A GNSS receiver blind beam broadband anti-jamming system and method

Abstract

This application relates to a GNSS receiver blind beam broadband anti-jamming system and method. The system includes: a multi-element antenna array, a radio frequency front end, an A / D analog-to-digital converter, a broadband anti-jamming module, a received signal processing module, and a positioning and calculation module. This system can perform capture search attempts for the entire satellite list for each generated beam respectively, and track the satellite signals captured by each beam. If multiple beams can successfully capture the same satellite simultaneously, the satellite signals in these beams are sent into the tracking channels of the corresponding tracking channel groups of each beam for separate tracking. During positioning and calculation, the observation quantity of the tracking channel with the maximum carrier-to-noise ratio of this satellite is selected for positioning and calculation, and the tracking channels of the remaining beams continue to maintain the tracking state of this satellite to participate in the screening of observation quantities in subsequent rounds. Using this system can effectively improve the anti-jamming ability and navigation and positioning performance of the receiver.

Description

Technical Field

[0001] This application relates to the technical field of anti-jamming for satellite navigation receivers, and particularly to a GNSS receiver blind beam broadband anti-jamming system and method. Background Art

[0002] GNSS (Global Navigation Satellite System) can provide accurate position, speed, and time information, making the application of satellite navigation receivers more and more extensive. However, due to the vulnerability of navigation signals and the long transmission distance, the signal strength when reaching the ground is about -133 dBm, which is 20-30 dB lower than the interference noise in the surrounding environment. It is easily susceptible to various intentional or unintentional interferences. At this time, ordinary satellite navigation receivers will face the challenge of signal loss of lock, which will lead to a serious decline in the navigation and positioning performance of the receiver or the inability to work properly. Therefore, it is very necessary to develop anti-jamming technology for satellite navigation receivers.

[0003] In order to better cope with various interferences in the environment, especially broadband interference, antenna arrays are commonly used technical means for suppressing interference. According to whether a gain can be formed in the signal direction, anti-jamming algorithms for antenna arrays can be divided into null-forming algorithms and beamforming algorithms. The null-forming algorithms align the nulls with the interference and use suppression or cancellation methods to reduce the impact of interference. However, no gain is formed, and the formed nulls are relatively narrow, making it difficult to adapt to high-dynamic environments. The beamforming algorithms refer to an antenna array capturing satellite signals from a certain direction and processing these satellite signals to obtain useful information. Specifically, it is to use prior information such as the azimuth angle and elevation angle of the satellite to obtain the corresponding steering vector to calculate the anti-jamming weight, so as to perform weighted processing on the data of different antenna elements. This algorithm can suppress interferences from different directions when the direction of arrival of the interference is unknown, so as to achieve the purpose of generating a gain for the useful signal, forming nulls in the interference direction to attenuate interference and noise. However, when the receiver has not successfully captured the signal, especially when the receiver is in the cold start mode, since prior information such as the azimuth angle and elevation angle of the satellite is unknown, the traditional beamforming algorithms cannot be used.

[0004] Currently, blind beamforming technology is commonly used to solve this problem. Blind beamforming technology does not rely on prior information such as satellite azimuth and elevation angles. It analyzes the statistical characteristics of the received signals, automatically estimates the direction and characteristics of the signals, and then forms appropriate beams to capture satellite signals and suppress interference. However, in existing blind beamforming anti-interference schemes, usually one beam only corresponds to tracking one satellite signal. A large number of antenna arrays are required to form enough beams for signal capture, which easily leads to complex resource allocation but poor performance improvement. Moreover, since satellite signals move between different beams, especially when the carrier is moving at high speed, in order to obtain the satellite signal, continuous out-of-lock and reacquisition operations are required, and it takes some time to converge, so continuous tracking of a certain satellite signal cannot be maintained. 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, enhance the navigation and positioning performance of the receiver, and solve the problems that in the presence of interference, especially broadband interference, satellite prior information is unknown and beams cannot be formed, and when the receiver carrier is moving at high speed, traditional beam pointing cannot quickly track and point to the satellite, and when interference falls into a certain beam, the number of satellite signals participating in positioning is insufficient, resulting in low navigation and positioning performance of the receiver, 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 includes: 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 and solution module;

[0007] Among them, the multi-element antenna array includes multiple array elements for receiving satellite signals;

[0008] The radio frequency front end is used to convert the satellite signals received by the multi-element antenna array into analog intermediate frequency signals;

[0009] The A / D analog-to-digital converter is used to convert the analog intermediate frequency signals output by the radio frequency front end into digital intermediate frequency signals;

[0010] The broadband anti-interference module is used to receive the digital intermediate frequency signals output by the A / D analog-to-digital converter, perform interference filtering and suppression on the digital intermediate frequency signals by using adaptive filtering, and generate multiple beams by using a beamformer 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;

[0011] The received signal processing module consists of a total acquisition module and a tracking channel group corresponding to each beam, and is used to receive the signals output by the broadband anti-jamming module, and perform acquisition and tracking processing in sequence. Among them, the total acquisition module is used to perform acquisition search attempts on all satellite lists at a certain frequency point for each beam respectively. After searching for the same number of rounds as the number of beams according to the polling search mode, the satellite signals captured by each beam are tracked using the tracking channels in the tracking channel group corresponding to that beam. And when multiple beams simultaneously and successfully capture the same satellite signal, the satellite signal in these beams is sent to the tracking channels in the tracking channel groups corresponding to each beam for separate tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively.

[0012] The positioning and solution module is used to select the observed quantities of the tracking channels for positioning and solution. Among them, if a certain satellite is simultaneously tracked by the tracking channels corresponding to multiple beams, the observed quantity of the tracking channel with the largest carrier-to-noise ratio is selected for subsequent positioning and solution, and the tracking channels of other beams continue to maintain the tracking state of the satellite signal and participate in the screening of observed quantities in subsequent rounds.

[0013] Furthermore, the multi-element antenna array includes no less than 4 array elements. The array element arrangement methods include circular, square and linear, and the element spacing is set within 0.5 times the wavelength.

[0014] Furthermore, considering the M -element multi-element antenna array receiving Beidou satellite navigation signals and , after the Beidou satellite navigation signals are processed by the RF front end and the A / D analog-to-digital converter, the digital intermediate frequency signal received at the reference point of a certain array element at is expressed as:

[0015] ;

[0016] Among them, represents the th visible Beidou satellite navigation signal; and represent the data code and the pseudo-random code respectively; , , and represent the amplitude, code delay, carrier initial phase and Doppler frequency of the received Beidou satellite navigation signal respectively; is the th broadband interference signal; is the Gaussian white noise; and represent the number of visible satellites and the number of broadband noise interferences respectively, and are the index of the sampling point and the sampling time interval respectively, represents the base of the natural logarithm.

[0017] Furthermore, after the signals received by a multi - element antenna array composed of M array elements are processed by the RF front - end and the A / D analog - to - digital converter, the resulting digital intermediate - frequency signal is:

[0018] ;

[0019] where, represents the digital intermediate - frequency signal obtained by the th array element at time ; represents the transpose of a matrix, represents the number of array elements.

[0020] Furthermore, the directions of multiple beams generated by the beamformer are set as:

[0021] Divide the azimuth angle into parts, and the angle of each part is ; divide the elevation angle into parts, and the angle of each part is , and , is the number of beams, that is, the number of parts of the upper - hemisphere surface of the multi - element antenna array evenly divided, and the azimuth angle of the set beam is and ; the elevation angle of the set beam is and , and each beam is combined according to the elevation angle and azimuth angle to form a beam direction for a certain area.

[0022] Furthermore, the specific process of the received - signal processing module for acquisition and tracking includes:

[0023] The total acquisition module performs acquisition search attempts for the full - satellite list at a certain frequency point for each beam respectively, that is, the satellite signals captured by a certain beam contain at most the signals of all visible stars in the sky at this frequency point at the current moment. The total acquisition module uses a polling search mode for search and acquisition. If there are beams, acquisitions are performed, and the satellite signals captured by each beam are input into the corresponding tracking - channel group of the beam;

[0024] The number of tracking channel groups is the same as the number of beams. The number of tracking channels in each tracking channel group is configured according to system resources to ensure that the satellite signals captured by the beam are all tracked. The satellite signals captured by each beam are tracked using the tracking channels of the tracking channel group corresponding to the beam. And when multiple beams simultaneously and successfully capture the same satellite signal, the satellite signal in these beams is sent into the tracking channels of the tracking channel groups corresponding to each beam for separate tracking, and the carrier-to-noise ratio of the satellite signal is obtained separately.

[0025] Further, when the total capture module performs capture search attempts on the full satellite list of each frequency point for each beam separately, the frequency points include single frequency or multiple frequencies.

[0026] A GNSS receiver blind beam broadband anti-jamming method, which is applied to the above GNSS receiver blind beam broadband anti-jamming system. The method includes the following steps:

[0027] Step 1, receiving satellite signals using a multi-element antenna array including multiple array elements;

[0028] Step 2, converting the satellite signals received by the multi-element antenna array into analog intermediate frequency signals according to the RF front end;

[0029] Step 3, converting the analog intermediate frequency signals output by the RF front end into digital intermediate frequency signals according to the A / D analog-to-digital converter;

[0030] Step 4, receiving the digital intermediate frequency signals output by the A / D analog-to-digital converter through the broadband anti-jamming module. The broadband anti-jamming module uses adaptive filtering to suppress interference filtering of the digital intermediate frequency signals, 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 signals pointed by the beams;

[0031] Step 5, based on the received signal processing module composed of a total capture module and the tracking channel group corresponding to each beam, receiving the signals output by the broadband anti-jamming module, and performing capture and tracking processing in sequence. Among them, the total capture module is used to perform capture search attempts on the full satellite list of each frequency point for each beam separately, and after searching the same number of rounds as the number of beams according to the polling search mode, the satellite signals captured by each beam are tracked using the tracking channels in the tracking channel group corresponding to the beam. And when multiple beams simultaneously and successfully capture the same satellite signal, the satellite signal in these beams is sent into the tracking channels of the tracking channel groups corresponding to each beam for separate tracking, and the carrier-to-noise ratio of the satellite signal is obtained separately;

[0032] Step 6: The positioning and calculation module selects the observables of the tracking channels for positioning and calculation. If a satellite is simultaneously tracked by the tracking channels corresponding to multiple beams, the observables of the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning and calculation, and the tracking channels of other beams continue to maintain the tracking state of the satellite signal and participate in the screening of observables in subsequent rounds.

[0033] The above GNSS receiver blind beam broadband anti-jamming system and method have the following beneficial effects compared with the existing GNSS receiver anti-jamming algorithms:

[0034] 1. In the case of a single antenna array, the beamformer uses beamforming technology to generate N beams covering the upper hemisphere of the multi-element antenna array without prior satellite information, and a total acquisition module is used to perform acquisition search attempts on the full satellite list at a certain frequency point for each beam respectively, so that all satellite signals can be acquired in each direction, improving the gain of different satellite signals and significantly increasing the satellite signal acquisition rate. Especially in the case of weak or interfered signals, even if one direction is interfered, the beams in other directions can still effectively acquire satellite signals.

[0035] 2. By allocating the tracking channels within the corresponding tracking channel group for 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, enabling the system to better adapt to different signal environments. Moreover, when multiple beams simultaneously and successfully capture the same satellite signal, the satellite signal in these beams is sent to the tracking channels of the tracking channel groups corresponding to each beam for separate tracking, ensuring the stability of satellite signal tracking. Especially when the receiver carrier is moving at high speed, the traditional beam pointing cannot quickly track and point to the satellite, when interference falls into a certain beam, or when the signal moves from one beam to another beam, other beams can achieve continuous tracking of the satellite signal, reducing frequent reacquisition or even positioning interruption caused by signal loss, improving the robustness of the receiver system, and ensuring the continuity of positioning services.

[0036] 3. When a satellite is simultaneously tracked by the tracking channels corresponding to multiple beams, the observables in the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning and calculation, which can minimize the influence of noise on the positioning result, thereby improving the positioning accuracy. At the same time, the tracking channels of other beams continue to maintain the tracking state of the satellite signal. When the signal quality of the currently optimal beam used for positioning and calculation deteriorates (such as being blocked, interfered, etc., resulting in a decrease in the carrier-to-noise ratio), it can be directly switched to the tracking channels of other beams that track the satellite signal to continue positioning and calculation, avoiding positioning interruption or a significant decrease in accuracy caused by the signal problem of a single beam, and ensuring the reliability of positioning services. Description of the Drawings

[0037] Figure 1 It is a schematic structural diagram of a blind beam broadband anti-jamming system for a GNSS receiver in an embodiment;

[0038] Figure 2 It is a schematic flowchart of a blind beam broadband anti-jamming method for a GNSS receiver in an embodiment. Detailed implementation manners

[0039] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to 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.

[0040] In an embodiment, as Figure 1 shown, a blind beam broadband anti-jamming system for a GNSS receiver is provided. The system includes: a multi-element antenna array, a radio frequency front end, an A / D analog-to-digital converter, a broadband anti-jamming module, a received signal processing module, and a positioning and solution module.

[0041] Among them, the multi-element antenna array includes multiple array elements and is used to receive satellite signals.

[0042] The radio frequency front end is used to convert the satellite signals received by the multi-element antenna array into analog intermediate frequency signals.

[0043] The A / D analog-to-digital converter is used to convert the analog intermediate frequency signals output by the radio frequency front end into digital intermediate frequency signals.

[0044] The broadband anti-jamming module is used to receive the digital intermediate frequency signals output by the A / D analog-to-digital converter, perform interference filtering and suppression on the digital intermediate frequency signals by using adaptive filtering, and use a beam former 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 signals pointed by the beams.

[0045] The received signal processing module is composed of a total acquisition module and a tracking channel group corresponding to each beam, and is used to receive the signals output by the broadband anti-jamming module and perform acquisition and tracking processing in sequence; among them, the total acquisition module is used to perform acquisition search attempts on each beam for the entire satellite list at a certain frequency point, and after searching for the number of rounds consistent with the number of beams according to the polling search mode, use the tracking channels of the tracking channel group corresponding to the beam to track the satellite signals captured by each beam; and when multiple beams simultaneously and successfully capture the same satellite signal, send the satellite signal in these beams into the tracking channels of the tracking channel groups corresponding to the respective beams for tracking respectively, and respectively obtain the carrier-to-noise ratio of the satellite signal;

[0046] The positioning and solution module is used to select the observables of the tracking channels for positioning and solution. Among them, if there are multiple tracking channels corresponding to multiple beams of a certain satellite being tracked simultaneously, the observables of the tracking channel with the largest carrier-to-noise ratio are selected for subsequent positioning and solution, and the tracking channels of other beams continue to maintain the tracking state of the satellite signal and participate in the screening of observables in subsequent rounds, so as to ensure that the observables with the largest carrier-to-noise ratio are used for each positioning and solution.

[0047] Specifically, the broadband anti-jamming module is not limited to a specific adaptive filtering and beamforming algorithm. For the signals processed by this module, the capture and tracking of the full satellite capture list can be performed on each beam. Finally, the satellite signal with the largest carrier-to-noise ratio is selected to participate in the positioning and solution, and the effects of improving the gain and suppressing interference can be achieved. Moreover, the above-mentioned "full satellite capture list" can be set according to user needs, and it is not limited to necessarily performing the capture search of the full satellite list, and the capture search of the set satellite list can also be performed. And the navigation receiver system and frequency points applied in this system are not restricted.

[0048] Furthermore, the multi-element antenna array includes no less than 4 array elements, and can be specifically set to 7 array elements or 11 array elements. The array element arrangement methods include circular, square, and linear, and the array element spacing is set within 0.5 times the wavelength to form a beam with good directivity.

[0049] Furthermore, considering the M -element multi-element antenna array receiving the Beidou satellite navigation signal and , after the Beidou satellite navigation signal is processed by the RF front end and the A / D analog-to-digital converter, the digital intermediate frequency signal received by a reference point of a certain array element at is expressed as:

[0050] ;

[0051] Among them, represents the th visible Beidou satellite navigation signal; and respectively represent the data code and the pseudo-random code; , , and respectively represent the amplitude, code delay, carrier initial phase, and Doppler frequency of the received Beidou satellite navigation signal; is the th broadband interference signal; is the Gaussian white noise; and respectively represent the number of visible satellites and the number of broadband noise interferences, and are the index of the sampling point and the sampling time interval respectively, represents the base of the natural logarithm.

[0052] Furthermore, after the signal received by the multi-element antenna array composed of M array elements is processed by the RF front end and the A / D analog-to-digital converter, the obtained digital intermediate frequency signal is:

[0053] ;

[0054] where represents the digital intermediate frequency signal obtained by the th array element at time ; represents the transpose of the matrix, represents the number of array elements.

[0055] Furthermore, when the beamformer generates beams, the number of beams that can be set for different widths of beams is different, 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:

[0056] Divide the azimuth angle into parts, and the angle of each part is ; Divide the elevation angle into parts, and the angle of each part is , and , is the number of beams, that is, the number of parts of the upper hemisphere of the multi-element antenna array evenly divided area, the set azimuth angle of the beam is and ; The set elevation angle of the beam is and , and each beam is combined according to the elevation angle and azimuth angle to form a beam direction for a certain area.

[0057] Furthermore, the specific process of the received signal processing module for acquisition and tracking processing includes:

[0058] The total acquisition module performs acquisition search attempts on each beam for the full satellite list at a certain frequency point, that is, the satellite signals captured by a certain beam contain at most the signals of all visible stars in the sky at this frequency point at the current moment. The total acquisition module uses a polling search mode for search and acquisition. If there are beams, acquisitions are performed, and the satellite signals captured by each beam are input into the tracking channel group corresponding to the beam;

[0059] The number of tracking channel groups is the same as 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 signals captured by each beam are tracked using the tracking channels of the tracking channel group corresponding to the beam. And when multiple beams simultaneously and successfully capture the same satellite signal, the satellite signal in these several beams is sent into the tracking channels of the tracking channel groups corresponding to each beam for separate tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively.

[0060] Furthermore, when the total capture module performs capture search attempts on the full satellite list of each frequency point for each beam separately, the frequency points include single frequency or multiple frequencies.

[0061] Compared with the existing receiver anti-jamming algorithms, a GNSS receiver blind beam broadband anti-jamming system constructed in this application can form multiple beams simultaneously when the number of array elements of the multi-element antenna array is 4 to 7, and the total capture module can poll and capture all satellite signals in the full satellite list of a certain frequency point in each direction, improving the gain of different satellite signals, and significantly improving the satellite signal capture rate. Especially in the case of weak signals or signals affected by interference, even if one direction is interfered, other directions can still effectively capture signals. And for the successfully captured satellite signals, since the tracking channels of multiple beams are all tracking this satellite signal, the system can achieve continuous and stable tracking of satellite signals. Especially when the receiver carrier is moving at high speed, the traditional beam direction cannot quickly track and point to the satellite, when interference falls into a certain beam, or when the signal moves from one beam to another beam, it can directly switch to the tracking channel in other beams that is tracking this satellite signal to continue positioning and calculation, reducing frequent re-capture or even positioning interruption caused by signal loss, and ensuring the performance of the positioning service.

[0062] In one embodiment, as Figure 2 shown, a GNSS receiver blind beam broadband anti-jamming method is provided. This method is applied to the above-mentioned GNSS receiver blind beam broadband anti-jamming system, and this method includes the following steps:

[0063] Step 1, receiving satellite signals using a multi-element antenna array including multiple array elements;

[0064] Step 2, converting the satellite signals received by the multi-element antenna array into analog intermediate frequency signals according to the RF front end;

[0065] Step 3, converting the analog intermediate frequency signals output by the RF front end into digital intermediate frequency signals according to the A / D analog-to-digital converter;

[0066] Step 4: Receive the digital intermediate frequency signal output by the A / D analog-to-digital converter through the broadband anti-jamming module. The broadband anti-jamming module uses adaptive filtering to suppress interference filtering of 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. 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.

[0067] Step 5: Based on the received signal processing module composed of a total capture module and a tracking channel group corresponding to each beam, receive the signal output by the broadband anti-jamming module and perform capture and tracking processing in sequence. Among them, the total capture module is used to perform capture search attempts on the entire satellite list at a certain frequency point for each beam respectively. After searching for the same number of rounds as the number of beams according to the polling search mode, the satellite signals captured by each beam are tracked using the tracking channels in the tracking channel group corresponding to that beam. And when multiple beams simultaneously and successfully capture the same satellite signal, the satellite signal in these beams is sent to the tracking channels in the tracking channel groups corresponding to each beam for separate tracking, and the carrier-to-noise ratio of the satellite signal is obtained respectively.

[0068] Step 6: Select the observation quantity of the tracking channel through the positioning and calculation module for positioning and calculation. If a certain satellite is simultaneously tracked by the tracking channels corresponding to multiple beams, select the observation quantity of the tracking channel with the largest carrier-to-noise ratio for subsequent positioning and calculation, and the tracking channels of other beams continue to maintain the tracking state of the satellite signal and participate in the screening of observation quantities in subsequent rounds.

[0069] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combinations of these technical features do not conflict, they should be considered as the scope recorded in this specification.

[0070] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended 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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