Signal anti-interference method and device for satellite signal receiver and storage medium

Abstract

The invention discloses a signal anti-interference method and device for a satellite signal receiver and a storage medium, and relates to the technical field of satellite navigation. The method comprises the following steps: determining a covariance matrix of a plurality of first signals; determining a tapering matrix according to null broadening, and determining a covariance matrix and a basic product of the tapering matrix to obtain a tapering covariance matrix; determining an optimal weight vector according to the satellite steering vector and the covariance matrix, and performing anti-interference processing on the newly collected first signal according to the optimal weight vector to obtain a second signal; capturing and tracking a target signal in the second signal, and determining a satellite signal direction of arrival correction term of a satellite steering vector of the target signal in an angle locking loop; and updating the satellite steering vector according to the satellite signal direction of arrival correction term, and updating the null broadening according to the current movement speed to the ground of the satellite signal receiver. According to the method, the anti-interference robustness and effectiveness of the satellite signal receiver in a high-dynamic scene such as high-speed motion are improved.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a signal anti-interference method, device and storage medium for a satellite signal receiver. Background Art

[0002] When a satellite navigation receiver receives and processes satellite signals, it may be affected by external factors such as electronic warfare interference and multipath effects, causing it to receive interference signals. In scenarios where a satellite navigation receiver moves at high speed with a vehicle, such as a drone, the rapid changes in the angle of arrival between the interference source and the satellite signal can prevent the receiver from effectively suppressing the interference signal. This makes the interference more pronounced when the receiver acquires satellite signals for navigation. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a signal anti-interference method, device and storage medium for a satellite signal receiver, so as to solve the technical problem of how to suppress interference signals during movement of a satellite navigation receiver in the prior art.

[0004] To achieve the above-mentioned objectives, the present application provides, in a first aspect, a signal anti-interference method for a satellite signal receiver, wherein the satellite signal receiver receives satellite signals through an array antenna; the signal anti-interference method comprises: Acquire multiple first signals acquired multiple times by the array antenna according to the satellite steering vector and the nulling broadening, and determine a covariance matrix of the multiple first signals; Determine the tapered matrix in the covariance matrix tapered beam broadening algorithm according to the null-steering broadening, and determine the basic product of the covariance matrix and the tapered matrix to obtain the tapered covariance matrix; determining an optimal weight vector based on a linearly constrained minimum variance criterion according to the satellite steering vector and the covariance matrix, and performing anti-interference processing on the most recently acquired first signal according to the optimal weight vector to obtain a second signal; Acquire and track a target signal in the second signal, and determine a satellite signal arrival angle correction term of a satellite steering vector of the target signal in an angle lock loop; The satellite steering vector is updated according to the satellite signal angle of arrival correction term, and the null spread is updated according to the current earth motion speed of the satellite signal receiver.

[0005] In an embodiment of the present application, the matrix elements of the tapered matrix include Gaussian function terms; the tapered matrix in the covariance matrix tapered beam widening algorithm is determined based on the null widening, including: obtaining the target signal wavelength, the antenna spacing of the array antenna and the number of antennas; determining the variance terms in the Gaussian function terms based on the ratio of the null widening, the number of antennas, the antenna spacing and the target signal wavelength; determining the Gaussian function terms based on the position of the matrix element in the tapered matrix and the variance terms.

[0006] In the embodiment of the present application, the matrix elements are determined based on (1) and (2): ; (1) ; (2) in, Represents a matrix element and are the row and column labels of the tapered matrix, represents the standard deviation, represents the null broadening, Indicates the number of antennas, represents the antenna spacing, Indicates the target signal wavelength.

[0007] In the embodiment of the present application, the optimal weight vector based on the linear constrained minimum variance criterion is determined based on (3): ; (3) in, represents the covariance matrix after tapering, represents the satellite steering vector, represents the conjugate transpose of the satellite steering vector, represents the expected response vector.

[0008] In an embodiment of the present application, determining a satellite signal angle of arrival correction term for a satellite steering vector of a target signal in an angle-lock loop includes: determining a first local steering vector and a second local steering vector based on a preset angle interval and the satellite steering vector, wherein the independent variable of the first local steering vector includes the sum of the satellite signal angle of arrival and the preset angle interval, and the independent variable of the second local steering vector includes the difference between the satellite signal angle of arrival and the preset angle interval; determining a first spatial correlation function based on the first local steering vector and the satellite steering vector, and determining a second spatial correlation function based on the second local steering vector and the satellite steering vector; adjusting the satellite signal angle of arrival until the difference between the first spatial correlation function and the second spatial correlation function is less than or equal to a preset threshold, and outputting the values ​​of the first and second local steering vectors; and determining the satellite signal angle of arrival correction term based on the output values ​​of the first and second local steering vectors and the target signal.

[0009] In an embodiment of the present application, determining a satellite signal angle-of-arrival correction term based on the output values ​​of the first and second local steering vectors and a target signal includes: determining a first direction error based on the product of the first local steering vector and the target signal; determining a second direction error based on the product of the second local steering vector and the target signal; and determining the satellite signal angle-of-arrival correction term based on the real parts of the first and second direction errors.

[0010] In the embodiment of the present application, updating the satellite steering vector according to the satellite signal arrival angle correction term includes: obtaining the current satellite signal arrival angle of the satellite steering vector; determining the predicted satellite signal arrival angle according to formula (4) : ; (4) in, Indicates the current satellite signal arrival angle, represents the loop gain, represents the convolution operation, represents the impulse response function of the loop filter; updates the satellite steering vector according to the predicted satellite signal arrival angle.

[0011] In an embodiment of the present application, the null spread is updated according to the current motion speed of the satellite signal receiver relative to the satellite, including: obtaining the current motion speed of the receiver relative to the earth; updating the null spread according to formula (5): ; (5) in, Indicates the current ground speed of the receiver. is the proportionality coefficient, Indicates the minimum width base value.

[0012] A second aspect of the present application provides a signal anti-interference system for a satellite signal receiver, comprising a processor, wherein the processor is configured to call instructions from a memory and, when executing the instructions, can implement the signal anti-interference method for a satellite signal receiver provided in the first aspect of the present application.

[0013] A third aspect of the present application provides a signal anti-interference device for a satellite signal receiver, comprising: A memory configured to store instructions; and a signal anti-interference system for a satellite signal receiver provided in the first aspect of the present application.

[0014] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the signal anti-interference method for a satellite signal receiver provided in the first aspect of the present application.

[0015] Through the above technical solution, it is possible to adaptively adjust the null width according to the receiver's speed of motion relative to the ground, and use an angle-lock loop to track the direction of the target signal representing the satellite signal in real time at the signal level. The angle-lock loop and the linearly constrained minimum variance criterion are deeply integrated to achieve timely beam adjustment, thereby adapting to the signal tracking needs when the satellite signal receiver moves at high speed. Moreover, when the satellite signal receiver receives multi-constellation signals, this method can support parallel processing of multi-constellation signals. The signal anti-interference method for a satellite signal receiver provided in the embodiment of the present application improves the robustness and effectiveness of the satellite signal receiver in anti-interference in high-dynamic scenarios such as high-speed motion.

[0016] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings: Figure 1 A schematic diagram of a flow chart of a signal anti-interference method for a satellite signal receiver according to an embodiment of the present application is shown; Figure 2 The following schematically shows a structural diagram of an angle-locking loop according to an embodiment of the present application; Figure 3 A schematic diagram of a flow chart of another signal anti-interference method for a satellite signal receiver according to an embodiment of the present application is shown; Figure 4 The schematic diagram shows the structure of a signal anti-interference system for a satellite signal receiver according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0019] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of laws and regulations. In the embodiments of this application, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the solution has been or will necessarily be used.

[0020] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of this application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0021] The signal anti-interference method for a satellite signal receiver provided in an embodiment of the present application receives signals through an array antenna and forms a null in the direction of the interference signal by allowing the array antenna to enhance the gain in the direction of the desired satellite signal, thereby enabling the satellite signal receiver to obtain satellite signals while shielding the interference signal. Various aircraft such as drones will obtain satellite signals and use the Global Navigation Satellite System (GNSS) to achieve positioning during high-speed movement. However, the high-speed movement of the aircraft will cause the arrival angles of the interference source signal and the satellite signal at the satellite signal receiver to change rapidly. Therefore, if the designed null width is fixed, it may not be able to meet the signal anti-interference requirements of the aircraft during high-speed movement. For example, if the null width is fixed, an overly narrow null width may cause the null to lag behind the interference direction. When the interference direction and the satellite signal direction are close, an overly wide null may cause the satellite signal direction to enter the null range, resulting in the satellite signal being suppressed as interference. Therefore, the signal anti-interference method for a satellite signal receiver provided in an embodiment of the present application takes into account the situation where the satellite signal receiver is in a highly moving scenario, and realizes real-time tracking of the arrival angle of the satellite signal by dynamically adjusting the null-spacing and coordinating the angle-locked loop, and suppresses the interference signal based on the linear constrained minimum variance criterion, thereby improving the anti-interference performance in the highly moving scenario of the satellite signal receiver.

[0022] Figure 1 The following schematically shows a flow chart of a signal anti-interference method for a satellite signal receiver according to an embodiment of the present application. Figure 1As shown, an embodiment of the present application provides a signal anti-interference method for a satellite signal receiver. The satellite signal receiver receives satellite signals through an array antenna. The signal anti-interference method may include the following steps: S102: Acquire multiple first signals acquired multiple times by the array antenna according to the satellite steering vector and the nulling stretch, and determine a covariance matrix of the multiple first signals.

[0023] It is understood that the array antenna includes multiple antennas that are collectively used to receive the first signal. The first signal may include a satellite signal and an interference signal. The satellite signal may be multiple signals from different satellites, and the interference signal may be multiple signals from different interference sources. The first signal may also include background noise. The satellite steering vector and nulling spread may be initialized vector values ​​and spreads set when the satellite signal receiver begins operation, and are continuously updated and iterated based on this method during operation of the satellite signal receiver.

[0024] As an example, the first signal received by the array antenna may be: ; (6) in, Indicates the The steering vectors of the satellites, Indicates the The angle of arrival of the satellite signal of the satellite, Indicates satellite signal, Indicates the The interfering steering vector, represents the interference signal, represents Gaussian white noise, Indicates the number of satellites, represents the number of interferences, represents the sampling point of the first signal.

[0025] As an example, the steering vector can be defined as: ; (7) in, is the spacing between the elements of the antenna array, that is, the antenna spacing (usually half a wavelength), is the satellite signal wavelength, is the number of array elements, that is, the number of antennas.

[0026] As an example, satellite signals can be defined as: ; (8) in, represents the signal amplitude, Indicates the message bits, Represents pseudo code, represents the signal Doppler frequency, Indicates the signal carrier phase.

[0027] As an example, the covariance matrix of the plurality of first signals may be determined based on formula (9): ; (9) in, represents the total number of the plurality of first signals, represents the conjugate transpose of the first signal.

[0028] S104 , determining a tapered matrix in a covariance matrix tapered beam broadening algorithm according to the nulling broadening, and determining a basic product of the covariance matrix and the tapered matrix to obtain a tapered covariance matrix.

[0029] It can be understood that the basic product between matrices is to multiply the matrix elements in the same position of two matrices to obtain a new matrix.

[0030] As an example, the tapered covariance matrix It can be determined based on formula (10): ; (10) in, represents the covariance matrix as shown in formula (8), represents the tapering matrix, is the basic product symbol.

[0031] S106 , determining an optimal weight vector based on a linearly constrained minimum variance criterion according to the satellite steering vector and the covariance matrix, and performing anti-interference processing on the most recently acquired first signal according to the optimal weight vector to obtain a second signal.

[0032] It can be understood that in step S106, performing anti-interference processing on the latest acquired first signal to obtain the second signal may be multiplying the optimal weight vector by the latest acquired first signal to obtain the second signal.

[0033] S108: Capture and track the target signal in the second signal, and determine the satellite signal arrival angle correction term of the satellite steering vector of the target signal in the angle lock loop.

[0034] As can be understood, capturing the second signal can obtain the initial Doppler frequency and code phase of the target signal. These initial Doppler frequency and code phase can be fed into the carrier loop and code loop to provide initial values ​​for their carrier digitally controlled oscillators and code digitally controlled oscillators. The local carrier is mixed with the second signal to remove the carrier, and the local pseudo-code is correlated and despread with the second signal to enable tracking of the second signal. The target signal in the second signal can be a single satellite signal or multiple satellite signals. Therefore, capturing and tracking the target signal in the second signal can be performed in multiple channels, with each channel capturing and tracking a single satellite signal. Accordingly, multiple angle-locked loops can be used to determine the satellite signal arrival angle correction terms for different satellite signals.

[0035] S110: Update the satellite steering vector according to the satellite signal arrival angle correction term, and update the null spread according to the current earth motion speed of the satellite signal receiver.

[0036] The signal anti-interference method for a satellite signal receiver provided in an embodiment of the present application adaptively adjusts the null width according to the receiver's speed of motion relative to the ground, and uses an angle-locked loop to track the direction of the target signal representing the satellite signal in real time at the signal level. The angle-locked loop and the linearly constrained minimum variance criterion are deeply integrated to achieve timely beam adjustment, thereby adapting to the signal tracking needs when the satellite signal receiver moves at high speed. Moreover, when the satellite signal receiver receives multi-constellation signals, the method can support parallel processing of multi-constellation signals. The signal anti-interference method for a satellite signal receiver provided in an embodiment of the present application improves the robustness and effectiveness of the satellite signal receiver in anti-interference in high-dynamic scenarios such as high-speed motion.

[0037] In some embodiments of the present application, the matrix elements of the tapered matrix include Gaussian function terms; the tapered matrix in the tapered beam widening algorithm of determining the covariance matrix according to the null widening in step S104 includes: obtaining the target signal wavelength, the antenna spacing of the array antenna and the number of antennas; determining the variance term in the Gaussian function term according to the ratio of the null widening, the number of antennas, the antenna spacing and the target signal wavelength; determining the Gaussian function term according to the position of the matrix element in the tapered matrix and the variance term.

[0038] It can be understood that the target signal wavelength may be the wavelength of the satellite signal to be acquired by the satellite signal receiver. The position of the matrix element in the tapered matrix may be the row and column number of the matrix element in the tapered matrix.

[0039] As an example, the matrix elements in the tapered matrix can be determined based on (1) and (2): ; (1) ; (2) in, represents the matrix element, and are the row and column labels of the tapered matrix, represents the standard deviation, represents the null broadening, Indicates the number of antennas, represents the antenna spacing, Indicates the target signal wavelength.

[0040] In some embodiments of the present application, the optimal weight vector based on the linear constrained minimum variance criterion in step S106 may be determined based on (3): ; (3) in, represents the covariance matrix after tapering, represents the satellite steering vector, represents the conjugate transpose of the satellite steering vector, It can be understood that when the satellite signal includes multiple signals from different satellites, the satellite steering vector For example, , Indicates the The steering vector of the satellite, It can be the satellite signal arrival angle updated according to the satellite signal arrival angle correction term.

[0041] like Figure 2 and Figure 3 As shown, in some embodiments of the present application, determining the satellite signal arrival angle correction term of the satellite steering vector of the target signal in the angle lock loop in step S108 includes: S302: Determine a first local steering vector and a second local steering vector based on a preset angle interval and a satellite steering vector, wherein an independent variable of the first local steering vector includes a sum of the satellite signal arrival angle and the preset angle interval, and an independent variable of the second local steering vector includes a difference between the satellite signal arrival angle and the preset angle interval; S304: Determine a first spatial correlation function based on the first local steering vector and the satellite steering vector, and determine a second spatial correlation function based on the second local steering vector and the satellite steering vector; S306: Adjust the satellite signal arrival angle until the difference between the first spatial correlation function and the second spatial correlation function is less than or equal to a preset threshold, and output the values ​​of the first local steering vector and the second local steering vector; S308: Determine a satellite signal angle of arrival correction term based on the output values ​​of the first local steering vector and the second local steering vector and the target signal.

[0042] like Figure 2 As shown, the local steering vector generator is used to obtain the target signal Then, according to the preset angle interval and target signal The first local steering vector and the second local steering vector are determined based on the satellite steering vector. Two spatial correlators respectively obtain the first local steering vector and the second local steering vector and respectively determine a first spatial correlation function and a second spatial correlation function. An angle-lock loop discriminator determines a relationship between a difference between the first spatial correlation function and the second spatial correlation function and a preset threshold. When the difference between the first spatial correlation function and the second spatial correlation function is less than or equal to the preset threshold, the adjusted satellite signal arrival angle is output and the values ​​of the first local steering vector and the second local steering vector are determined.

[0043] In some embodiments of the present application, since satellite navigation signals are easily masked by noise, the target signal obtained by capturing and tracking the second signal can be accumulated through correlation with the locally copied pseudo code to improve the signal-to-noise ratio.

[0044] As an example, the target signal determined by correlation accumulation with the locally copied pseudo code can be shown as formula (11): ; (11) in, Indicates the The target signal corresponding to the satellites, Indicates the The conjugate of the satellite pseudocode, represents the estimated code delay, Indicates the accumulation length (typical value is 1ms), assuming that the carrier has been completely stripped.

[0045] Based on the first signal shown in Equation (6), the first signal is closely related to the satellite steering vector, so the correlation accumulation vector of the target signal is closely related to the incident angle of the first signal. The beam pattern is constructed using this satellite steering vector as the weight vector, and the gain is maximized in the direction of the target signal.

[0046] As an example, the first spatial correlation function and the second spatial correlation function may be as shown in formulas (12) and (13): (12) (13) in, represents the satellite signal arrival angle, Indicates the preset angle interval, Indicates the number of antennas. When the value of is consistent with the actual satellite signal arrival angle, formulas (12) and (13) satisfy formula (14): ; (14) The crossing condition of formula (14) is determined by the preset threshold in step S306.

[0047] In some embodiments of the present application, determining a satellite signal angle of arrival correction term based on the output values ​​of the first local steering vector and the second local steering vector and the target signal includes: determining a first direction error based on a product of the first local steering vector and the target signal; determining a second direction error based on a product of the second local steering vector and the target signal; A satellite signal arrival angle correction term is determined according to the real parts of the first direction error and the second direction error.

[0048] As an example, The first direction error of the target signal corresponding to the satellite and the second direction error As shown in formulas (15) and (16): ; (15) ; (16) in, Indicates the The estimated value of the current satellite signal arrival angle of the satellite, The value of can be, for example, 0.5°, Indicates the number of antennas.

[0049] In some embodiments of the present application, updating the satellite steering vector according to the satellite signal angle of arrival correction term in step S110 includes: Obtain the current satellite signal arrival angle of the satellite steering vector; According to formula (4), the predicted satellite signal arrival angle is determined : ; (4) in, Indicates the current satellite signal arrival angle, represents the loop gain, represents the convolution operation, represents the impulse response function of the loop filter; The satellite steering vector is updated based on the predicted satellite signal arrival angle.

[0050] In summary, the high autocorrelation and low cross-correlation characteristics of the pseudo-code prevent interference from multiple satellite signals and improve the signal-to-noise ratio. The high autocorrelation of the satellite steering vector allows tracking of the satellite signal's angle of arrival in a loop similar to the angle-lock loop described above. This angle-lock loop is implemented at the signal processing level, eliminating the need for inertial navigation, resulting in high real-time performance and low cost.

[0051] In some embodiments of the present application, updating the null spread according to the current motion speed of the satellite signal receiver relative to the satellite in step S110 includes: Get the current ground speed of the receiver; Update the null stretch according to formula (5): ; (5) in, Indicates the current ground speed of the receiver. is the proportionality coefficient, Indicates the minimum width base value.

[0052] Based on formula (5), when the satellite signal receiver moves at high speed, the null spread is widened to cover the rapidly changing angle of arrival of the interference signal; when the satellite signal receiver moves at low speed, the null spread is narrowed to avoid false suppression of satellite signals close to the interference direction.

[0053] The following combination Figure 4 The signal anti-interference method for a satellite signal receiver provided in an embodiment of the present application is exemplarily described as follows: S1: Initialize the satellite steering vector of the satellite signal to be tracked and the width of the null stretch. S2: The array antenna receives the first signal , calculate its covariance matrix , which is generally the sampling covariance matrix; S3: Based on the width of the null broadening determined in S1 or S11, the covariance matrix taper beam broadening algorithm is used to obtain the tapered matrix ; S4: The tapered matrix obtained in S3 , and the covariance matrix obtained by S2 is used as the standard product to obtain the tapered covariance matrix ; S5: The arrival angles corresponding to the satellite steering vectors initialized in S1 or the arrival angles of the satellite signals obtained by the angle-locked loop tracking implemented in S10 are sent to the anti-interference module to provide a constraint matrix for the linear constrained minimum variance criterion beamforming, providing high-precision constraints for it. S6: Based on the tapered covariance matrix obtained in S4 and S5 and the above constraint matrix, the optimal beam weight is calculated according to the linear constrained minimum variance criterion. ; S7: Combine the beam weight calculated in S6 with the first signal Multiply them together to get the second signal output by the array after anti-interference ; S8: The anti-interference signal obtained in S7 is captured in different channels and then tracked. First, it is mixed with the locally generated carrier, and then correlated with the local pseudo code to obtain the target signal. ; S9: Take what you got in S8 Correlate with the locally generated steering vector to obtain the first direction error and the second direction error; S10: The first and second direction errors in S9 are fed into the angle discriminator to calculate the angular difference between the locally copied satellite signal's arrival angle and the actual satellite signal's arrival angle. After filtering through the loop filter, this difference is used as the input to the angle numerically controlled oscillator to dynamically adjust the arrival angle. The arrival angles tracked by each channel's angle-locked loop are then combined into a set of vectors in real time. The updated arrival angles are fed back to the next cycle to provide a constraint matrix to the anti-interference module in S5. S11: Send the tracking result to the positioning solution end to obtain the movement speed of the satellite signal receiver relative to the ground , calculate the width of the null that needs to be widened according to the speed, and then find the tapered matrix corresponding to the covariance matrix tapered beam widening algorithm , the updated tapered matrix Feedback to the next cycle to find the tapered matrix for S4 .

[0054] The present invention also provides a signal anti-interference system for a satellite signal receiver, including a processor configured to call instructions from a memory and implement the signal anti-interference method for a satellite signal receiver according to the above embodiment when executing the instructions.

[0055] An embodiment of the present application further provides a signal anti-interference device for a satellite signal receiver, comprising: a memory, and a signal anti-interference method for a satellite signal receiver provided according to the above embodiment, wherein the memory is configured to store instructions.

[0056] An embodiment of the present application further provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned signal anti-interference method for a satellite signal receiver.

[0057] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0058] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0059] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0060] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0061] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0062] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0063] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0064] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0065] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A signal anti-interference method for a satellite signal receiver, characterized in that: The satellite signal receiver receives satellite signals through an array antenna; The signal anti-interference method comprises: Acquire multiple first signals acquired multiple times by the array antenna according to the satellite steering vector and the nulling broadening, and determine a covariance matrix of the multiple first signals; Determining a tapered matrix in a covariance matrix tapered beam broadening algorithm according to the nulling broadening, and determining a basic product of the covariance matrix and the tapered matrix to obtain a tapered covariance matrix; determining an optimal weight vector based on a linearly constrained minimum variance criterion according to the satellite steering vector and the covariance matrix, and performing anti-interference processing on the most recently acquired first signal according to the optimal weight vector to obtain a second signal; Acquire and track a target signal in the second signal, and determine a satellite signal angle of arrival correction term of a satellite steering vector of the target signal in an angle lock loop; The satellite steering vector is updated according to the satellite signal angle of arrival correction term, and the null spread is updated according to the current earth motion speed of the satellite signal receiver.

2. The signal anti-interference method according to claim 1, characterized in that: The matrix elements of the tapered matrix include Gaussian function terms; the tapered matrix in the covariance matrix tapered beam broadening algorithm determined according to the null-steering broadening includes: Obtaining a target signal wavelength, an antenna spacing of the array antenna, and the number of antennas; Determining a variance term in the Gaussian function term according to a ratio of the null spread, the number of antennas, the antenna spacing, and the target signal wavelength; The Gaussian function term is determined according to the position of the matrix element in the tapered matrix and the variance term.

3. The signal anti-interference method according to claim 2, characterized in that: The matrix elements are determined based on (1) and (2): ；（1） ；（2） in, Represents the matrix element and are the row and column labels of the tapered matrix, represents the standard deviation, represents the null broadening, represents the number of antennas, represents the antenna spacing, Indicates the target signal wavelength.

4. The signal anti-interference method according to claim 1, characterized in that: The optimal weight vector based on the linear constrained minimum variance criterion is determined based on (3): ；（3） in, represents the tapered covariance matrix, represents the satellite steering vector, represents the conjugate transpose of the satellite steering vector, represents the expected response vector.

5. The signal anti-interference method according to claim 1, characterized in that: The satellite signal arrival angle correction term for determining the satellite steering vector of the target signal in the angle lock loop includes: determining a first local steering vector and a second local steering vector based on a preset angular interval and the satellite steering vector, wherein an independent variable of the first local steering vector includes a sum of a satellite signal arrival angle and the preset angular interval, and an independent variable of the second local steering vector includes a difference between the satellite signal arrival angle and the preset angular interval; determining a first spatial correlation function based on the first local steering vector and the satellite steering vector, and determining a second spatial correlation function based on the second local steering vector and the satellite steering vector; adjusting the satellite signal arrival angle until a difference between the first spatial correlation function and the second spatial correlation function is less than or equal to a preset threshold, and outputting values ​​of a first local steering vector and a second local steering vector; The satellite signal arrival angle correction term is determined according to the output values ​​of the first local steering vector and the second local steering vector and the target signal.

6. The signal anti-interference method according to claim 5, characterized in that: The determining the satellite signal angle of arrival correction term based on the output values ​​of the first local steering vector and the second local steering vector and the target signal includes: determining a first direction error based on a product of the first local steering vector and the target signal; determining a second direction error based on a product of the second local steering vector and the target signal; The satellite signal arrival angle correction term is determined according to the real parts of the first direction error and the second direction error.

7. The signal anti-interference method according to claim 6, characterized in that: Updating the satellite steering vector according to the satellite signal angle of arrival correction term comprises: Obtaining a current satellite signal arrival angle of the satellite steering vector; According to formula (4), the predicted satellite signal arrival angle is determined : ；（4） in, represents the current satellite signal arrival angle, represents the loop gain, represents the convolution operation, represents the impulse response function of the loop filter; The satellite steering vector is updated according to the predicted satellite signal arrival angle.

8. The signal anti-interference method according to claim 1, characterized in that: The updating of the null spread according to the current movement speed of the satellite signal receiver relative to the satellite comprises: Obtaining the current ground motion speed of the receiver; The null stretch is updated according to formula (5): ；（5） in, represents the current ground speed of the receiver, is the proportionality coefficient, Indicates the minimum width base value.

9. A signal anti-interference system for a satellite signal receiver, characterized in that: The device comprises a processor configured to call instructions from a memory and implement the signal anti-interference method for a satellite signal receiver according to any one of claims 1 to 8 when executing the instructions.

10. A signal anti-interference device for a satellite signal receiver, characterized in that: include: a memory configured to store instructions; as well as The signal anti-interference system for a satellite signal receiver as claimed in claim 9.

11. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions, which are used to enable a machine to execute the signal anti-interference method for a satellite signal receiver according to any one of claims 1 to 8.

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