Satellite communication terminal pointing zero setting method and system in strong interference environment
By sampling and calculating the spectrum components and wave reach direction vector of satellite signals in the antenna array, formulating adaptive zero adjustment weights and constraint factors, and adjusting the antenna zero trap direction, the problem of suppressing useful signals in traditional adaptive zero adjustment technology is solved, and efficient communication is achieved in a strong interference environment.
Patent Information
- Application Number
- CN202510327113.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-19
- Publication Date
- 2025-07-04
AI Technical Summary
In a strong interference environment, when traditional adaptive zeroing technology suppresses interference from satellite communication signals, it will cause useful signals to be suppressed, affecting communication quality.
By sampling the satellite signals received by the antenna array, extracting spectrum components, calculating the direction vector of useful signal wave reach, formulating adaptive zero-adjustment weights and constraint factors, combining spectrum components and constraint factors for anti-interference processing, adjusting the zero-sink direction of the antenna to suppress interference signals and protect useful signals.
It effectively improves the anti-interference performance of satellite communications in an interfering environment, improves the signal-to-noise ratio, and improves the communication quality.
Smart Images
Figure CN120263262A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of satellite communication, and particularly to a satellite communication terminal pointing nulling method and system in a strong interference environment. Background Art
[0002] Due to its significant features such as global coverage, all-weather, stable and reliable, satellite communication technology has been widely applied in various fields including land, sea, sky, etc., including terminal communication devices such as mobile phones, ships, airplanes, rockets, etc. With the development of informatization, satellite communication systems will be interfered by a more complex and harsher space electromagnetic environment, resulting in a decline in communication quality and affecting communication performance.
[0003] Currently, satellite navigation anti-interference technology mostly adopts adaptive nulling technology, which can be effectively applied to relatively weak and numerous satellite navigation signals. While satellite communication signals are relatively strong, usually higher than the environmental noise floor. If only the traditional adaptive nulling technology is used to suppress interference, the useful signals will also be suppressed to a certain extent. Summary of the Invention
[0004] In view of the above problems existing in the current technology, the present application provides a satellite communication terminal pointing nulling method and system in a strong interference environment, and solves the technical problem that useful signals will also be suppressed to a certain extent when using the traditional method to suppress interference of satellite communication signals.
[0005] To achieve the above object, in the first aspect, the present application provides a satellite communication terminal pointing nulling method in a strong interference environment, and the method includes:
[0006] Perform data block sampling on satellite signals received by each element in the antenna array, and extract the spectral components of each satellite signal within each data block.
[0007] Calculate the direction vector of the useful signal of the satellite signals of the antenna array.
[0008] Use the direction vector of the useful signal to calculate the adaptive nulling weights of the spectral components of each satellite signal, and formulate the constraint factors corresponding to the spectral components.
[0009] Perform anti-interference processing on the satellite signals by combining the spectral components, the adaptive nulling weights, and the constraint factors.
[0010] Further, in one embodiment, the data block sampling is periodic sampling, and the data sampled within one period forms a data block.
[0011] Further, in one embodiment, the extraction of the spectral components of each satellite signal within each data block includes:
[0012] After performing analog-to-digital conversion on each satellite signal within each data block, perform a fast Fourier transform to obtain the spectral components of each satellite signal.
[0013] Further, in one embodiment, calculating the direction vector of the useful signal of the satellite signal of the antenna array includes:
[0014] Collect the spatial information of the satellite and the terminal device respectively.
[0015] Calculate the direction vector of the useful signal of the satellite signal of the antenna array according to the spatial information.
[0016] Further, in one embodiment, the spatial information of the satellite and the terminal device includes the position information of the satellite, the position information and attitude information of the terminal device.
[0017] Further, in one embodiment, using the direction vector of the useful signal to calculate the adaptive nulling weights of the spectral components of each satellite signal includes:
[0018] Calculate the covariance matrix of the spectral components of each satellite signal.
[0019] Combine the direction vector of the useful signal and the covariance matrix to calculate the adaptive nulling weights of the spectral components of each satellite signal.
[0020] Further, in one embodiment, formulating the constraint factor corresponding to the spectral component includes formulating the communication angle between the terminal device and the satellite, and formulating the constraint factor from the communication angle.
[0021] Further, in one embodiment, combining the spectral component, the adaptive nulling weight, and the constraint factor to perform anti-interference processing on the satellite signal includes:
[0022] Combine the spectral component, the adaptive nulling weight, and the constraint factor to calculate the output value of the spectral component of each satellite signal after anti-interference.
[0023] Perform an inverse fast Fourier transform on the output value to obtain the time-domain data of each satellite signal after anti-interference processing.
[0024] Further, in one embodiment, it further includes performing acquisition and tracking, demodulation and despreading, encoding, framing, decoding, and modulation processing on each satellite signal after anti-interference processing, and transmitting the processed satellite signal.
[0025] In a second aspect, based on the above satellite communication terminal pointing nulling method in a strong interference environment, the present application provides a satellite communication terminal pointing nulling system in a strong interference environment, and the system includes:
[0026] A sampling module, which is used to perform data block sampling on the satellite signals received by the antenna array.
[0027] A spectrum module, which is used to extract the spectrum components of each satellite signal within the current data block.
[0028] A weight module, which is used to calculate the direction vector of the useful signal arrival of the satellite signals of the antenna array, and use the direction vector of the useful signal arrival to calculate the adaptive nulling weights of the spectrum components of each satellite signal.
[0029] A constraint module, which is used to formulate the constraint factors corresponding to the spectrum components.
[0030] An anti-interference module, which performs anti-interference processing on the satellite signals by combining the spectrum components, the adaptive nulling weights, and the constraint factors.
[0031] The beneficial effects brought by the technical solution provided in the embodiment of the present application include:
[0032] The present application performs data block sampling on the satellite signals received by the antenna array, extracts the spectrum components of each satellite signal within each data block; calculates the direction vector of the useful signal arrival of the satellite signals of the antenna array; uses the direction vector of the useful signal arrival to calculate the adaptive nulling weights of the spectrum components of each satellite signal, and formulates the constraint factors corresponding to the spectrum components; performs anti-interference processing on the satellite signals by combining the spectrum components, the adaptive nulling weights, and the constraint factors. By adding a pointing technique to the adaptive nulling technique, adjusting the adaptive nulling weights, and formulating the constraint factors, the null direction of the antenna is aligned with the interference signal, so as to suppress the interference signal while protecting the useful signal, effectively improving the anti-interference performance of satellite communication in an interference environment, increasing the signal-to-noise ratio, and thus improving the quality of satellite communication. Description of the Drawings
[0033] Figure 1 It is a flowchart of the satellite communication terminal pointing and nulling method in a strong interference environment according to the embodiment of the present application.
[0034] Figure 2 It is a schematic structural diagram of the pointing and nulling method in the embodiment of the present application.
[0035] Figure 3 It is a comparison diagram of the simulation results of the four-element antenna array applying the pointing and nulling algorithm and the traditional nulling algorithm for anti-single interference in the embodiment of the present application.
[0036] Figure 4 It is a comparison diagram of the simulation results of the four-element antenna array applying the pointing and nulling algorithm and the traditional nulling algorithm for anti-triple interference in the embodiment of the present application.
[0037] Figure 5 It is a block diagram of the satellite communication terminal pointing and nulling system in a strong interference environment according to the embodiment of the present application.
[0038] Figure 6 This is a schematic diagram of the composition of a satellite communication terminal in an embodiment of the present application. DETAILED DESCRIPTION
[0039] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0040] In order to make the objectives, technical solutions and advantages of the present application more clear, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.
[0041] In a first aspect, an embodiment of the present application provides a method for pointing and zeroing a satellite communication terminal in a strong interference environment.
[0042] In one embodiment, see Figure 1 As shown, the above-mentioned satellite communication terminal pointing zeroing method includes:
[0043] S1. Perform data block sampling on the satellite signal received by each array element in the antenna array, and extract the spectrum components of each satellite signal in each data block.
[0044] S2. Calculate the useful signal arrival direction vector of the satellite signal of the antenna array.
[0045] S3. Calculate the adaptive zeroing weights of the spectrum components of each satellite signal using the useful signal arrival direction vector, and formulate constraint factors for the corresponding spectrum components.
[0046] S4. Anti-interference processing is performed on satellite signals by combining spectral components, adaptive zeroing weights and constraint factors.
[0047] Since most communication satellites are geosynchronous orbit satellites, such as Beidou, Tianlian and Tiantong satellites, the positions of these satellites are known and relatively fixed. The satellite signal passes through the spatial flat fading signal and enters the array antenna aperture of the satellite communication terminal together with noise and multiple interference signals. Because the signal incident direction and the layout position of the antenna array element are different, the corresponding direction vector is generated, causing the incident signal to produce different phase changes in each antenna channel. Therefore, adding pointing technology on the basis of adaptive zeroing can effectively prevent the useful signal from being weakened.
[0048] To improve the anti-jamming ability of satellite communication terminals, this application adjusts the weights of the array through pointing technology and space-time adaptive nulling algorithms to achieve adjustment of the null direction and null depth of the antenna, making it align with the interference signal, increasing the gain of the useful signal, protecting the useful signal while suppressing the interference signal, thereby improving the anti-jamming performance of satellite communication in an interference environment, increasing the signal-to-noise ratio, and enhancing the quality of satellite communication.
[0049] Further, the above step S1 can be implemented in two ways:
[0050] Among them, in one embodiment, data block sampling is performed on the satellite signals received by each element in the antenna array, and the spectral components of each satellite signal within each data block are extracted, including:
[0051] S101. Periodically perform data block sampling on the satellite signals received by each element in the antenna array, set the sampling period as Kt, that is, K satellite signals sampled within one period form a data block, and the sampling interval of each satellite signal is t.
[0052] S102. Perform analog-to-digital conversion on each satellite signal within each data block and execute the fast Fourier transform (FFT) to obtain the spectral components X(f k ,n) of each satellite signal within each data block, where n represents the data block number, with a value range from 1 to N, and k represents the spectral component number, with a value range from 1 to K.
[0053] In this embodiment, using an array antenna can improve the spatial filtering ability and effectively cope with various interferences.
[0054] In another embodiment, as shown in Figure 2 , assuming that the above antenna array is composed of M elements, in the above step S1, data block sampling is performed on the satellite signals received by each element in the antenna array, and the spectral components of each satellite signal within each data block are extracted, including:
[0055] S111. Perform data block sampling on the satellite signals received by each element with a period of Kt, and each data block contains K satellite signals.
[0056] S112. Perform analog-to-digital conversion (ADC) on each satellite signal within each data block. The nth data block x m (n) of the mth element is expressed as: x m (n) = [x m (n), x m (n + 1), …, x m (n + K - 1)] T .
[0057] S113. Perform FFT on each satellite signal in each data block after analog-to-digital conversion to obtain the spectral components of each satellite signal in each data block. The spectral components of each satellite signal in the nth data block of the mth array element are expressed as: X m (f k , n) = [X1(f k , n), X2(f k , n), …, X M (f k , n)] T .
[0058] Further, corresponding to steps S3 and S4, as shown in Figure 2 , use the direction vector of the useful signal to calculate the adaptive nulling weights of the spectral components of each satellite signal, and formulate the constraint factors corresponding to the spectral components. Perform anti-interference processing on the spectral components and constraint factors of each satellite signal in each data block, and perform inverse fast Fourier transform (IFFT) on the output value of the anti-interference processing to obtain the time-domain data of each satellite signal.
[0059] Further, in one example, in the above step S2, calculating the direction vector of the useful signal of the antenna array satellite signal includes:
[0060] S201. Collect the spatial information of the satellite and the terminal device respectively, where the spatial information includes the position information of the satellite, the position information and attitude information of the terminal device.
[0061] S202. Calculate the direction vector of the useful signal of the antenna array satellite signal according to the spatial information. The formula is: where j represents the phase, d represents the distance between antenna elements, f represents the carrier frequency of the satellite signal, θ represents the included angle between the useful signal and the normal of the antenna array surface, and c represents the speed of light.
[0062] In this embodiment, by collecting the position information and attitude information of the terminal device and the position information of the satellite, the direction of the useful signal is calculated in real time according to the installation position of the antenna and the coordinates of the satellite, so that when performing anti-interference, the null direction of the antenna can be aligned with the interference signal, avoiding the formation of a null in the interference direction for the useful signal, and ensuring that the gain in the direction of the useful signal and the loss of the received signal within the bandwidth are minimized.
[0063] Further, in one example, in the above step S3, using the direction vector of the useful signal to calculate the adaptive nulling weights of the spectral components of each satellite signal and formulating the constraint factors corresponding to the spectral components includes:
[0064] S301. Calculate the covariance matrix of the spectral components of each satellite signal The formula is: Among them, H represents the conjugate transpose.
[0065] S302. Combine the signal arrival direction vector and covariance matrix of the signal to be combined, and calculate the adaptive nulling weight w(f k ) of the spectral components of each satellite signal. The formula is as follows:
[0066] S303. Determine the communication angle α between the terminal device and the satellite, and determine the constraint factor g k from the communication angle. The formula for determining the constraint factor is: g k = e -jα .
[0067] In this embodiment, with the constraint condition of maintaining the combined intensity of the useful signal in the arrival direction of the satellite signal, the adaptive nulling weight is adjusted, and the constraint sub-factor of the useful signal is determined, so that the array antenna can point to the communication signal direction, and it can ensure the distortion-free reception of the signal within the communication signal bandwidth, realizing the adjustment of the null direction and null depth of the antenna, and protecting the useful signal while suppressing the interference signal.
[0068] Further, in an example, in step S4 above, the anti-interference processing of the satellite signal by combining the spectral components, adaptive nulling weight, and constraint factor includes:
[0069] S401. Combine the spectral components, adaptive nulling weight, and constraint factor to calculate the output value after anti-interference of the spectral components of each satellite signal. The formula is: Y(f k , n) = g k w H (f k )X(f k , n).
[0070] S402. Perform IFFT on the output values Y(f1, n), Y(f2, n),..., Y(f K , n) after anti-interference to obtain the time-domain data y(n), y(n + 1),..., y(n + K - 1) of each satellite signal after anti-interference processing.
[0071] Further, in an embodiment, in the scenarios of anti-single interference and anti-triple interference of a four-element antenna array, the anti-interference simulation results of the pointing nulling algorithm and the traditional nulling algorithm are compared. See Figure 3 and Figure 4 as shown. Figure 3 shows the anti-interference simulation results of applying the pointing nulling algorithm and the traditional nulling algorithm in the scenario of anti-single interference of a four-element antenna array. Figure 4It shows the anti-jamming simulation results of applying the steering nulling algorithm and the traditional nulling algorithm in the anti-three-interference scenario of a four-element antenna array. Among them, X is the azimuth angle, Y is the elevation angle, Z is the null depth, the Q point is the null depth in the direction of the desired signal, and the null depths at points A, B, and C are all in the directions of the interfering signals. When the interferences are all suppressed, by comparing the Z values of the Q point of the steering nulling algorithm and the traditional nulling algorithm, it can be seen that the Z value of the Q point corresponding to the steering nulling algorithm is almost 0, indicating that the null depth in the direction of the desired signal is almost 0, while the Z value of the Q point corresponding to the traditional nulling algorithm is smaller, indicating that there is a certain null depth in the direction of the desired signal, which means that the desired signal is suppressed when suppressing the interfering signals.
[0072] From Figure 3 and Figure 4 the simulation results, the conclusion can be drawn that the traditional nulling algorithm forms nulls in the directions of the interferences. Although it effectively suppresses the interfering signals, it also suppresses the desired signal. While the steering nulling algorithm increases the steering gain in the direction of the desired signal, improves the gain of the desired signal, and can protect the desired signal while suppressing the interfering signals.
[0073] In a second aspect, based on the embodiments of the satellite communication terminal steering nulling method in the above strong interference environment, an embodiment of a satellite communication terminal steering nulling system is provided. Referring to Figure 5 as shown, the above system includes a sampling module, a spectrum module, a weight module, a constraint module, and an anti-jamming module. Specifically:
[0074] The sampling module is used to perform data block sampling on the satellite signals received by the antenna array.
[0075] The spectrum module is used to extract the spectrum components of each satellite signal within the current data block.
[0076] The weight module is used to calculate the direction vector of the desired signal of the satellite signals of the antenna array, and use the direction vector of the desired signal to calculate the adaptive nulling weights of the spectrum components of each satellite signal.
[0077] The constraint module is used to formulate the constraint factors corresponding to the spectrum components.
[0078] The anti-jamming module combines the spectrum components, the adaptive nulling weights, and the constraint factors to perform anti-jamming processing on the satellite signals.
[0079] Compared with traditional adaptive nulling methods, the satellite communication terminal pointing nulling method and system proposed in this application can ensure that interference is suppressed while ensuring sufficient gain in the communication direction, improving communication quality. In addition, if the specific positions or movement trajectories of other non-geostationary communication satellites can be input into the satellite communication terminal through an external interface, the pointing nulling technology in this application is also applicable for anti-interference processing.
[0080] See Figure 6 As shown, the satellite communication terminal corresponding to the satellite communication terminal pointing nulling method in the above embodiment is composed of an anti-interference array antenna and a signal processing board, and the two jointly complete satellite communication work.
[0081] First, the anti-interference array antenna is composed of antenna elements, power amplifier modules, pointing nulling modules, frequency conversion channels, and structural components, etc. It mainly realizes the functions of transmitting and receiving satellite signals, completing anti-interference processing, and completing data interaction with external systems. The pointing nulling module of the antenna performs down-conversion, anti-interference processing, analog-to-digital conversion, output gain control, etc. on the satellite signal, and outputs the useful signal to the signal processing board for subsequent processing. The pointing nulling method provided in the embodiment of this application is implemented in this module. The pointing nulling module can receive the position, attitude information of the terminal device and the position information of the communication satellite through an external interface, calculate the communication angle between the terminal device and the communication satellite in real time, and realize the pointing anti-interference of the satellite signal.
[0082] Second, the signal processing board performs functions such as acquisition and tracking, demodulation and despreading, encoding, framing, decoding, and modulation processing on each satellite signal after anti-interference processing, and transmits the processed satellite signal.
[0083] In this embodiment, an array antenna is used, which can improve the spatial filtering ability and can effectively cope with various interferences. Affected by the structure and cost of equipment such as ships and airplanes, the number of array elements and the layout position of the anti-interference antenna will be limited. In this invention, four array elements are used for illustration, but it is not limited to the four-array element design. To reduce the mutual coupling between antenna elements, the receiving array element spacing of the four-array element antenna array in this embodiment is set to half a wavelength, and one of the array elements is selected as the reference array element. The layout method of the four-array element antenna array adopts a uniform circular array with a center or a uniform circular array without a center.
[0084] It should be noted that the above serial numbers of the embodiments of this application are only for description and do not represent the advantages or disadvantages of the embodiments.
[0085] In the description of the specification, claims and the above drawings of the present application, the terms "comprising", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. The descriptions such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.
[0086] In the description of the embodiments of the present application, words such as "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.
[0087] In some processes described in the embodiments of the present application, there are multiple operations or steps that occur in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.
[0088] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions to enable a terminal communication device to execute the methods described in various embodiments of the present application.
[0089] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present application.
Claims
1. A satellite communication terminal pointing nulling method in a strong interference environment, characterized in that, The method includes: Performing data block sampling on the satellite signals received by each element in the antenna array, and extracting the spectral components of each satellite signal within each data block; Calculating the direction vector of the useful signal arrival of the satellite signals of the antenna array; Using the direction vector of the useful signal arrival to calculate the adaptive nulling weights of the spectral components of each satellite signal, and formulating a constraint factor for the corresponding spectral component; Performing anti-interference processing on the satellite signals by combining the spectral components, the adaptive nulling weights, and the constraint factor.
2. The satellite communication terminal pointing nulling method in a strong interference environment according to claim 1, characterized in that The data block sampling is periodic sampling, and the data sampled within one period forms a data block.
3. The satellite communication terminal pointing nulling method in a strong interference environment according to claim 1, characterized in that, The extracting the spectral components of each satellite signal within each data block includes: After performing analog-to-digital conversion on each satellite signal within each data block, performing a fast Fourier transform to obtain the spectral components of each satellite signal.
4. The satellite communication terminal pointing nulling method in a strong interference environment according to claim 1, characterized in that, The calculating the direction vector of the useful signal arrival of the satellite signals of the antenna array includes: Respectively collecting the spatial information of the satellite and the terminal device; Calculating the direction vector of the useful signal arrival of the satellite signals of the antenna array according to the spatial information.
5. The satellite communication terminal pointing nulling method in a strong interference environment according to claim 4, characterized in that, The spatial information of the satellite and the terminal device includes the position information of the satellite, the position information and attitude information of the terminal device.
6. The satellite communication terminal pointing nulling method in a strong interference environment according to claim 1, characterized in that The using the direction vector of the useful signal arrival to calculate the adaptive nulling weights of the spectral components of each satellite signal includes: Calculating the covariance matrix of the spectral components of each satellite signal; Combining the direction vector of the useful signal arrival and the covariance matrix to calculate the adaptive nulling weights of the spectral components of each satellite signal.
7. The satellite communication terminal pointing nulling method in a strong interference environment according to claim 1, characterized in that The formulating a constraint factor for the corresponding spectral component includes formulating the communication angle between the terminal device and the satellite, and formulating a constraint factor from the communication angle.
8. The satellite communication terminal pointing nulling method in a strong interference environment according to claim 1, characterized in that, The combining the spectral components, the adaptive nulling weights, and the constraint factor to perform anti-interference processing on the satellite signals includes: Combining the spectral components, the adaptive nulling weights, and the constraint factor to calculate the output value of the spectral components of each satellite signal after anti-interference; Performing an inverse fast Fourier transform on the output value to obtain the time-domain data of each satellite signal after anti-interference processing.
9. The satellite communication terminal pointing nulling method in a strong interference environment according to claim 1, characterized in that It further includes performing acquisition and tracking, demodulation and despreading, encoding, framing, decoding, and modulation processing on each satellite signal after anti-interference processing, and transmitting the processed satellite signals.
10. A satellite communication terminal pointing nulling system in a strong interference environment according to any one of claims 1-9, characterized in that, The system includes: A sampling module, which is used for performing data block sampling on the satellite signals received by the antenna array; A spectrum module, which is used for extracting the spectral components of each satellite signal within the current data block; A weight module, which is used for calculating the direction vector of the useful signal arrival of the satellite signals of the antenna array, and using the direction vector of the useful signal arrival to calculate the adaptive nulling weights of the spectral components of each satellite signal; A constraint module, which is used for formulating a constraint factor for the corresponding spectral component; An anti-interference module, which combines the spectral components, the adaptive nulling weights, and the constraint factor to perform anti-interference processing on the satellite signals.