Low-orbit navigation signal enhancement method and device, communication equipment and storage medium

Abstract

The invention relates to a low-orbit navigation signal enhancement method and device, communication equipment and a storage medium. The low-orbit navigation signal enhancement method comprises the following steps: acquiring an array receiving signal; calculating a target anti-interference weight of the power inversion self-adaptive array according to the array receiving signal, and controlling the power inversion self-adaptive array to perform anti-interference processing on the array receiving signal based on the target anti-interference weight; analyzing signal loss characteristics of the power inversion self-adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-and-noise ratio of the power inversion self-adaptive array; and under the condition that the enhanced signal loss of the power inversion adaptive array is less than a preset loss threshold, determining the target output power of the low-orbit satellite navigation enhanced signal. The performance characteristics of the power inversion self-adaptive array are evaluated in real time, and the power enhancement amount of the low-orbit satellite navigation enhancement signal is correspondingly adjusted, so that the anti-interference performance of the power inversion self-adaptive array is ensured, and the power enhancement effect of the low-orbit satellite navigation signal is optimized to the maximum extent.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation signal processing and anti-interference, and particularly to a method, device, communication equipment and storage medium for enhancing low-orbit navigation signals. Background Art

[0002] The Low Earth Orbit Navigation Augmentation (LEO-NA) system uses low-orbit satellites as navigation signal enhancement sources, and is commonly used to optimize the positioning performance of the Global Navigation Satellite System (GNSS). The average orbital altitude of LEO satellites is much lower than that of GNSS satellites. The addition of LEO satellites can improve the anti-interference ability and positioning accuracy of GNSS.

[0003] However, since most navigation receivers use a Power Inversion (PI) adaptive array as the navigation signal receiving array, during the application of the PI adaptive array, the LEO-NA signal will be misidentified as an interference signal and suppressed. This seriously affects the performance of the low-orbit navigation array receiver and poses challenges to the acquisition and tracking of low-orbit navigation signals. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, communication equipment and storage medium for enhancing low-orbit navigation signals that can maximize signal enhancement without affecting the anti-interference performance of the receiving array for the above technical problems.

[0005] In a first aspect, the present application provides a method for enhancing low-orbit navigation signals, which is applied to a satellite navigation system. The satellite navigation system includes a transmitter and a receiver. The receiver includes a power inversion adaptive array. The transmitter is used to send satellite navigation signals, and the satellite navigation signals include low-orbit satellite navigation enhancement signals. The method includes:

[0006] Obtain the array received signal of the receiver, where the array received signal includes the low-orbit satellite navigation enhancement signal incident on the power inversion adaptive array according to the corresponding angle information;

[0007] Calculate the target anti-interference weight of the power inversion adaptive array according to the array received signal, and control the power inversion adaptive array to perform anti-interference processing on the array received signal based on the target anti-interference weight;

[0008] Determine the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-plus-noise ratio of the power inversion adaptive array, where the signal loss characteristic includes enhanced signal loss;

[0009] When the enhanced signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold, determine the target output power of the low-earth orbit satellite navigation enhanced signal, where the target output power is the output power of the low-earth orbit satellite navigation enhanced signal when the output signal-to-interference-plus-noise ratio of the power inversion adaptive array is at its maximum value.

[0010] In one embodiment, the calculating the target anti-interference weight of the power inversion adaptive array according to the array received signal includes:

[0011] Obtain the autocorrelation matrix of the array received signal;

[0012] Calculate the target anti-interference weight of the power inversion adaptive array according to the received signal output power minimization criterion.

[0013] In one embodiment, the controlling the power inversion adaptive array to perform anti-interference processing on the array received signal based on the target anti-interference weight includes:

[0014] Perform complex weighting processing on the array received signal according to the target anti-interference weight to achieve interference suppression of the array received signal.

[0015] In one embodiment, the determining the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-plus-noise ratio of the power inversion adaptive array includes:

[0016]

[0017] where G loss is the signal loss characteristic of the power inversion adaptive array, SNR in is the input signal-to-noise ratio of the power inversion adaptive array, and SINR out is the output signal-to-interference-plus-noise ratio of the power inversion adaptive array.

[0018] In a second aspect, the present application further provides a low-earth orbit navigation signal enhancement device, which is applied to a satellite navigation system. The satellite navigation system includes a transmitter and a receiver. The receiver includes a power inversion adaptive array. The transmitter is used to send a satellite navigation signal, and the satellite navigation signal includes a low-earth orbit satellite navigation enhanced signal; the device includes:

[0019] A signal acquisition module, configured to acquire the array reception signals of the receiver, wherein the array reception signals include low-earth-orbit satellite navigation enhancement signals incident on the power inversion adaptive array according to corresponding angle information;

[0020] An interference suppression module, configured to calculate the target anti-interference weight of the power inversion adaptive array according to the array reception signals, and control the power inversion adaptive array to perform anti-interference processing on the array reception signals based on the target anti-interference weight;

[0021] A performance evaluation module, configured to determine the signal loss characteristics of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-and-noise ratio of the power inversion adaptive array, wherein the signal loss characteristics include enhancement signal loss;

[0022] A power enhancement module, configured to determine the target output power of the low-earth-orbit satellite navigation enhancement signal when the enhancement signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold, wherein the target output power is the output power of the low-earth-orbit satellite navigation enhancement signal when the output signal-to-interference-and-noise ratio of the power inversion adaptive array is the maximum value.

[0023] In one embodiment, the interference suppression module is specifically configured to acquire the autocorrelation matrix of the array reception signals; and calculate the target anti-interference weight of the power inversion adaptive array according to the minimumization criterion of the reception signal output power.

[0024] In one embodiment, the interference suppression module is specifically configured to perform complex weighting processing on the array reception signals according to the target anti-interference weight to achieve interference suppression of the array reception signals.

[0025] In a third aspect, the present application further provides a satellite navigation system, including a controller, a transmitter, and a receiver, wherein the receiver includes a power inversion adaptive array, the transmitter is configured to transmit satellite navigation signals, and the satellite navigation signals include low-earth-orbit satellite navigation enhancement signals;

[0026] The controller is respectively connected to the transmitter and the receiver, and the controller is configured to execute the steps of the low-earth-orbit navigation signal enhancement method described in the first aspect.

[0027] In a fourth aspect, the present application further provides a communication device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the low-earth-orbit navigation signal enhancement method described in the first aspect when executing the computer program.

[0028] In a fifth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the low-orbit navigation signal enhancement method described in the first aspect are implemented.

[0029] In summary, the present application proposes a low-orbit navigation signal enhancement method, device, communication equipment and storage medium, including: obtaining the array reception signal of a receiver; calculating the target anti-interference weight of a power inversion adaptive array according to the array reception signal, and controlling the power inversion adaptive array to perform anti-interference processing on the array reception signal based on the target anti-interference weight; determining the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-plus-noise ratio of the power inversion adaptive array; and determining the target output power of the low-orbit satellite navigation enhancement signal when the enhancement signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold. By evaluating the performance characteristics of the power inversion adaptive array in real time and correspondingly adjusting the target output power of the low-orbit satellite navigation enhancement signal, the present application maximizes the power enhancement effect of the low-orbit satellite navigation signal while ensuring the processing performance of the power inversion adaptive array. Description of the Drawings

[0030] Figure 1 It is a structural block diagram of a satellite navigation system in an embodiment;

[0031] Figure 2 It is a structural schematic diagram of a PI adaptive array in an embodiment;

[0032] Figure 3 It is a flow schematic diagram of a low-orbit navigation signal enhancement method in an embodiment;

[0033] Figure 4 It is a structural schematic diagram of a four-element PI adaptive array in an embodiment;

[0034] Figure 5 It is a structural schematic diagram of a seven-element PI adaptive array in an embodiment;

[0035] Figure 6 It is a structural schematic diagram of an experimental model in an embodiment;

[0036] Figure 7 It is a schematic diagram of the output signal-to-noise ratio performance of different arrays when receiving LEO-NA signals in an embodiment;

[0037] Figure 8 It is a schematic diagram of the signal loss characteristic performance of different arrays when receiving LEO-NA signals in an embodiment;

[0038] Figure 9 It is a structural block diagram of a low-orbit navigation signal enhancement device in an embodiment;

[0039] Figure 10 It is the internal structure diagram of a computer device in an embodiment.

[0040] Summary of reference numerals:

[0041] Controller - 110; Transmitter - 120; Receiver - 130. Detailed implementation manners

[0042] In order to make the objectives, technical solutions and advantages of the present application clearer, 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.

[0043] In one embodiment, as Figure 1 shown, a satellite navigation system is provided, including: a controller, a transmitter and a receiver. The receiver includes a Power Inversion (PI) adaptive array. The transmitter is used to send satellite navigation signals, and the satellite navigation signals include Low Earth Orbit Navigation Augmentation Signals (LEO-NA Signals).

[0044] In this embodiment, the transmitter includes a signal source and a signal transmitting antenna. The signal transmitting antenna can send the signal generated by the signal source at a certain angle. In this embodiment, the signal source can be used to generate LEO-NA signals and send the LEO-NA signals through the signal transmitting antenna. In actual application, the transmitter can correspond to a Low Earth Orbit (LEO) satellite. The number of transmitters can be single or multiple. For example, the transmitter includes 3 transmitters, namely transmitter 1, transmitter 2 and transmitter 3, corresponding to 3 LEO satellites.

[0045] The receiver includes a signal receiving array. In this embodiment, the signal receiving array can adopt a PI adaptive array. In actual application, the PI adaptive array can be based on the Least Mean Square (LMS) adaptive filtering. Through the inward optimization ability, it can automatically align the null direction of the radiation pattern to the strong interference direction to suppress interference. The PI adaptive array does not depend on the signal structure or the angle-of-arrival information of the signal and is applicable to complex electromagnetic environments.

[0046] In actual application, as Figure 2 shown, the PI adaptive array is composed of M array element components, and the spacing between the array elements is set to be half of the center carrier frequency f cThe corresponding wavelength is λ. The signal source (LEO satellite) sends N LEO-NA signals to the PI adaptive array, namely s1(t), s2(t), …, s i (t), where each signal has the same center carrier frequency f c . The signal s i (t) is incident on the array at an angle (θ i , φ i ), where i = 1, 2, …, N.

[0047] In a specific application scenario, the signal received by the PI adaptive array can be expressed as:

[0048]

[0049] where n(t) = [n1(t), n2(t), …, n M (t)] T represents a Gaussian noise vector, s i (t) is the i-th signal sent by the signal source, and a i is the steering vector.

[0050] Among them, the steering vector of the i-th signal s i (t) can be expressed as:

[0051]

[0052] where λ is the wavelength corresponding to the center carrier frequency f c , v i = [sinθ i cosφ i , sinθ i sinφ i , cosθ i T , v i is a unit vector, p i = [x i , y i , z i , p i is the three-dimensional coordinate of the i-th array element. It should be noted that p0 = [x0, y0, z0], and p0 represents the coordinate of the array element located at the origin.

[0053] In this embodiment, assuming that the PI adaptive array weight vector is represented by w, the output signal of the PI adaptive array can be expressed as:

[0054] y(t) = w H x(t)

[0055] ​In this embodiment, y(t) is the output signal of the PI adaptive array, x(t) is the received signal of the PI adaptive array, w is the weight vector of the PI adaptive array, and w H is the conjugate matrix of the weight vector.

[0056] In this embodiment, the controller is respectively connected to the transmitter and the receiver. The transmission parameters of the transmitter can be automatically adjusted according to the performance characteristics of the PI adaptive array in the receiver, so as to achieve the best power enhancement effect of the LEO satellite navigation signal.

[0057] As Figure 3 shown, a method for enhancing LEO navigation signals is provided, which is applied to the controller of a satellite navigation system as Figure 1 shown, and includes:

[0058] S301, obtaining the array received signal of the receiver, where the array received signal includes the LEO satellite navigation enhancement signal incident on the power inversion adaptive array according to the corresponding angle information.

[0059] In this embodiment, the array received signal of the receiver can be the LEO-NA signal incident on the array at the corresponding angle (θ i , φ i ) in the foregoing embodiment, that is, s1(t), s2(t),..., s i (t).

[0060] In the specific application process, the signal model of the array received signal of a four-element PI adaptive array is as Figure 4 shown, and the signal model of the array received signal of a seven-element PI adaptive array is as Figure 5 shown.

[0061] S302, calculating the target anti-jamming weight of the power inversion adaptive array according to the array received signal, and controlling the power inversion adaptive array to perform anti-jamming processing on the array received signal based on the target anti-jamming weight.

[0062] In this embodiment, after the transmitter and the receiver complete the signal transmission and reception, the target anti-jamming weight of the PI adaptive array will be calculated according to the situation of the PI adaptive array receiving the LEO-NA signal, and the interference suppression processing of the signal will be completed based on the corresponding target anti-jamming weight.

[0063] Among them, calculating the target anti-jamming weight of the power inversion adaptive array according to the array received signal includes:

[0064] Obtaining the autocorrelation matrix of the array received signal. According to the minimum output power criterion of the received signal, calculating the target anti-jamming weight of the power inversion adaptive array.

[0065] In this embodiment, the PI adaptive array adopts the criterion of minimizing the output power of the received signal, which can be specifically expressed as:

[0066] arg min P out =w H R xx w

[0067] where w H b=1, b is a constraint vector used to ensure that the weight of a specific array element will not be reduced to 0, b=[1,0,…,0] T , P out represents the output power of the received signal of the PI adaptive array, that is, the output power of the LEO-NA signal, w=[w1,w2,...,w M T , represents the weight matrix of the PI adaptive array, w H is the conjugate matrix of the weight matrix of the PI adaptive array, R xx represents the autocorrelation matrix of the received signal, R xx =E[x(t)x H (t)], x(t) is the received signal, x H (t) is the conjugate matrix of the received signal.

[0068] Applying the Lagrange multiplier method, the target anti-interference weight of the PI adaptive array can be calculated as:

[0069]

[0070] where μ is a constant, is the inverse matrix of the autocorrelation matrix of the received signal, b is the constraint vector, b=[1,0,…,0] T .

[0071] In this embodiment, the target anti-interference weight of the PI adaptive array can be calculated according to the autocorrelation matrix of the received data corresponding to the array received signal.

[0072] In this embodiment, the control power inversion adaptive array performs anti-interference processing on the array received signal based on the target anti-interference weight, including:

[0073] Performing complex weighting processing on the array received signal according to the target anti-interference weight to achieve interference suppression of the array received signal.

[0074] In the actual application process, according to the expression of the output signal of the PI adaptive array y(t)=w H ​As we know from \(x(t)\), the PI adaptive array can effectively suppress interference signals by dynamically adjusting nulls in multiple directions through complex weighting of received signals.

[0075] S303. Determine the signal loss characteristics of the power inversion adaptive array based on the input signal-to-noise ratio and output signal-to-interference-plus-noise ratio of the power inversion adaptive array, where the signal loss characteristics include enhanced signal loss.

[0076] Since the PI adaptive array uses channel correlation to distinguish interference signals and target signals, in this embodiment, the target signal is the LEO-NA signal. An increase in the power of the low-earth orbit satellite navigation signal will cause a significant increase in the correlation between channels of the PI adaptive array, thereby leading to the suppression of the LEO-NA signal by the PI adaptive array.

[0077] In this embodiment, the signal loss characteristics of the PI adaptive array refer to the loss situation of the signal output by the PI adaptive array compared to the signal input to the PI adaptive array, indicating the intensity attenuation of the signal during the process of passing through the PI adaptive array. The signal loss characteristics in this embodiment include enhanced signal loss, that is, the loss of the LEO-NA signal.

[0078] Based on the received data corresponding to the array received signal of the PI adaptive array, the input signal-to-noise ratio and output signal-to-interference-plus-noise ratio of the corresponding PI adaptive array can be calculated, and the signal loss characteristics of the PI adaptive array can be evaluated based on the input signal-to-noise ratio and output signal-to-interference-plus-noise ratio of the PI adaptive array.

[0079] Specifically, in the case of this embodiment involving N LEO-NA signals, that is, in the case of receiving LEO-NA signals sent from multiple LEO satellites, the autocorrelation matrix of the received data of the PI adaptive array can be expressed as:

[0080]

[0081] where \(R\) ss,i represents the autocorrelation matrix of the \(i\)th LEO-NA signal, \(R\) nn represents the autocorrelation matrix of the noise signal, \(a\) i represents the steering vector of the \(i\)th LEO-NA signal, represents the conjugate matrix of the steering vector of the \(i\)th LEO-NA signal, represents the power of the \(i\)th LEO-NA signal, represents the power of the noise signal, and \(I\) is the identity matrix.

[0082] In this embodiment, the output signal-to-interference plus noise ratio (Signal to Interference plus Noise Ratio, hereinafter referred to as output SINR) of the PI adaptive array is a key index characterizing the performance of the PI adaptive array. The output SINR represents the ratio of the required signal power to the total power of interference plus noise at the output of the array. The specific expression is:

[0083]

[0084] where R ss,i represents the autocorrelation matrix of the i-th LEO-NA signal, w represents the target anti-interference weight of the PI adaptive array, and w H represents the conjugate matrix of the target anti-interference weight of the PI adaptive array. R nn represents the autocorrelation matrix of the noise signal, b is the constraint vector, and b = [1, 0, …, 0] T . is the inverse matrix of the autocorrelation matrix R xx,N .

[0085] The autocorrelation matrix R xx,N can be understood as a rank-1 update of the matrix R xx,N-1 . Therefore, an iterative method can be used to solve R xx,N .

[0086] For the case of N = 1, it can be obtained by the Sherman-Morrison formula:

[0087]

[0088] where Q is a constant, represents the power of the first LEO-NA signal, represents the power of the noise signal, I is the identity matrix, and a1 represents the steering vector of the first LEO-NA signal, represents the conjugate matrix of the steering vector of the first LEO-NA signal.

[0089] For the case of N = 2, the calculation formula of the autocorrelation matrix is:

[0090]

[0091] where is the square of the power of the noise signal, is the power of the second LEO-NA signal, M is the number of array elements of the PI adaptive array, a1 represents the steering vector of the first LEO-NA signal, represents the conjugate matrix of the steering vector of the first LEO-NA signal. a2 represents the steering vector of the second LEO-NA signal, represents the conjugate matrix of the steering vector of the second LEO-NA signal.

[0092] Through iterative calculation, the inverse matrix can be calculated according to the following formula:

[0093]

[0094] Substitute the inverse matrix into the above-mentioned calculation formula, and the analytical solution of can be obtained.

[0095] In the multi-satellite augmentation scenario, is in a relatively complex form. In the following embodiments, a single-satellite augmentation scenario is used as an example. Substitute the calculation formula into the above-mentioned calculation formula, and we can get:

[0096]

[0097] Given b = [1, 0, ···, 0] T , b H Xb represents the element in the first row and first column of X. Define a linear transformation operator T to represent the first row and first column of the matrix, that is:

[0098] T(X) = b H Xb = X(1, 1)

[0099] According to the steering vector I of the M-element array, aa H , (aa H ), (aa 2 ), (aa H ), (aa 3 ) of the first row and first column of the element can be expressed as follows:

[0100] T(I) = 1

[0101] T(aa H ) = 1

[0102] T((aa H ), (aa 2 ) = M

[0103] T((aa H ), (aa 3) = M 2

[0104] In the absence of other signal interferences, the SINR index degrades to SNR. Define the signal-to-noise ratio of the required signal before entering the array as wherein, is the input signal-to-noise ratio of the i-th LEO-NA signal received by the PI adaptive array, that is, the signal-to-noise ratio of the LEO-NA signal, is the power of the received signal of the PI adaptive array, is the power of the noise signal of the PI adaptive array. Through the above formula, it can be obtained that:

[0105]

[0106] wherein, M represents the number of array elements, is the output signal-to-noise ratio of the i-th LEO-NA signal received by the PI adaptive array, and the definitions of the remaining parameters can refer to the definitions of the respective parameters in the foregoing embodiments, which will not be elaborated herein.

[0107] Based on the above steps, it can be known that in the single satellite augmentation scheme, regardless of the geometric shape of the PI adaptive array, the output signal-to-noise ratio of the PI adaptive array for processing LEO-NA signals is completely determined by the input signal-to-noise ratio and the number of array elements. In addition, based on the foregoing discussion of the calculation formula, the output signal-to-interference-plus-noise ratio model under multi-satellite augmentation can be obtained by the iterative method.

[0108] S304. When the loss characteristic of the power inversion adaptive array is less than the preset loss threshold, determine the target output power of the LEO satellite navigation augmentation signal, where the target output power is the output power of the LEO satellite navigation augmentation signal when the output signal-to-interference-plus-noise ratio of the power inversion adaptive array is the maximum value.

[0109] In this embodiment, determining the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-plus-noise ratio of the power inversion adaptive array includes:

[0110]

[0111] wherein, G loss is the loss characteristic of the power inversion adaptive array, SNR in is the input signal-to-noise ratio of the power inversion adaptive array, and SINR out is the output signal-to-interference-plus-noise ratio of the power inversion adaptive array.

[0112] In this embodiment, the signal loss characteristic of the PI adaptive array during the interference suppression process can be determined by the input signal ratio and the output signal-to-interference-plus-noise ratio of the PI adaptive array. Based on the above Gloss From the calculation formula, it can be seen that as the signal-to-noise ratio (SNR in ) of the LEO-NA signal increases, the loss characteristics of the PI adaptive array will also increase accordingly.

[0113] In this embodiment, determining the target output power of the low-earth orbit satellite navigation augmentation signal can be summarized as the following optimization problem:

[0114]

[0115] And ensure that G loss <γ.

[0116] In this embodiment, by maximizing the output signal-to-interference-plus-noise ratio of the PI adaptive array and making the loss characteristics of the PI adaptive array always less than the preset loss threshold γ, the input signal-to-noise ratio of the PI adaptive array that maximizes the power augmentation function of the LEO-NA signal can be obtained under theoretical conditions, that is, the signal-to-noise ratio SNR in of the LEO-NA signal. Furthermore, the target output power of the LEO-NA signal can be obtained according to the signal-to-noise ratio SNR in of the LEO-NA signal.

[0117] In summary, this embodiment provides a low-earth orbit navigation signal augmentation method, which can analyze the anti-interference performance of the PI adaptive array in the satellite navigation system according to the corresponding analytical model, and combine the change of the signal loss characteristics of the PI adaptive array to obtain the control parameters that can effectively optimize the power augmentation function of the low-earth orbit satellite navigation signal augmentation system. By controlling the transmitter to send the LEO-NA signal according to the target output power, the best low-earth orbit navigation signal augmentation scheme can be obtained.

[0118] In a specific embodiment, set up a test environment according to the Figure 6 shown experimental model. Among them, the experimental model includes an array signal generation module, an interference suppression processing module, and a quantization reception performance module. Among them, the array signal generation module can perform spread spectrum modulation and BPSK modulation respectively according to the waveforms corresponding to the carrier, pseudo-code, and navigation message information to obtain the LEO-NA signal, and add the steering vector and Gaussian noise correspondingly, send it from the signal transmitter, and receive it by the signal receiving array.

[0119] The interference suppression module completes the suppression of the interference signal by acquiring the array signal, calculating the array weights, and performing anti-interference processing according to the array weights.

[0120] The quantization receiving performance module quantifies the performance of the PI adaptive array by collecting and tracking LEO-NA signals on a software-defined receiver (SDR) platform and measuring and calculating the signal-to-noise ratio of the desired signal (LEO-NA signal) through coherent integration.

[0121] Given the preset loss threshold γ = 10 dB, consider the scenario where a single LEO-NA signal is incident on a B3I receiver (PI adaptive array) with a front-end bandwidth of 20 MHz. In this case, the theoretical signal power and noise floor power are -133 dBm and -101 dBm respectively, and the initial signal-to-noise ratio is -32 dB. Therefore, the optimal power enhancement of the LEO-NA signal at the B3I frequency can be calculated as (SNR in +32) dB.

[0122] According to Figure 4 the geometric configuration of the four-element PI adaptive array in Figure 5 and the seven-element PI adaptive array in Figure 7 and Figure 8 a comparative analysis of the output signal-to-noise ratio and array loss characteristics was carried out. Based on the provided data, the following conclusions can be drawn: for the four-element array, the best SNR in at the B3I frequency point is approximately -5.4 dB, corresponding to the best power enhancement of 26.6 dB; for the seven-element array, the best SNR in at the B3I frequency point is approximately -8.1 dB, corresponding to the optimal power enhancement of 23.9 dB.

[0123] Figure 7 shows the output signal-to-noise ratio performance of different arrays when receiving LEO-NA signals (Output SNR of array receivers under different Array). Among them, the blue curve is the output signal-to-noise ratio curve of the four-element PI adaptive array (Four-element Array), and the red curve is the output signal-to-noise ratio curve of the seven-element PI adaptive array (Seven-element Array). The abscissa is the input signal-to-noise ratio (Input SNR). The ordinate is the output signal-to-noise ratio (Output SNR)

[0124] Figure 8For the signal loss characteristics of different arrays when receiving LEO-NA signals (Loss of array receivers under different Array), where the blue curve is the output signal-to-noise ratio curve of a four-element PI adaptive array (Four-element Array), and the red curve is the output signal-to-noise ratio curve of a seven-element PI adaptive array (Seven-element Array). The abscissa is the input signal-to-noise ratio (Input SNR). The ordinate is the signal loss characteristic (Signal Loss).

[0125] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least some of the steps or stages in other steps or other steps.

[0126] Based on the same inventive concept, an embodiment of the present application also provides a low-orbit navigation signal enhancement device for implementing the low-orbit navigation signal enhancement method involved above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the low-orbit navigation signal enhancement device provided below can refer to the limitations on the low-orbit navigation signal enhancement method in the above text, and will not be repeated here.

[0127] In one embodiment, as Figure 9 shown, a low-orbit navigation signal enhancement device 900 is provided, including: a signal acquisition module 910, an interference suppression module 920, a performance evaluation module 930, and a power enhancement module 940, where:

[0128] The signal acquisition module 910 is used to acquire the array reception signal of the receiver, where the array reception signal includes a low-orbit satellite navigation enhancement signal incident on the power inversion adaptive array according to the corresponding angle information;

[0129] The interference suppression module 920 is used to calculate the target anti-interference weight of the power inversion adaptive array according to the array reception signal, and control the power inversion adaptive array to perform anti-interference processing on the array reception signal based on the target anti-interference weight;

[0130] A performance evaluation module 930 is configured to determine the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-plus-noise ratio of the power inversion adaptive array, where the signal loss characteristic includes enhanced signal loss;

[0131] A power enhancement module 940 is configured to determine the target output power of the low-earth orbit satellite navigation enhancement signal when the enhanced signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold, where the target output power is the output power of the low-earth orbit satellite navigation enhancement signal when the output signal-to-interference-plus-noise ratio of the power inversion adaptive array is at its maximum.

[0132] In one embodiment, the interference suppression module 920 is specifically configured to obtain the autocorrelation matrix of the array received signal; and calculate the target anti-interference weight of the power inversion adaptive array according to the received signal output power minimization criterion.

[0133] In one embodiment, the interference suppression module 920 is specifically configured to perform complex weighting processing on the array received signal according to the target anti-interference weight to achieve interference suppression of the array received signal.

[0134] In summary, this embodiment provides a low-earth orbit navigation signal enhancement device, which can analyze the anti-interference performance of the PI adaptive array in the satellite navigation system according to the corresponding analysis model, and combine the change of the signal loss characteristic of the PI adaptive array to obtain control parameters that can effectively optimize the power enhancement function of the low-earth orbit satellite navigation signal enhancement system. By controlling the transmitter to send the LEO-NA signal according to the target output power, the best low-earth orbit navigation signal enhancement scheme can be obtained.

[0135] Each module in the above low-earth orbit navigation signal enhancement device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the computer device in hardware form or be independent of it, or be stored in the memory in the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0136] In one embodiment, a communication device is provided. The communication device can be a terminal, and its internal structure diagram can be as Figure 10As shown in the figure. The communication device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the communication device is used to provide computing and control capabilities. The memory of the communication device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the communication device is used to exchange information between the processor and external devices. The communication interface of the communication device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for enhancing low-orbit navigation signals. The display unit of the communication device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the communication device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the communication device, or an external keyboard, touchpad, or mouse, etc.

[0137] Those skilled in the art can understand that Figure 10 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the communication device to which the solution of this application is applied. The specific communication device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0138] In one embodiment, a communication device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0139] Obtain the array received signal of the receiver, where the array received signal includes a low-orbit satellite navigation enhancement signal incident on the power inversion adaptive array according to the corresponding angle information;

[0140] Calculate the target anti-jamming weight of the power inversion adaptive array according to the array received signal, and control the power inversion adaptive array to perform anti-jamming processing on the array received signal based on the target anti-jamming weight;

[0141] Determine the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-and-noise ratio of the power inversion adaptive array, where the signal loss characteristic includes enhanced signal loss;

[0142] When the enhanced signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold, determine the target output power of the low-earth orbit satellite navigation enhanced signal, where the target output power is the output power of the low-earth orbit satellite navigation enhanced signal when the output signal-to-interference-plus-noise ratio of the power inversion adaptive array is at its maximum value.

[0143] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0144] Obtain the array received signal of the receiver, where the array received signal includes the low-earth orbit satellite navigation enhanced signal incident on the power inversion adaptive array according to the corresponding angle information;

[0145] Calculate the target anti-interference weight of the power inversion adaptive array according to the array received signal, and control the power inversion adaptive array to perform anti-interference processing on the array received signal based on the target anti-interference weight;

[0146] Determine the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-plus-noise ratio of the power inversion adaptive array, where the signal loss characteristic includes the enhanced signal loss;

[0147] When the enhanced signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold, determine the target output power of the low-earth orbit satellite navigation enhanced signal, where the target output power is the output power of the low-earth orbit satellite navigation enhanced signal when the output signal-to-interference-plus-noise ratio of the power inversion adaptive array is at its maximum value.

[0148] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0149] Obtain the array received signal of the receiver, where the array received signal includes the low-earth orbit satellite navigation enhanced signal incident on the power inversion adaptive array according to the corresponding angle information;

[0150] Calculate the target anti-interference weight of the power inversion adaptive array according to the array received signal, and control the power inversion adaptive array to perform anti-interference processing on the array received signal based on the target anti-interference weight;

[0151] Determine the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and the output signal-to-interference-plus-noise ratio of the power inversion adaptive array, where the signal loss characteristic includes the enhanced signal loss;

[0152] When the enhanced signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold, determine the target output power of the low-earth orbit satellite navigation enhanced signal, where the target output power is the output power of the low-earth orbit satellite navigation enhanced signal when the output signal-to-interference-plus-noise ratio of the power inversion adaptive array is at its maximum value.

[0153] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memories can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0154] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope recorded in this specification.

[0155] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent 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 modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for enhancing low-earth orbit navigation signals, characterized in that Applied to a satellite navigation system, the satellite navigation system includes a transmitter and a receiver, the receiver includes a power inversion adaptive array, the transmitter is used to send satellite navigation signals, and the satellite navigation signals include low-earth orbit satellite navigation augmentation signals; The method includes: Obtaining the array received signal of the receiver, wherein the array received signal includes a low-earth orbit satellite navigation augmentation signal incident on the power inversion adaptive array according to corresponding angle information; Calculating the target anti-jamming weight of the power inversion adaptive array according to the array received signal, and controlling the power inversion adaptive array to perform anti-jamming processing on the array received signal based on the target anti-jamming weight; Determining the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and output signal-to-interference-plus-noise ratio of the power inversion adaptive array, wherein the signal loss characteristic includes augmentation signal loss; When the augmentation signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold, determining the target output power of the low-earth orbit satellite navigation augmentation signal, wherein the target output power is the output power of the low-earth orbit satellite navigation augmentation signal when the output signal-to-interference-plus-noise ratio of the power inversion adaptive array is the maximum value.

2. The method according to claim 1, wherein The calculating the target anti-jamming weight of the power inversion adaptive array according to the array received signal includes: Obtaining the autocorrelation matrix of the array received signal; Calculating the target anti-jamming weight of the power inversion adaptive array according to the received signal output power minimization criterion.

3. The method according to claim 1, characterized in that, The controlling the power inversion adaptive array to perform anti-jamming processing on the array received signal based on the target anti-jamming weight includes: Performing complex weighting processing on the array received signal according to the target anti-jamming weight to achieve interference suppression of the array received signal.

4. The method according to claim 1, characterized in that, The determining the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and output signal-to-interference-plus-noise ratio of the power inversion adaptive array includes: Among them, G loss is the signal loss characteristic of the power inversion adaptive array, SNR in is the input signal-to-noise ratio of the power inversion adaptive array, SINR out is the output signal-to-interference-plus-noise ratio of the power inversion adaptive array.

5. A low-earth orbit navigation signal enhancement device, characterized in that, Applied to a satellite navigation system, the satellite navigation system includes a transmitter and a receiver, the receiver includes a power inversion adaptive array, the transmitter is used to send satellite navigation signals, and the satellite navigation signals include low-earth orbit satellite navigation augmentation signals; The device includes: A signal acquisition module, configured to acquire the array received signal of the receiver, wherein the array received signal includes a low-earth orbit satellite navigation augmentation signal incident on the power inversion adaptive array according to corresponding angle information; An interference suppression module, configured to calculate the target anti-jamming weight of the power inversion adaptive array according to the array received signal, and control the power inversion adaptive array to perform anti-jamming processing on the array received signal based on the target anti-jamming weight; A performance evaluation module, configured to determine the signal loss characteristic of the power inversion adaptive array according to the input signal-to-noise ratio and output signal-to-interference-plus-noise ratio of the power inversion adaptive array, wherein the signal loss characteristic includes augmentation signal loss; A power enhancement module, configured to determine the target output power of the low-orbit satellite navigation enhancement signal when the enhancement signal loss corresponding to the power inversion adaptive array is less than a preset loss threshold, where the target output power is the output power of the low-orbit satellite navigation enhancement signal when the output signal-to-interference-plus-noise ratio of the power inversion adaptive array is at its maximum value.

6. The device according to claim 5, characterized in that The interference suppression module is specifically configured to obtain the autocorrelation matrix of the array received signal; and calculate the target anti-interference weight of the power inversion adaptive array according to the received signal output power minimization criterion.

7. The device according to claim 5, characterized in that, The interference suppression module is specifically configured to perform complex weighting processing on the array received signal according to the target anti-interference weight to achieve interference suppression of the array received signal.

8. A satellite navigation system, characterized in that, It includes a controller, a transmitter, and a receiver. The receiver includes a power inversion adaptive array. The transmitter is configured to transmit a satellite navigation signal, and the satellite navigation signal includes a low-orbit satellite navigation enhancement signal. The controller is respectively connected to the transmitter and the receiver, and the controller is configured to execute the steps of the low-orbit navigation signal enhancement method according to any one of claims 1 to 4.

9. A communication device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the low-orbit navigation signal enhancement method according to any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the low-orbit navigation signal enhancement method according to any one of claims 1 to 4.

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