite signal to continue positioning and solving, reducing frequent recapture and even positioning interruption caused by signal loss, and ensuring the performance of positioning service.

[0033] In one embodiment, Figure 2 As shown, a GNSS receiver blind beam broadband anti-interference method is provided, which is applied to the above-mentioned GNSS receiver blind beam broadband anti-interference system, and the method includes the following steps: Step 1, using a multi-element antenna array including a plurality of array elements to receive satellite signals; Step 2, converting the satellite signal received by the multi-element antenna array into an analog intermediate frequency signal according to the radio frequency front end; Step 3, converting the analog intermediate frequency signal output by the RF front end into a digital intermediate frequency signal according to the A / D analog-to-digital converter; Step 4, receiving the digital intermediate frequency signal output by the A / D analog-to-digital converter through a broadband anti-interference module, the broadband anti-interference module uses adaptive filtering to suppress interference filtering on the digital intermediate frequency signal, and uses a beamformer to generate multiple beams to cover the upper hemisphere of the entire multi-element antenna array, and each beam automatically forms a null for the interference direction, and at the same time forms a gain for the satellite signal pointed by the beam; Step 5, based on a receiving signal processing module composed of a total capture module and a tracking channel group corresponding to each beam, the signal output by the broadband anti-interference module is received, and capture and tracking processing are performed in sequence; wherein the total capture module is used to perform a capture search attempt of a full satellite list of a certain frequency point for each beam, and after searching for a number of rounds consistent with the number of beams according to the polling search mode, the satellite signal captured by each beam is tracked using the tracking channel in the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively; Step 6: Select the observations of the tracking channel for positioning solution through the positioning solution module; if a satellite is tracked by tracking channels corresponding to multiple beams at the same time, the observations of the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning solution, and the tracking channels of other beams continue to track the satellite signal and participate in the subsequent rounds of observation screening.

[0034] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0035] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A GNSS receiver blind beam broadband anti-interference system, characterized in that: The system includes: a multi-element antenna array, a radio frequency front end, an A / D analog-to-digital converter, a broadband anti-interference module, a receiving signal processing module, and a positioning solution module; Wherein, the multi-element antenna array comprises a plurality of array elements for receiving satellite signals; The RF front end is used to convert the satellite signal received by the multi-element antenna array into an analog intermediate frequency signal; The A / D analog-to-digital converter is used to convert the analog intermediate frequency signal output by the radio frequency front end into a digital intermediate frequency signal; The broadband anti-interference module is used to receive the digital intermediate frequency signal output by the A / D analog-to-digital converter, use adaptive filtering to perform interference filtering suppression on the digital intermediate frequency signal, and use a beamformer to generate multiple beams to cover the upper hemisphere of the entire multi-element antenna array, and each beam automatically forms a null for the interference direction, and at the same time forms a gain for the satellite signal pointed by the beam; The receiving signal processing module is composed of a general capture module and a tracking channel group corresponding to each beam, and is used to receive the signal output by the broadband anti-interference module, and perform capture and tracking processing in sequence; wherein the general capture module is used to perform a capture search attempt of a full satellite list of a certain frequency point for each beam, and after searching for a number of rounds consistent with the number of beams according to the polling search mode, the satellite signal captured by each beam is tracked using the tracking channel in the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively; The positioning solution module is used to select the observation quantity of the tracking channel for positioning solution; wherein, if a certain satellite is tracked simultaneously by the tracking channels corresponding to multiple beams, the observation quantity of the tracking channel with the largest carrier-to-noise ratio is selected for subsequent positioning solution, and the tracking channels of other beams continue to track the satellite signal and participate in the subsequent rounds of observation quantity screening.

2. The system according to claim 1, characterized in that The multi-element antenna array includes no less than 4 array elements, and the array element arrangements include circular, square and linear, and the array element spacing is set within 0.5 times the wavelength.

3. The system according to claim 1, characterized in that Considered by M The multi-element antenna array consists of array elements to receive Beidou satellite navigation signals and After the Beidou satellite navigation signal is processed by the RF front end and the A / D analog-to-digital converter, a certain array element reference point is The digital intermediate frequency signal received at the moment is expressed as: ； in, Indicates Visible Beidou satellite navigation signals; and Represent data code and pseudo-random code respectively; , , as well as They respectively represent the amplitude, code delay, carrier initial phase and Doppler frequency of the received Beidou satellite navigation signal; For the A broadband interference signal; is Gaussian white noise; and Respectively represent the number of visible satellites and the number of broadband noise interference, and are the index of the sampling point and the sampling time interval, respectively. Represents the base of natural logarithms.

4. The system according to claim 3, characterized in that Depend on M After the signal received by the multi-element antenna array composed of array elements is processed by the RF front end and the A / D analog-to-digital converter, the digital intermediate frequency signal obtained is: ； in, Indicated in Moment The digital intermediate frequency signal obtained by each array element; represents the transpose of a matrix, Indicates the number of array elements.

5. The system according to claim 1, characterized in that The directions of the multiple beams generated by the beamformer are set as follows: The azimuth Divide Each angle is ; Set the elevation angle Divide Each angle is ,and , is the number of beams, that is, the number of regions into which the upper hemisphere of the multi-element antenna array is evenly divided. The azimuth angle of the beam is set to and ; The elevation angle of the beam is set to and , each beam is combined according to the elevation angle and azimuth angle to form a beam pointing to a certain area.

6. The system according to claim 1, characterized in that The specific process of the receiving signal processing module performing capture and tracking processing includes: The total capture module attempts to capture the full satellite list of a certain frequency point for each beam, that is, the satellite signal captured by a certain beam contains at most the signals of all visible stars in the sky at the frequency point at the current moment. The total capture module uses a polling search mode for search and capture. Each beam is Capture the satellite signals captured by each beam and input them into the tracking channel group corresponding to the beam; The number of tracking channel groups is consistent with the number of beams. The number of tracking channels in each tracking channel group is configured according to system resources to ensure that all satellite signals captured by the beam are tracked. The satellite signal captured by each beam is tracked using the tracking channel of the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking respectively, and the carrier-to-noise ratio of the satellite signal is obtained respectively.

7. The system according to claim 1 or 6, characterized in that: When the general acquisition module attempts to acquire and search the full satellite list at a certain frequency point for each beam, the frequency point includes a single frequency or multiple frequencies.

8. A GNSS receiver blind beam broadband anti-interference method, characterized in that: The method is applied to a GNSS receiver blind beam broadband anti-interference system according to any one of claims 1 to 7, and the method comprises the following steps: Step 1, using a multi-element antenna array including a plurality of array elements to receive satellite signals; Step 2, converting the satellite signal received by the multi-element antenna array into an analog intermediate frequency signal according to the radio frequency front end; Step 3, converting the analog intermediate frequency signal output by the RF front end into a digital intermediate frequency signal according to the A / D analog-to-digital converter; Step 4, receiving the digital intermediate frequency signal output by the A / D analog-to-digital converter through a broadband anti-interference module, the broadband anti-interference module uses adaptive filtering to suppress interference filtering on the digital intermediate frequency signal, and uses a beamformer to generate multiple beams to cover the upper hemisphere of the entire multi-element antenna array, and each beam automatically forms a null for the interference direction, and at the same time forms a gain for the satellite signal pointed by the beam; Step 5, based on a receiving signal processing module composed of a total capture module and a tracking channel group corresponding to each beam, receiving the signal output by the broadband anti-interference module, and performing capture and tracking processing in sequence; wherein the total capture module is used to perform a capture search attempt of a full satellite list of a certain frequency point for each beam, and after searching for a number of rounds consistent with the number of beams according to the polling search mode, the satellite signal captured by each beam is tracked using the tracking channel in the tracking channel group corresponding to the beam; and when multiple beams successfully capture the same satellite signal at the same time, the satellite signals in these beams are sent to the tracking channels of the tracking channel groups corresponding to each beam for tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively; Step 6: Select the observations of the tracking channel for positioning solution through the positioning solution module; if a satellite is tracked by tracking channels corresponding to multiple beams at the same time, the observations of the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning solution, and the tracking channels of other beams continue to track the satellite signal and participate in the subsequent rounds of observation screening.

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