Navigation interference method and device for space-frequency adaptive anti-interference unmanned aerial vehicle

Abstract

The invention belongs to the technical field of satellite navigation interference, and relates to a navigation interference method and device for a space-frequency adaptive anti-interference unmanned aerial vehicle. The method comprises the following steps: dividing a navigation signal spectrum into a plurality of equal parts; randomly generating a first random number; generating at least one second random number; according to the value of the first random number and the second random number, assigning a value to a frequency domain frequency point value of a signal transmitted by the first jammer and the second jammer to obtain a transmitted signal of a frequency point until the transmitted signal of the corresponding frequency point is generated for all navigation signal spectrums; converting into a time domain signal to obtain a first sequence signal and a second sequence signal; the first jammer and the second jammer transmit signals. According to the invention, the characteristics of space-frequency adaptive processing are utilized, and a spatial domain filter generated by an anti-interference system is induced to generate violent nonlinear phase-frequency response through double-station frequency spectrum cooperation, so that the phase of a satellite navigation signal is actively disturbed; the problems that the traditional interference is low in cost-effectiveness ratio and easy to expose are solved; customized interference can be realized.

Description

Technical Field

[0001] This invention belongs to the field of satellite navigation jamming technology, and more specifically, relates to a navigation jamming method and device for air-frequency adaptive anti-jamming unmanned aerial vehicles (UAVs). Background Technology

[0002] The positioning accuracy of satellite navigation systems directly determines the combat effectiveness of equipment such as drones, precision-guided weapons, and ships. Therefore, navigation anti-jamming capability has become a core indicator for weapon system deployment, and various anti-jamming technologies (such as airspace filtering and frequency domain narrowband suppression) have been widely applied to combat platforms. However, current battlefield jamming methods still have significant bottlenecks: traditional navigation jamming schemes rely on increasing power suppression or increasing the number of jamming sources, which not only leads to large jamming equipment, soaring energy consumption, and high deployment costs, but also has an extremely low cost-effectiveness ratio. High-power jamming is easily detected and located by the enemy, and multiple jamming sources are difficult to adapt to small combat platforms such as drones. More importantly, such jamming is easily suppressed by existing anti-jamming systems through filtering and signal reconstruction technologies, and cannot truly destroy the decoding and positioning functions of satellite navigation signals.

[0003] To counter spatial filtering methods, traditional approaches to reduce the output signal-to-interference-plus-noise ratio (SNR) require moving the interference direction closer to the desired signal direction, increasing interference power, and increasing the number of interference sources. However, these measures impose too many constraints on the countermeasures and have significant limitations in practical applications. For radar detection, a higher SNR after matched filtering corresponds to a higher detection probability. However, a higher input sampling signal to the matched filter does not necessarily guarantee a higher SNR after matched filtering. The same principle applies to GPS signals, making it difficult to achieve more efficient jamming methods.

[0004] With the large-scale installation of high-performance anti-jamming systems on equipment such as drones, the effectiveness of traditional jamming methods continues to decline. There is an urgent need for a method that can bypass the suppression mechanism of anti-jamming systems without relying on high power or multiple interference sources, directly destroy the effectiveness of satellite navigation signals, and achieve the operational objective of being unable to complete positioning even though the anti-jamming system can suppress interference. This has become the core research pain point in the current field of satellite navigation jamming. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a navigation jamming method and apparatus for air-frequency adaptive anti-jamming unmanned aerial vehicles (UAVs).

[0006] In a first aspect, the present invention provides a navigation jamming method for air-frequency adaptive anti-jamming unmanned aerial vehicles (UAVs), comprising: Divide the navigation signal spectrum into several equal parts; For each equal portion of the navigation signal spectrum, a first random number is randomly generated; Based on the value of the first random number, generate at least one second random number within a set value range; Based on the value of the first random number and the generated second random number, the frequency point value of the first jammer's transmitted signal and the frequency point value of the second jammer's transmitted signal are assigned to obtain a transmitted signal at a frequency point corresponding to an equal part of the navigation signal spectrum, until a transmitted signal at a corresponding frequency point is generated for all equal parts of the navigation signal spectrum; The frequency domain values ​​of all first jammer transmitted signals are converted into time domain signals to obtain the first sequence signal of the first jammer transmitted signals; the frequency domain values ​​of all second jammer transmitted signals are converted into time domain signals to obtain the second sequence signal of the second jammer transmitted signals. The first jammer transmits a first sequence of signals, and the second jammer transmits a second sequence of signals.

[0007] Secondly, the present invention provides a navigation jamming device for an air-frequency adaptive anti-jamming UAV, comprising a spectrum division unit, a first random number generation unit, a second random number generation unit, a transmission signal generation unit, a conversion unit, a first jammer, and a second jammer; A spectrum division unit is used to divide the navigation signal spectrum into several equal parts; The first random number generation unit is used to randomly generate a first random number for each equal part of the navigation signal spectrum; The second random number generation unit is used to generate at least one second random number within a set value range based on the value of the first random number. The transmission signal generation unit is used to assign the frequency domain frequency point value of the first jammer's transmission signal and the frequency domain frequency point value of the second jammer's transmission signal to the value of the first random number and the generated second random number, so as to obtain a transmission signal at a frequency point corresponding to an equal part of the navigation signal spectrum, until a transmission signal at the corresponding frequency point is generated for all equal parts of the navigation signal spectrum; The conversion unit is used to convert the frequency domain frequency point values ​​of all the first jammer's transmitted signals into time domain signals to obtain the first sequence signal of the first jammer's transmitted signals, and to convert the frequency domain frequency point values ​​of all the second jammer's transmitted signals into time domain signals to obtain the second sequence signal of the second jammer's transmitted signals; The first jammer is used to transmit the first sequence of signals; The second jammer is used to transmit the second sequence of signals.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, the first random number can be any one of the first preset value, the second preset value, and the third preset value.

[0010] Furthermore, the first preset value is 1; the second preset value is 2; and the third preset value is 3.

[0011] Furthermore, based on the value of the first random number, at least one second random number within a set value range is generated, including: if the value of the first random number is within the first set value range, then a second random number within the set value range is generated; otherwise, if the value of the first random number is within the second set value range, then two second random numbers within the set value range are generated.

[0012] Furthermore, the range of the first random number is [1,3], the first set range is [1,2], and the first random number is a positive integer.

[0013] Furthermore, the value range is set to [0.8, 1].

[0014] Furthermore, based on the value of the first random number and the generated second random number, the frequency domain value of the first jammer's transmitted signal and the frequency domain value of the second jammer's transmitted signal are assigned values, including: If the value of the first random number is the first preset value, after generating a second random number within a set value range, the frequency point value of the first jammer's transmitted signal is the second random number, and the frequency point value of the second jammer's transmitted signal is the fourth preset value. If the value of the first random number is the second preset value, after generating a second random number within a set value range, the frequency point value of the first jammer's transmitted signal is the fourth preset value, and the frequency point value of the second jammer's transmitted signal is the second random number. If the value of the first random number is the third preset value, after generating two second random numbers within the set value range, the frequency point value of the first jammer's transmitted signal is the first second random number, and the frequency point value of the second jammer's transmitted signal is the second second random number.

[0015] Furthermore, the fourth setting value is 0.

[0016] Furthermore, the frequency domain values ​​of all the first jammer's transmitted signals are subjected to inverse fast Fourier transform to obtain the first sequence signal of the first jammer's transmitted signals, and the frequency domain values ​​of all the second jammer's transmitted signals are subjected to inverse fast Fourier transform to obtain the second sequence signal of the second jammer's transmitted signals.

[0017] The beneficial effects of this invention are: (1) This invention utilizes the characteristics of space-frequency adaptive processing, and through dual-station spectrum coordination, induces the spatial filter generated by the anti-interference system to produce a violent nonlinear phase-frequency response, so as to actively disturb the phase of the satellite navigation signal. Even if the anti-interference system suppresses the interference signal, the distorted phase will still prevent the receiver from completing code synchronization and carrier tracking, and ultimately the positioning will fail. (2) This invention does not rely on high-power suppression, but directly destroys the signal effectiveness through phase distortion. The jamming device is smaller and consumes less energy, and can be adapted to small platforms such as UAVs and individual soldier equipment, solving the problems of low cost-effectiveness and easy exposure of traditional jamming. (3) The interference logic of this invention is aimed at the signal structure itself. Even if the anti-interference system successfully suppresses the interference signal, the distorted phase will still cause the capture and decoding to fail. This interference effect does not rely on anti-interference algorithms, but destroys the signal availability from the bottom layer, making it more difficult to defend against. (4) Through dual-station spectrum coordination and sub-band design, this invention can accurately target the space-frequency response characteristics of the anti-interference system. For platforms with different frequency bands and different anti-interference algorithms, the phase distortion strategy can be adjusted to induce the nonlinear phase-frequency response of the filter, thereby achieving customized interference and making it applicable to a wider range of scenarios. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the navigation jamming method for an air-frequency adaptive anti-jamming UAV provided in Embodiment 1 of the present invention; Figure 2 A schematic diagram illustrating the principle of subband spatial filtering for spatial frequency processing; Figure 3 This is a schematic diagram illustrating the principle of non-steady-state disturbance effects. Figure 4 A schematic diagram illustrating the principle behind poor satellite acquisition performance due to a low input signal-to-interference-plus-noise ratio; Figure 5 This is a schematic diagram illustrating the effect of input signal amplitude / signal-to-interference-plus-noise ratio (SINNR) on output SINNR. Figure 6 This is a schematic diagram showing a decrease in output signal-to-interference-plus-noise ratio (SINR) while the input signal amplitude / SINR remains constant. Figure 7 A schematic diagram illustrating the characteristics of a two-dimensional filter; Figure 8 A flowchart illustrating a specific implementation method for a navigation interference method for air-frequency adaptive anti-jamming UAVs; Figure 9 Simulation diagram of phase perturbation around 46.52MHz; Figure 10 This is a block diagram illustrating the principle of a navigation jamming device for air-frequency adaptive anti-jamming drones. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Example 1 As an example, see the attached document. Figure 1 As shown, to solve the above-mentioned technical problems, this embodiment provides a navigation jamming method for air-frequency adaptive anti-jamming UAVs, including: Divide the navigation signal spectrum into several equal parts; For each equal portion of the navigation signal spectrum, a first random number is randomly generated; Based on the value of the first random number, generate at least one second random number within a set value range; Based on the value of the first random number and the generated second random number, the frequency point value of the first jammer's transmitted signal and the frequency point value of the second jammer's transmitted signal are assigned to obtain a transmitted signal at a frequency point corresponding to an equal part of the navigation signal spectrum, until a transmitted signal at a corresponding frequency point is generated for all equal parts of the navigation signal spectrum; The frequency domain values ​​of all first jammer transmitted signals are converted into time domain signals to obtain the first sequence signal of the first jammer transmitted signals; the frequency domain values ​​of all second jammer transmitted signals are converted into time domain signals to obtain the second sequence signal of the second jammer transmitted signals. The first jammer transmits a first sequence of signals, and the second jammer transmits a second sequence of signals.

[0021] In traditional bi-station scintillation jamming techniques, the alternating transmission of two jamming stations prevents the anti-jamming weights from converging effectively. The core idea of ​​traditional bi-station scintillation jamming is to disrupt the weight convergence process of the anti-jamming system through the alternation of signal transmission timing. The two jamming stations do not collaboratively plan the spectrum; instead, they adopt an alternating transmission mode—one jamming station transmits while the other remains silent. By periodically switching transmission states, the jamming signal received by the anti-jamming system appears as pulse-like scintillation in the time domain. This design utilizes the agility of the interference spatial domain, causing the spatial filtering weights of the space-frequency adaptive system to fail to converge effectively, never reaching a stable optimal weight, thus maintaining a certain level of interference residue and achieving the jamming effect.

[0022] This invention also adopts a dual-station mode, but unlike the above methods, this invention uses the spectrum coordination of the dual stations to form completely different spatial filters for adjacent sub-bands of the navigation anti-interference system, thereby causing the phase frequency response characteristics of the space-frequency adaptive system to exhibit severe nonlinear characteristics, destroying the phase of the satellite navigation signal, and thus disrupting the decoding of the satellite navigation signal.

[0023] For space-frequency filters, the interference signal is divided into sub-bands. When the number of sub-bands is sufficient, each sub-band can be considered a narrowband or even a single-frequency filter. Therefore, using spatial adaptive weights for each sub-band can effectively suppress interference, as shown in the attached diagram. Figure 2 The diagram shows the principle of subband spatial filtering in spatial frequency processing.

[0024] Commonly used non-steady-state interference methods, such as time-domain, spatial-domain, and frequency-domain non-steady-state interference, all utilize the time-varying statistical characteristics of interference. For example, in spatial non-steady-state interference, the direction of the incoming interference wave flickers, causing a difference between the notch direction formed by the current weights and the current interference direction. This mismatch between the notch direction and the interference direction reduces interference suppression capability, thus increasing interference residue and overall interference effectiveness. Similarly, time-domain and frequency-domain non-steady-state interference also achieve time-varying interference statistical characteristics in the spatial-frequency domain. This prevents the converged weights from effectively matching the current transient interference, reducing anti-interference effectiveness and enhancing overall interference effectiveness. All these methods increase interference residue, meaning the interference cannot be completely suppressed. This manifests as an increase in the amplitude of the output signal after interference suppression, a decrease in the signal-to-interference-plus-noise ratio (SNR), and consequently, a decrease in anti-interference effectiveness. For the interfering party, however, the interference effectiveness is enhanced. The effects are illustrated in the appendix. Figure 3 The diagram shows the principle of the non-steady-state disturbance effect.

[0025] However, when using space-frequency filters, the broadband interference suppression problem is transformed into a set of spatial filters. For each set of spatial filters, the number of filter weights is extremely limited. For example, with a 4-channel receiving antenna, each set of adaptive weights has only 3, and even with a 7-channel receiving antenna, each set of adaptive weights has only 6. The reduction in the number of weights greatly increases the convergence speed of the adaptive weights, while also significantly reducing the number of snapshots in the interference statistics. Therefore, the effectiveness of space-frequency interference suppression algorithms is reduced when using space-time adaptive processing to effectively handle time-varying interference. The fast convergence performance of space-frequency adaptive processing allows non-steady-state interference to be considered as stationary interference even in extremely short time intervals. Each set of space-frequency filters can form a null notch aligned with the direction of interference in a very short time, resulting in a small output signal amplitude or a high signal-to-interference-plus-noise ratio.

[0026] Based on the above analysis, if traditional approaches are used to reduce the output signal-to-interference-plus-noise ratio (SNR) in counter-spatial filtering methods, it is necessary to move the interference direction closer to the desired signal direction, increase the interference power, and increase the number of interference sources. However, these measures impose too many constraints on the counter-interference party and have significant limitations in practical applications. GPS (Global Positioning System) uses QPSK (Quadrature Phase-Shift Keying) to encode signals. After space-frequency adaptive processing, a filtered output signal is obtained, which is also the decoded input signal. At this point, the filtered output SNR is the same as the decoded input SNR. For radar detection, a higher SNR after matched filtering corresponds to a higher detection probability. However, a higher sampling signal at the input of the matched filter does not necessarily guarantee a higher SNR after matched filtering. The same applies to GPS signals. The purpose of this invention is to disrupt the phase of GPS signals to achieve a more efficient jamming method.

[0027] If the goal is to maximize residual interference, the aim is to reduce the signal-to-interference-plus-noise ratio (SNR) of the filtered output, which in turn reduces the SNR of the decoding input, thereby lowering GPS satellite acquisition performance. However, the inability to reduce the decoding input SNR does not necessarily mean that GPS satellite acquisition performance cannot be reduced. (See attached image) Figure 4 The diagram shows the principle behind poor satellite acquisition performance caused by a low input signal-to-interference-plus-noise ratio.

[0028] Based on the diagram of the coded signal, it can be represented as shown in the attached figure. Figure 5 The diagram illustrates the impact of input signal-to-interference-plus-noise ratio (SNR) on output SNR. A high SNR does not necessarily mean a high acquisition capability of the navigation receiver. Conversely, a low residual interference and a high input SNR do not necessarily result in a high output SNR. (See attached diagram.) Figure 6 The diagram shows a constant input signal-to-interference-plus-noise ratio (SINR) and a decreased output SINR.

[0029] Appendix Figure 6 A specific example is given, illustrating the decrease in signal-to-interference-plus-noise ratio (SNR) and acquisition performance caused by signal position shifting or swapping. Satellite navigation signals rely on the consistency of the coded phase for acquisition and decoding, as shown in the attached figure. Figure 6 As shown, signal phase distortion causes a sharp drop in the signal-to-interference-plus-noise ratio (SNR) of the matched filter output. This invention utilizes the characteristics of space-frequency adaptive processing, through dual-station spectrum coordination, to induce a drastic nonlinear phase-frequency response in the spatial filter generated by the anti-interference system. This actively disrupts the phase of the satellite navigation signal. Even if the anti-interference system suppresses the interference signal, the distorted phase will still prevent the receiver from completing code synchronization and carrier tracking, ultimately leading to positioning failure.

[0030] Generally, due to the phase distortion of the encoded signal, even if the input signal-to-interference-plus-noise ratio remains unchanged, the signal decoding performance will be degraded. This is an important way to combat interference and adapt to space-frequency interference, namely, how to make the transmitted phase of the encoded signal distorted.

[0031] As attached Figure 7 The schematic diagram shown illustrates the principle of characterizing a two-dimensional filter. For space-frequency adaptive processing, which is essentially a two-dimensional filter, targeted analysis can be performed using filter theory and methods. The design objective of this invention is to cause the frequency-phase response of the space-time two-dimensional filter obtained by weight calculation in the spatial domain adaptive processing to exhibit drastic fluctuations and nonlinearity. When the filter is transformed to the time domain by inverse Fourier transform after space-frequency adaptive processing, the phase is disturbed.

[0032] Optionally, the first random number can be any one of the first preset value, the second preset value, and the third preset value.

[0033] Optionally, the first preset value is 1; the second preset value is 2; and the third preset value is 3.

[0034] Optionally, based on the value of the first random number, at least one second random number within a set value range is generated, including: if the value of the first random number is within the first set value range, then a second random number within the set value range is generated; otherwise, if the value of the first random number is within the second set value range, then two second random numbers within the set value range are generated.

[0035] Optionally, the range of the first random number is [1,3], the first set range is [1,2], and the first random number is a positive integer.

[0036] Optionally, the value range can be set to [0.8, 1].

[0037] This invention exemplarily divides the interference signal frequency band into N points, where N can be 1024 or 2048, etc. The same idea applies when other values ​​are used.

[0038] When generating amplitude values ​​at different interference signal frequencies, this invention uses random numbers between 0.8 and 1 as examples. This is because the power of the interference signal cannot be too small. Other similar values ​​also have the same principle as this invention.

[0039] Optionally, based on the value of the first random number and the generated second random number, the frequency domain value of the transmitted signal from the first jammer and the frequency domain value of the transmitted signal from the second jammer are assigned values, including: If the value of the first random number is the first preset value, after generating a second random number within a set value range, the frequency point value of the first jammer's transmitted signal is the second random number, and the frequency point value of the second jammer's transmitted signal is the fourth preset value. If the value of the first random number is the second preset value, after generating a second random number within a set value range, the frequency point value of the first jammer's transmitted signal is the fourth preset value, and the frequency point value of the second jammer's transmitted signal is the second random number. If the value of the first random number is the third preset value, after generating two second random numbers within the set value range, the frequency point value of the first jammer's transmitted signal is the first second random number, and the frequency point value of the second jammer's transmitted signal is the second second random number.

[0040] Optionally, the fourth setting value is 0.

[0041] Optionally, the frequency domain frequency points of all the first jammer's transmitted signals are subjected to inverse fast Fourier transform to obtain the first sequence signal of the first jammer's transmitted signals, and the frequency domain frequency points of all the second jammer's transmitted signals are subjected to inverse fast Fourier transform to obtain the second sequence signal of the second jammer's transmitted signals.

[0042] As attached Figure 8 The flowchart shown is a specific implementation of the navigation interference method for air-frequency adaptive anti-jamming UAVs according to the present invention.

[0043] Step 1: Divide the transmitted signal spectrum into N equal parts; for example, N can be 1024 or 2048. For each value of n between 1 and N, perform the following loop to complete the design of the transmission signal for each specific frequency point; This step involves three cases. If k=1, a random number 'a' is generated, with a value within the range of [0.8, 1]. A[n] = a, B[n] = 0, where A[n] is the frequency point value of the signal transmitted by jammer 1, and B[n] is the frequency point value of the signal transmitted by jammer 1. The value range of [0.8, 1] indicates that the amplitude is too small, affecting the interference power, while also giving the interference strength a certain degree of randomness, forming an unstable state of interference between different frequency points. If k=2, a random number 'b' is generated, with a value within the range of [0.8, 1]. A[n] = 0, B[n] = b. If k=3, two random numbers 'a' and 'b' are generated, both with values ​​within the range of [0.8, 1]. A[n] = a, B[n] = b. Determine if n has completed the cycle from 1 to N. If not, then n = n + 1 and proceed to the second step. If n has reached the maximum value N, then proceed to the next step. The sequence of signals transmitted by jammer 1 is S1=IFFT(A), and the sequence of signals transmitted by jammer 2 is S2=IFFT(B). Jammer 1 transmits signal S1; Jammer 2 transmits signal S2.

[0044] As attached Figure 9 The simulation diagram shows the phase disturbance around 46.52MHz. Jammer 1 is located at 20° and jammer 2 is located at 30°, with a signal carrier frequency of 46.52MHz. It can be seen that the phase changes between different frequency points are significant, with a difference of approximately 100°. This indicates that the interference scheme designed in this way can effectively increase the difference in weights between adjacent frequency points, thereby increasing the phase difference between frequency points.

[0045] This approach focuses on disrupting signal effectiveness. Even if the anti-jamming system successfully filters out the interference signal, demodulation and positioning cannot be completed due to the phase distortion of the target satellite signal, forming a unique technical path that leads to the failure of the anti-jamming system. This approach breaks through the limitations of traditional jamming techniques, providing a new research direction for the field of satellite navigation jamming. It can promote the development of subsequent jamming technologies towards precisely disrupting signal structure and countering high-performance anti-jamming systems at low cost, and has significant technological leading value.

[0046] The invention proposes a dual-band interference spectrum coordination method, and through design, multiple states can be set for each frequency point. If we only divide it according to whether there is interference, there are three cases: interference comes from direction one, interference comes from direction two, and interference exists in both direction one and direction two. Through this design, the weights formed by each frequency point are significantly different from the adaptive weights of adjacent frequency points.

[0047] The purpose of this invention is not to increase residual interference, but to distort the desired phase of the satellite navigation signal, which is achieved through a dual-interference spectrum coordination method.

[0048] Traditional jamming requires continuously increasing power or adding more jamming sources to counter anti-jamming systems. However, this invention does not rely on high-power suppression. It directly destroys signal effectiveness through phase distortion. The jamming device is smaller and consumes less energy, making it suitable for small platforms such as drones and individual soldier equipment. This solves the problems of low cost-effectiveness and easy exposure of traditional jamming.

[0049] Conventional interference is easily countered by anti-interference algorithms, but the interference logic of this invention targets the signal structure itself. Even if the anti-interference system successfully suppresses the interference signal, the distorted phase will still cause capture and decoding failures. This interference effect does not rely on anti-interference algorithms but destroys signal availability from the bottom up, making it more difficult to defend against.

[0050] By employing dual-station spectrum coordination and sub-band design, this invention can accurately target the space-frequency response characteristics of anti-interference systems. For platforms with different frequency bands and different anti-interference algorithms, customized interference can be achieved by adjusting the phase distortion strategy to induce the nonlinear phase-frequency response of the filter, making it applicable to a wider range of scenarios.

[0051] Example 2 Based on the same principle as the method shown in Embodiment 1 of the present invention, as illustrated in the appendix. Figure 10 As shown, the embodiments of the present invention also provide a navigation jamming device for an air-frequency adaptive anti-jamming UAV, including a spectrum division unit, a first random number generation unit, a second random number generation unit, a transmission signal generation unit, a conversion unit, a first jammer, and a second jammer; A spectrum division unit is used to divide the navigation signal spectrum into several equal parts; The first random number generation unit is used to randomly generate a first random number for each equal part of the navigation signal spectrum; The second random number generation unit is used to generate at least one second random number within a set value range based on the value of the first random number. The transmission signal generation unit is used to assign the frequency domain frequency point value of the first jammer's transmission signal and the frequency domain frequency point value of the second jammer's transmission signal to the value of the first random number and the generated second random number, so as to obtain a transmission signal at a frequency point corresponding to an equal part of the navigation signal spectrum, until a transmission signal at the corresponding frequency point is generated for all equal parts of the navigation signal spectrum; The conversion unit is used to convert the frequency domain frequency point values ​​of all the first jammer's transmitted signals into time domain signals to obtain the first sequence signal of the first jammer's transmitted signals, and to convert the frequency domain frequency point values ​​of all the second jammer's transmitted signals into time domain signals to obtain the second sequence signal of the second jammer's transmitted signals; The first jammer is used to transmit the first sequence of signals; The second jammer is used to transmit the second sequence of signals.

[0052] Optionally, the first random number can be any one of the first preset value, the second preset value, and the third preset value.

[0053] Optionally, the first preset value is 1; the second preset value is 2; and the third preset value is 3.

[0054] Optionally, based on the value of the first random number, at least one second random number within a set value range is generated, including: if the value of the first random number is within the first set value range, then a second random number within the set value range is generated; otherwise, if the value of the first random number is within the second set value range, then two second random numbers within the set value range are generated.

[0055] Optionally, the range of the first random number is [1,3], the first set range is [1,2], and the first random number is a positive integer.

[0056] Optionally, the value range can be set to [0.8, 1].

[0057] Optionally, based on the value of the first random number and the generated second random number, the frequency domain value of the transmitted signal from the first jammer and the frequency domain value of the transmitted signal from the second jammer are assigned values, including: If the value of the first random number is the first preset value, after generating a second random number within a set value range, the frequency point value of the first jammer's transmitted signal is the second random number, and the frequency point value of the second jammer's transmitted signal is the fourth preset value. If the value of the first random number is the second preset value, after generating a second random number within a set value range, the frequency point value of the first jammer's transmitted signal is the fourth preset value, and the frequency point value of the second jammer's transmitted signal is the second random number. If the value of the first random number is the third preset value, after generating two second random numbers within the set value range, the frequency point value of the first jammer's transmitted signal is the first second random number, and the frequency point value of the second jammer's transmitted signal is the second second random number.

[0058] Optionally, the fourth setting value is 0.

[0059] Optionally, the frequency domain frequency points of all the first jammer's transmitted signals are subjected to inverse fast Fourier transform to obtain the first sequence signal of the first jammer's transmitted signals, and the frequency domain frequency points of all the second jammer's transmitted signals are subjected to inverse fast Fourier transform to obtain the second sequence signal of the second jammer's transmitted signals.

[0060] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A navigation interference method for air-frequency adaptive anti-jamming UAVs, characterized in that, include: Divide the navigation signal spectrum into several equal parts; For each equal portion of the navigation signal spectrum, a first random number is randomly generated; Based on the value of the first random number, generate at least one second random number within a set value range; Based on the value of the first random number and the generated second random number, the frequency point value of the first jammer's transmitted signal and the frequency point value of the second jammer's transmitted signal are assigned to obtain a transmitted signal at a frequency point corresponding to an equal part of the navigation signal spectrum, until a transmitted signal at a corresponding frequency point is generated for all equal parts of the navigation signal spectrum; The frequency domain values ​​of all first jammer transmitted signals are converted into time domain signals to obtain the first sequence signal of the first jammer transmitted signals; the frequency domain values ​​of all second jammer transmitted signals are converted into time domain signals to obtain the second sequence signal of the second jammer transmitted signals. The first jammer transmits a first sequence of signals, and the second jammer transmits a second sequence of signals.

2. The navigation jamming method for an air-frequency adaptive anti-jamming UAV according to claim 1, characterized in that, The first random number is any one of the first preset value, the second preset value, and the third preset value.

3. The navigation interference method for an air-frequency adaptive anti-jamming UAV according to claim 2, characterized in that, The first preset value is 1; the second preset value is 2; and the third preset value is 3.

4. The navigation interference method for an air-frequency adaptive anti-jamming UAV according to claim 1, characterized in that, Based on the value of the first random number, generate at least one second random number within a set value range, including: if the value of the first random number is within the first set value range, generate one second random number within the set value range; otherwise, if the value of the first random number is within the second set value range, generate two second random numbers within the set value range.

5. The navigation interference method for an air-frequency adaptive anti-jamming UAV according to claim 4, characterized in that, The first random number has a value range of [1,3], the first set range is [1,2], and the first random number is a positive integer.

6. The navigation jamming method for an air-frequency adaptive anti-jamming UAV according to claim 1 or 4, characterized in that, The value range is set to [0.8, 1].

7. The navigation interference method for an air-frequency adaptive anti-jamming UAV according to claim 1, characterized in that, Based on the value of the first random number and the generated second random number, the frequency domain value of the first jammer's transmitted signal and the frequency domain value of the second jammer's transmitted signal are assigned values, including: If the value of the first random number is the first preset value, after generating a second random number within a set value range, the frequency point value of the first jammer's transmitted signal is the second random number, and the frequency point value of the second jammer's transmitted signal is the fourth preset value. If the value of the first random number is the second preset value, after generating a second random number within a set value range, the frequency point value of the first jammer's transmitted signal is the fourth preset value, and the frequency point value of the second jammer's transmitted signal is the second random number. If the value of the first random number is the third preset value, after generating two second random numbers within the set value range, the frequency point value of the first jammer's transmitted signal is the first second random number, and the frequency point value of the second jammer's transmitted signal is the second second random number.

8. The navigation interference method for an air-frequency adaptive anti-jamming UAV according to claim 7, characterized in that, The fourth setting value is 0.

9. The navigation jamming method for an air-frequency adaptive anti-jamming UAV according to claim 1, characterized in that, The first sequence signal of the first jammer's transmitted signal is obtained by performing an inverse fast Fourier transform on the frequency point values ​​of all the first jammer's transmitted signals, and the second sequence signal of the second jammer's transmitted signal is obtained by performing an inverse fast Fourier transform on the frequency point values ​​of all the second jammer's transmitted signals.

10. A navigation jamming device for air-frequency adaptive anti-jamming unmanned aerial vehicles, characterized in that, It includes a spectrum division unit, a first random number generation unit, a second random number generation unit, a transmitted signal generation unit, a conversion unit, a first jammer, and a second jammer; A spectrum division unit is used to divide the navigation signal spectrum into several equal parts; The first random number generation unit is used to randomly generate a first random number for each equal part of the navigation signal spectrum; The second random number generation unit is used to generate at least one second random number within a set value range based on the value of the first random number. The transmission signal generation unit is used to assign the frequency domain frequency point value of the first jammer's transmission signal and the frequency domain frequency point value of the second jammer's transmission signal to the value of the first random number and the generated second random number, so as to obtain a transmission signal at a frequency point corresponding to an equal part of the navigation signal spectrum, until a transmission signal at the corresponding frequency point is generated for all equal parts of the navigation signal spectrum; The conversion unit is used to convert the frequency domain frequency point values ​​of all the first jammer's transmitted signals into time domain signals to obtain the first sequence signal of the first jammer's transmitted signals, and to convert the frequency domain frequency point values ​​of all the second jammer's transmitted signals into time domain signals to obtain the second sequence signal of the second jammer's transmitted signals; The first jammer is used to transmit the first sequence of signals; The second jammer is used to transmit the second sequence of signals.

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