Signal interference resisting method and device for satellite signal receiver and storage medium

Abstract

The application 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 a null broadening, and determining a basic product of the covariance matrix and the tapering matrix to obtain a tapered covariance matrix; determining an optimal weight vector according to a satellite direction vector and the covariance matrix, and performing anti-interference processing on the latest 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 wave arrival angle correction term of the satellite direction vector of the target signal in an angle locking loop; updating the satellite direction vector according to the satellite signal wave arrival angle correction term, and updating the null broadening according to the current earth-moving speed of the satellite signal receiver. The method improves the robustness and effectiveness of the satellite signal receiver in a high dynamic scene such as high-speed motion.

Description

TECHNICAL FIELD

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

[0002] In the scenario of receiving and processing satellite signals by a satellite navigation receiver, the satellite navigation receiver may receive interference signals due to the influence of electronic warfare interference, multipath effect and other external factors. In the scenario of high-speed movement of the satellite navigation receiver with a carrier, such as the high-speed flight of an aircraft like a drone, due to the rapid change of the angle of arrival of the interference source and the satellite signal, the satellite navigation receiver cannot effectively suppress the interference signal, so that the interference of the interference signal on the satellite navigation receiver is more obvious when the satellite navigation receiver acquires the satellite signal for navigation. SUMMARY

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

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a signal anti-interference method for a satellite signal receiver, the satellite signal receiver receiving satellite signals through an array antenna; the signal anti-interference method comprises:

[0005] Obtaining a plurality of first signals obtained by the array antenna according to the satellite steering vector and the null broadening multiple times, and determining the covariance matrix of the plurality of first signals;

[0006] Determining the coning matrix in the coning matrix beam broadening algorithm according to the null broadening, and determining the basic product of the covariance matrix and the coning matrix to obtain the coned covariance matrix;

[0007] Determining the optimal weight vector based on the linear constraint minimum variance criterion according to the satellite steering vector and the covariance matrix, and performing anti-interference processing on the latest collected first signal according to the optimal weight vector to obtain a second signal;

[0008] Capturing and tracking a target signal in the second signal, and determining a satellite signal angle of arrival correction term of the satellite steering vector of the target signal in the angle lock loop;

[0009] Updating the satellite steering vector according to the satellite signal angle of arrival correction term, and updating the null broadening according to the current earth-moving speed of the satellite signal receiver.

[0010] In this embodiment, the matrix elements of the tapered matrix include Gaussian function terms; the tapered matrix in the tapered beamwidth algorithm, which determines the covariance matrix based on null broadening, includes: obtaining the target signal wavelength, the antenna spacing of the array antennas, and the number of antennas; determining the variance term in the Gaussian function terms based on the ratio of null broadening, the number of antennas, the antenna spacing, and the target signal wavelength; and determining the Gaussian function terms based on the position of the matrix elements in the tapered matrix and the variance term.

[0011] In this embodiment of the application, the matrix elements are determined based on (1) and (2):

[0012] (1)

[0013] (2)

[0014] in, Representing matrix elements and These are the row and column labels of the tapered matrix, respectively. Indicates standard deviation, Indicates zero-depression widening, Indicates the number of antennas. Indicates the antenna spacing. Indicates the wavelength of the target signal.

[0015] In this embodiment, the optimal weight vector based on the linear constraint minimum variance criterion is determined based on (3):

[0016] (3)

[0017] in, Represents the covariance matrix after tapering. Indicates the satellite steering vector. This represents the conjugate transpose of the satellite steering vector. This represents the expected response vector.

[0018] In this embodiment of the application, determining the satellite signal angle of arrival correction term of the satellite steering vector of the target signal in the angle-locked 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 local steering vector and the second local steering vector; and 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.

[0019] In this embodiment of the application, determining the satellite signal angle of arrival correction term based on the values ​​of the output first local steering vector and second local steering vector and the 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 direction error and the second direction error.

[0020] In this embodiment, updating the satellite steering vector based on the satellite signal angle of arrival correction term includes: obtaining the current satellite signal angle of arrival of the satellite steering vector; and determining the predicted satellite signal angle of arrival according to formula (4). :

[0021] (4)

[0022] in, Indicates the current satellite signal angle of arrival. Indicates loop gain. This represents the convolution operation. This represents the impulse response function of the loop filter; the satellite steering vector is updated based on the predicted satellite signal angle of arrival.

[0023] In this embodiment, updating null spread based on the current velocity of the satellite signal receiver relative to the satellite includes: obtaining the receiver's current velocity relative to the ground; and updating the null spread according to formula (5):

[0024] (5)

[0025] in, This indicates the receiver's current velocity relative to the ground. This is the proportionality coefficient. This represents the minimum width base value.

[0026] The second aspect of this application provides a signal anti-interference system for a satellite signal receiver, including a processor configured to retrieve instructions from memory and, when executing the instructions, to implement the signal anti-interference method for a satellite signal receiver provided in the first aspect of this application.

[0027] A third aspect of this application provides a signal anti-interference device for a satellite signal receiver, comprising:

[0028] The memory is configured to store instructions; and the signal anti-interference system for a satellite signal receiver as provided in the first aspect of this application.

[0029] The fourth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform the signal anti-interference method for a satellite signal receiver provided in the first aspect of this application.

[0030] The above technical solution enables adaptive adjustment of the null width based on the receiver's ground motion speed. Furthermore, it employs an angle-locked loop to track the direction of arrival of the target signal representing the satellite signal in real time at the signal level. By deeply integrating the angle-locked loop with the minimum variance criterion based on linear constraints, timely beam adjustment is achieved, thus adapting to signal tracking needs in situations where the satellite signal receiver is moving at high speeds. Moreover, when the satellite signal receiver receives signals from multiple constellations, this method supports parallel processing of these signals. The signal anti-interference method for satellite signal receivers provided in this application improves the robustness and effectiveness of anti-interference in high-dynamic scenarios such as high-speed motion.

[0031] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0032] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0033] Figure 1 The illustration shows a schematic flowchart of a signal anti-interference method for a satellite signal receiver according to an embodiment of this application;

[0034] Figure 2 The schematic diagram illustrates a structural schematic of a locking loop according to an embodiment of this application;

[0035] Figure 3The schematic diagram illustrates a flow chart of another signal anti-interference method for a satellite signal receiver according to an embodiment of this application;

[0036] Figure 4 The diagram illustrates a structural schematic of a signal anti-interference system for a satellite signal receiver according to an embodiment of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0038] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the solution has been or necessarily been used.

[0039] It should be noted that if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0040] The signal anti-interference method for satellite signal receivers provided in this application receives signals through an array antenna and enhances the gain in the desired satellite signal direction by forming a null in the array antenna in the direction of the interfering signal. This allows the satellite signal receiver to acquire satellite signals while shielding the interfering signals. Various aircraft, such as drones, acquire satellite signals for positioning via the Global Navigation Satellite System (GNSS) during high-speed movement. However, the high-speed movement of the aircraft causes rapid changes in the angle of arrival (Angle of Arrival) of the interfering source signal and the satellite signal at the satellite signal receiver. Therefore, if the designed null width is fixed, it may not meet the signal anti-interference requirements during high-speed aircraft movement. For example, a fixed null width that is too narrow may cause the null to lag behind the direction of the interfering signal. When the direction of the interfering signal and the direction of the satellite signal are close, an overly wide null may allow the satellite signal to enter the null range, causing the satellite signal to be treated as interference and suppressed. Therefore, the signal anti-interference method for satellite signal receivers provided in this application takes into account the high motion scenario of the satellite signal receiver. It achieves real-time tracking of the angle of arrival of the satellite signal by dynamically adjusting null widening and coordinating with the angle-locking loop, and suppresses interference signals based on the linear constraint minimum variance criterion, thereby improving the anti-interference performance of the satellite signal receiver in the high motion scenario.

[0041] Figure 1 The illustration schematically shows a flow chart of a signal anti-interference method for a satellite signal receiver according to an embodiment of this application. Figure 1 As shown in the figure, this 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:

[0042] S102. Obtain multiple first signals acquired by the array antenna based on the satellite steering vector and null broadening, and determine the covariance matrix of the multiple first signals.

[0043] Understandably, the array antenna includes multiple antennas that work together to receive a first signal. The first signal may include satellite signals and interference signals. The satellite signals may be multiple signals from different satellites, and the interference signals may be multiple signals from different interference sources. The first signal may also include background noise. The satellite steering vector and null broadening can be initial vector values ​​and broadenings set when the satellite signal receiver starts running, and are continuously updated and iterated based on this method during the operation of the satellite signal receiver.

[0044] As an example, the first signal received by the array antenna may be, for example:

[0045] (6)

[0046] in, Indicates the first The guidance vector of each satellite, Indicates the first Angle of arrival of the satellite signal of each satellite Indicates satellite signal, Indicates the first The steering vector of the interference, Indicates interference signal. This represents Gaussian white noise. Indicates the number of satellites. Indicates the number of interferences. This indicates the sampling point of the first signal.

[0047] As an example, the steering vector can be defined as:

[0048] (7)

[0049] in, The spacing between the elements of the antenna array is called the antenna spacing (usually half a wavelength). For satellite signal wavelength, The number of array elements is the number of antennas.

[0050] As an example, satellite signals It can be defined as:

[0051] (8)

[0052] in, Indicates the signal amplitude. Represents message bits, Indicates pseudocode, Indicates the Doppler frequency of the signal. Indicates the phase of the signal carrier.

[0053] As an example, the covariance matrix of multiple first signals can be determined based on formula (9):

[0054] (9)

[0055] in, This represents the total number of multiple first signals. This represents the conjugate transpose of the first signal.

[0056] S104. Determine the taper matrix in the taper beamwidth algorithm based on the null-shaped broadening, and determine the fundamental product of the covariance matrix and the taper matrix to obtain the taper-shaped covariance matrix.

[0057] Understandably, the basic product between matrices is the multiplication of the elements of two matrices that are in the same position to obtain a new matrix.

[0058] As an example, the tapered covariance matrix It can be determined based on formula (10):

[0059] (10)

[0060] in, The covariance matrix is ​​represented as shown in formula (8). Represents a tapered matrix. This is the basic product symbol.

[0061] S106. Determine the optimal weight vector based on the minimum variance criterion of linear constraints according to the satellite steering vector and covariance matrix, and perform anti-interference processing on the newly acquired first signal according to the optimal weight vector to obtain the second signal.

[0062] Understandably, in step S106, the anti-interference processing of the newly acquired first signal to obtain the second signal can be achieved by multiplying the optimal weight vector with the newly acquired first signal to obtain the second signal.

[0063] S108. Acquire and track the target signal in the second signal, and determine the satellite signal angle of arrival correction term of the satellite steering vector of the target signal in the angle-locked loop.

[0064] Understandably, acquiring the second signal allows us to obtain the initial Doppler frequency and code phase of the target signal. The initial Doppler frequency and code phase are then fed into the carrier loop and code loop to provide initial values ​​for their respective carrier numerically controlled oscillators and code numerically controlled oscillators. The local carrier and second signal are then mixed and decarriered, and the local pseudocode is correlated and despread with the second signal to achieve tracking of the second signal. The target signal in the second signal can be a single satellite signal or multiple satellite signals; therefore, acquiring and tracking the target signal in the second signal can be performed through multiple channels, with each channel acquiring and tracking one satellite signal. Correspondingly, multiple angle-locked loops can also be used to determine the satellite signal angle of arrival correction terms for different satellite signals.

[0065] S110. Update the satellite steering vector according to the satellite signal angle of arrival correction term, and update the null widening according to the current ground motion speed of the satellite signal receiver.

[0066] The signal anti-interference method for satellite signal receivers provided in this application adaptively adjusts the null width according to the receiver's ground motion speed, and uses an angle-locked loop to track the direction of arrival of the target signal representing the satellite signal in real time at the signal level. The angle-locked loop and the minimum variance criterion based on linear constraints are deeply integrated to achieve timely beam adjustment, thereby adapting to the signal tracking needs when the satellite signal receiver is in high-speed motion. Moreover, when the satellite signal receiver receives multiple constellation signals, this method can support parallel processing of multiple constellation signals. The signal anti-interference method for satellite signal receivers provided in this application improves the robustness and effectiveness of anti-interference in high-dynamic scenarios such as high-speed motion.

[0067] In some embodiments of this application, the matrix elements of the tapered matrix include Gaussian function terms; the tapered matrix in the tapered beamwidth algorithm for determining the covariance matrix based on null broadening in step S104 includes: obtaining the target signal wavelength, the antenna spacing of the array antennas, and the number of antennas; determining the variance term in the Gaussian function term based on the ratio of null broadening, the number of antennas, the antenna spacing, and the target signal wavelength; and determining the Gaussian function term based on the position of the matrix elements in the tapered matrix and the variance term.

[0068] Understandably, the target signal wavelength can be the wavelength of the satellite signal that the satellite signal receiver wants to acquire. The position of a matrix element in a conical matrix can be the row and column number of the matrix element in the conical matrix.

[0069] As an example, the matrix elements in the tapered matrix can be determined based on (1) and (2):

[0070] (1)

[0071] (2)

[0072] in, Represents matrix elements, and These are the row and column labels of the tapered matrix, respectively. Indicates standard deviation, Indicates zero-depression widening, Indicates the number of antennas. Indicates the antenna spacing. Indicates the wavelength of the target signal.

[0073] In some embodiments of this application, the optimal weight vector based on the minimum variance criterion of linear constraints in step S106 can be determined based on (3):

[0074] (3)

[0075] in, Represents the covariance matrix after tapering. Indicates the satellite steering vector. This represents the conjugate transpose of the satellite steering vector. This represents the desired response vector. Understandably, when the satellite signal includes signals from multiple different satellites, the satellite steering vector... For example, , Indicates the first The turning vector of each satellite It can be the satellite signal angle of arrival updated based on the satellite signal angle of arrival correction term.

[0076] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the satellite signal angle of arrival correction term for determining the satellite steering vector of the target signal in the angle-locked loop in step S108 includes:

[0077] S302. Determine the first local steering vector and the second local steering vector according to the 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.

[0078] S304. Determine the first spatial correlation function based on the first local steering vector and the satellite steering vector, and determine the second spatial correlation function based on the second local steering vector and the satellite steering vector;

[0079] S306. Adjust 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 output the values ​​of the first local steering vector and the second local steering vector.

[0080] S308. Determine the satellite signal angle of arrival correction term based on the values ​​of the output first local steering vector and second local steering vector and the target signal.

[0081] like Figure 2 As shown, the local guide vector generator acquires the target signal. Then, based on the preset angle interval and target signal The satellite steering vector determines the first local steering vector and the second local steering vector. Two spatial correlators acquire the first local steering vector and the second local steering vector respectively and determine the first spatial correlation function and the second spatial correlation function. The angle-locked loop discriminator judges the relationship between the difference between the first spatial correlation function and the second spatial correlation function and a preset threshold. If 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 angle of arrival is output and the values ​​of the first local steering vector and the second local steering vector can be determined.

[0082] In some embodiments of this application, since satellite navigation signals are easily masked by noise, the target signal obtained by capturing and tracking the second signal can improve the signal-to-noise ratio by accumulating correlation with the locally copied pseudocode.

[0083] As an example, the target signal determined by correlation accumulation with locally copied pseudocode can be represented by, for example, Equation (11):

[0084] (11)

[0085] in, Indicates the first The target signal corresponding to each satellite Indicates the first The conjugate of satellite pseudocode, Indicates the estimated code delay. This indicates the accumulation length (typically 1ms), assuming the carrier has been completely stripped away.

[0086] Based on the first signal shown in formula (6), it can be seen that the first signal is closely related to the satellite steering vector. Therefore, 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 the largest in the incident direction of the target signal.

[0087] As an example, the first spatial correlation function and the second spatial correlation function can be represented by equations (12) and (13), for example:

[0088] (12)

[0089] (13)

[0090] in, Indicates the angle of arrival of the satellite signal. Indicates the preset angle interval. Indicates the number of antennas, in When the values ​​match the actual satellite signal angle of arrival, formulas (12) and (13) satisfy formula (14):

[0091] (14)

[0092] The condition for equality in formula (14) is determined by the preset threshold in step S306.

[0093] In some embodiments of this application, the satellite signal angle of arrival correction term is determined based on the values ​​of the output first local steering vector and second local steering vector and the target signal, including:

[0094] The first direction error is determined based on the product of the first local steering vector and the target signal;

[0095] The second direction error is determined by the product of the second local steering vector and the target signal;

[0096] The satellite signal angle of arrival correction term is determined based on the real parts of the first and second direction errors.

[0097] As an example, the first The first direction error of the target signal corresponding to each satellite Second direction error As shown in formulas (15) and (16):

[0098] (15)

[0099] (16)

[0100] in, Indicates the first The estimated angle of arrival (Angle of arrival) of the current satellite signal of each satellite. The value can be, for example, 0.5°. Indicates the number of antennas.

[0101] In some embodiments of this application, step S110, which updates the satellite steering vector based on the satellite signal angle of arrival correction term, includes:

[0102] Obtain the current satellite signal angle of arrival for the satellite steering vector;

[0103] Determine the predicted satellite signal angle of arrival according to formula (4). :

[0104] (4)

[0105] in, Indicates the current satellite signal angle of arrival. Indicates loop gain. This represents the convolution operation. This represents the impulse response function of the loop filter;

[0106] The satellite steering vector is updated based on the predicted satellite signal angle of arrival.

[0107] In summary, the high autocorrelation and low cross-correlation characteristics of the pseudocode can avoid interference from multiple satellite signals and improve the signal-to-noise ratio. The high autocorrelation characteristic of the satellite steering vector allows the satellite signal angle of arrival to be tracked in a loop similar to the angle-locked loop described above. The angle-locked loop is implemented at the signal processing level, requiring no inertial navigation system, and offers high real-time performance and low cost.

[0108] In some embodiments of this application, updating the null broadening based on the current velocity of the satellite signal receiver relative to the satellite in step S110 includes:

[0109] Obtain the receiver's current velocity relative to the ground;

[0110] Update the zero-depression broadening according to formula (5):

[0111] (5)

[0112] in, This indicates the receiver's current velocity relative to the ground. This is the proportionality coefficient. This represents the minimum width base value.

[0113] Based on formula (5), it can be seen that when the satellite signal receiver moves at high speed, the null 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 is widened to avoid accidentally suppressing satellite signals that are close to the interference direction.

[0114] The following is combined with Figure 4 The signal anti-interference method for a satellite signal receiver provided in this application embodiment will be described by way of example:

[0115] S1: First initialize the satellite steering vector of the satellite signal to be tracked, and initialize the width of the null expansion;

[0116] S2: The array antenna receives the first signal. Calculate its covariance matrix It is generally the sampling covariance matrix;

[0117] S3: Based on the width of the null broadening determined in S1 initialization or S11, the covariance matrix taper beam broadening algorithm is used to calculate the taper matrix. ;

[0118] S4: The cone-shaped matrix obtained in S3 The covariance matrix obtained from S2 is then multiplied by the standard product of the covariance matrix to obtain the tapered covariance matrix. ;

[0119] S5: Send the angle of arrival of each satellite guidance vector initialized in S1 or the angle of arrival of the satellite signal obtained by the angle-locked loop tracking in S10 to the anti-interference module to provide a constraint matrix for beamforming of the linear constraint minimum variance criterion, and provide it with high-precision constraints.

[0120] S6: Based on the tapered covariance matrix obtained from S4 and S5 and the aforementioned constraint matrix, the optimal beam weights are calculated according to the minimum variance criterion of linear constraints. ;

[0121] S7: Combine the beam weights calculated in S6 with the first signal Multiplying them together yields the second signal output after the array has been anti-interferenced. ;

[0122] S8: The anti-interference signal obtained in S7 is captured in separate channels and then tracked. First, it is mixed with the locally generated carrier, and then correlated and despread with the local pseudocode to obtain the target signal. ;

[0123] S9: Take the result from S8 By correlating with the locally generated steering vector, the first directional error and the second directional error are obtained;

[0124] S10: By sending the first and second direction errors from S9 into the angle discriminator, the angle difference between the locally replicated satellite signal's angle of arrival and the input actual satellite signal's angle of arrival can be calculated. After being filtered by the loop filter, it is used as the input of the angle numerically controlled oscillator to dynamically adjust the angle of arrival. Then, the angles of arrival obtained by each channel's angle-locked loop tracking are combined in real time into a set of vectors, and the updated angles of arrival are fed back to the next cycle to provide a constraint matrix to the anti-interference module of S5.

[0125] S11: Send the tracking results to the positioning calculation terminal to obtain the satellite signal receiver's velocity relative to the ground. Based on this velocity, the required width of the null trap is calculated, and then the covariance matrix is ​​obtained to determine the taper matrix corresponding to the taper beam widening algorithm. The updated cone matrix Feedback is sent to the next cycle to calculate the tapered matrix for S4. .

[0126] This application also provides a signal jamming suppression system for a satellite signal receiver, including a processor. The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the signal jamming suppression method for a satellite signal receiver provided in the above embodiments.

[0127] This application also provides a signal anti-interference device for a satellite signal receiver, including: a memory, and a signal anti-interference method for a satellite signal receiver according to the above embodiments, wherein the memory is configured to store instructions.

[0128] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described signal anti-interference method for a satellite signal receiver.

[0129] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0131] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0132] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0133] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0134] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0135] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0136] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0137] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A signal anti-interference method for a satellite signal receiver, characterized in that, Satellite signal receivers receive satellite signals via an array antenna; The signal anti-interference method includes: The array antenna acquires multiple first signals obtained through multiple acquisitions based on the satellite steering vector and null broadening, and determines the covariance matrix of the multiple first signals; The tapering matrix in the tapering beamwidth algorithm is determined based on the null-shaped broadening, and the basic product of the covariance matrix and the tapering matrix is ​​determined to obtain the tapered covariance matrix. The optimal weight vector based on the linear constraint minimum variance criterion is determined according to the satellite steering vector and the covariance matrix, and the newly acquired first signal is subjected to anti-interference processing according to the optimal weight vector to obtain the second signal; The target signal in the second signal is captured and tracked, and the satellite signal angle of arrival correction term of the satellite steering vector of the target signal is determined in the angle-locked loop; The satellite steering vector is updated based on the satellite signal angle of arrival correction term, and the null broadening is updated based on the current ground motion velocity of the satellite signal receiver.

2. The signal anti-interference method according to claim 1, characterized in that, The elements of the tapering matrix include Gaussian function terms; the tapering matrix in the tapering beam broadening algorithm, which determines the covariance matrix based on the null broadening, includes: Obtain the target signal wavelength, the antenna spacing of the array antennas, and the number of antennas; The variance term in the Gaussian function term is determined based on the ratio of the null broadening, the number of antennas, the antenna spacing, and the target signal wavelength. The Gaussian function term is determined based on 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 These are the row and column labels of the tapered matrix, respectively. Indicates standard deviation, This indicates the zero-depression broadening. This indicates the number of antennas. Indicates the antenna spacing. This indicates the wavelength of the target signal.

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

5. The signal anti-interference method according to claim 1, characterized in that, The satellite signal angle of arrival correction term for determining the satellite steering vector of the target signal in the angle-locked loop includes: A first local steering vector and a second local steering vector are determined based on a preset angle interval and the satellite steering vector. 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. A first spatial correlation function is determined based on the first local steering vector and the satellite steering vector, and a second spatial correlation function is determined based on the second local steering vector and the satellite steering vector; Adjust 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 output the values ​​of the first local steering vector and the second local steering vector. The satellite signal angle of arrival correction term is determined based on the values ​​of the first and second local steering vectors and the target signal.

6. The signal anti-interference method according to claim 5, characterized in that, The step of determining the satellite signal angle of arrival correction term based on the values ​​of the first and second local steering vectors and the target signal includes: The first direction error is determined based on the product of the first local steering vector and the target signal; The second direction error is determined based on the product of the second local steering vector and the target signal; The satellite signal angle of arrival correction term is determined based on 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, The step of updating the satellite steering vector based on the satellite signal angle of arrival correction term includes: Obtain the current satellite signal angle of arrival for the satellite steering vector; Determine the predicted satellite signal angle of arrival according to formula (4). : ；（4） in, Indicates the current satellite signal angle of arrival. Indicates loop gain. This represents the convolution operation. This represents the impulse response function of the loop filter; The satellite steering vector is updated based on the predicted satellite signal angle of arrival.

8. The signal anti-interference method according to claim 1, characterized in that, The step of updating the null broadening based on the current velocity of the satellite signal receiver relative to the satellite includes: Obtain the current ground motion speed of the receiver; Update the zero-depression broadening according to formula (5): ；（5） in, This indicates the receiver's current speed relative to the ground. This is the proportionality coefficient. This represents the minimum width base value.

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

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

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

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