Satellite navigation array anti-jamming method and device based on adaptive diagonal loading

Abstract

The application relates to a satellite navigation array anti-interference method and device based on adaptive diagonal loading. The method comprises the following steps: acquiring array antenna element sampling quantization data, estimating noise power and initializing a loading value, periodically updating a loading coefficient to obtain a real-time loading value, constructing a diagonal loading correlation matrix and solving a weighted weight value, outputting an anti-interference signal, constructing a feedback factor based on a visible satellite accuracy factor and a carrier-to-noise ratio, adjusting a counter by comparing the feedback factor, switching the loading coefficient updating direction when a threshold value is reached, and realizing closed-loop adaptive optimization of the loading value. The method does not require prior information, is suitable for various navigation systems and power modes, has excellent anti-interference performance, has low implementation cost, and effectively solves the performance deterioration problem of a traditional method.

Description

Technical Field

[0001] This application relates to the field of satellite navigation technology, and in particular to a method and apparatus for anti-interference of satellite navigation arrays based on adaptive diagonal loading. Background Technology

[0002] Satellite navigation systems provide high-precision positioning and timing services to users worldwide. Any user can obtain position and time information at low cost through a single satellite navigation receiver (including a receiving antenna and the receiver itself). To combat electromagnetic interference, applications with high reliability requirements typically employ active anti-interference measures in satellite navigation receivers. Among these, adaptive nulling based on array antennas is currently the most effective active anti-interference measure. This technology requires replacing the ordinary receiving antenna with an array antenna and controlling the gain pattern of the array antenna by adjusting the array weighting values, aligning the negative gain or null direction with the interference, thereby suppressing the interference.

[0003] Adaptive nulling based on array antennas is a blind processing method. It performs optimally when the satellite signal power is much lower than the receiver's thermal noise power and interference power. It does not require prior information such as the satellite signal incident direction and the array antenna attitude, and is easy to implement in engineering. Therefore, it has been widely used in various satellite navigation anti-interference receivers.

[0004] However, as satellite navigation systems have evolved from traditional medium-to-high Earth orbit (MEO) constellations to low-Earth orbit (LEO) constellations, the distance between satellites and ground users has shortened by one to two orders of magnitude, and the landing power of satellite signals has increased by 20-40 dB. At this point, the premise that the satellite signal power is much less than the receiver's thermal noise power and interference power no longer holds true. Research shows that when the satellite signal power reaches or even exceeds the receiver's thermal noise power level, adaptive nulling based on array antennas will treat the satellite signal as interference and suppress it, causing a deterioration in the signal-to-noise ratio (SNR) of the satellite signal, thus failing to achieve optimal anti-interference performance. Therefore, traditional adaptive nulling anti-interference methods cannot be directly applied to LEO satellite navigation systems, nor can they be directly applied to the power enhancement mode of MEO satellite navigation systems. Summary of the Invention

[0005] Therefore, it is necessary to provide a satellite navigation array anti-interference method and device based on adaptive diagonal loading that can determine the optimal loading value under the condition that prior information such as satellite signal landing power and interference parameters is unknown, in order to address the above-mentioned technical problems.

[0006] An anti-jamming method for satellite navigation arrays based on adaptive diagonal loading, the method comprising:

[0007] Acquire the data to be processed, which is the sampled and quantized data of the signals received by each element of the array antenna;

[0008] Based on the noise power of each array element estimated from the data to be processed, the receiver noise power is calculated, and the loading value is initialized according to the receiver noise power and the preset initial loading coefficient.

[0009] The initial loading coefficient is updated according to a preset incrementing or decrementing formula, and the real-time loading value is calculated using the updated loading coefficient and the receiver noise power.

[0010] Acquire snapshot array data of the array antenna, construct a diagonal loading correlation matrix based on the snapshot array data and the real-time loading value, solve the array weighting value of the diagonal loading correlation matrix through an adaptive zeroing algorithm, and process the snapshot array data using the array weighting value to obtain the array anti-interference signal;

[0011] Based on the array anti-interference signal, the accuracy factor of the currently visible satellite and the carrier-to-noise ratio of each currently visible satellite are obtained. Based on the accuracy factor and the carrier-to-noise ratio, a feedback factor reflecting the current anti-interference performance is constructed.

[0012] The current feedback factor is compared with the feedback factor before the last loading coefficient update. The counter value is adjusted according to the comparison result. When the counter value reaches a preset threshold, the update direction of the loading coefficient is reversed and the loading coefficient is updated again to achieve closed-loop adaptive optimization of the loading value.

[0013] In one embodiment, the initialization of the loaded value is performed in an interference-free environment and only needs to be performed once.

[0014] In one embodiment, the noise power of each array element is estimated by performing conjugate operations on the quantized data of the received signal sample of each array element and then performing statistical calculations in combination with a preset data length.

[0015] In one embodiment, when updating the initial loading coefficient, an incremental formula is used to update the loading coefficient;

[0016] After the initial loading coefficients are updated for the first time, the update direction is adaptively switched according to the changing trend of the feedback factor.

[0017] In one embodiment, the diagonal loading correlation matrix constructed based on the snapshot array data and the real-time loading value is represented as:

[0018] ;

[0019] In the above formula, Indicates the first k The array data of each snapshot, with the superscript "H" indicating conjugate transpose. Represent a N 3D identity matrix This indicates that values ​​are loaded in real time.

[0020] In one embodiment, the array weighting values ​​of the diagonally loaded correlation matrix are solved using an adaptive zeroing algorithm, employing the following formula:

[0021] ;

[0022] In the above formula, The array weighting values ​​are represented as follows: N Dimensional column vector. This indicates that the first element is 1 and the rest are 0. N A column vector, with the superscript "H" indicating conjugate transpose. This represents the diagonal loading correlation matrix.

[0023] In one embodiment, the feedback factor constructed based on the accuracy factor and the carrier-to-noise ratio is expressed as:

[0024] ;

[0025] In the above formula, Indicates the feedback factor. This represents the precision factor of currently visible satellites. L The number of visible satellites, For the first l Estimated carrier-to-noise ratio of visible satellite signals.

[0026] In one embodiment, the adaptive adjustment process of the loading coefficient update direction includes:

[0027] After updating the loading coefficient according to the currently set increment or decrement formula, calculate the corresponding feedback factor and compare the feedback factor with the feedback factor before the last loading coefficient update.

[0028] If the current feedback factor is not less than the previous feedback factor, the counter will be cleared and the loading coefficient will continue to be updated according to the currently set formula.

[0029] If the current feedback factor is less than the previous feedback factor, the counter value is incremented by 1. If the counter value does not reach the preset threshold after incrementing by 1, the loading coefficient continues to be updated according to the currently set formula. If the counter value equals the preset threshold after incrementing by 1, the counter is cleared to zero, and the update direction of the loading coefficient is reversed.

[0030] This application also provides a satellite navigation array anti-interference device based on adaptive diagonal loading, the device comprising:

[0031] The data to be processed module is used to acquire data to be processed, which is the sampled and quantized data of the signals received by each element of the array antenna;

[0032] The loading value initialization module is used to calculate the receiver noise power based on the noise power of each array element estimated from the data to be processed, and to initialize the loading value according to the receiver noise power and the preset initial loading coefficient.

[0033] The real-time loading value update module is used to update the initial loading coefficient according to a preset incrementing or decrementing formula, and to calculate the real-time loading value using the updated loading coefficient and the receiver noise power.

[0034] The array anti-interference processing module is used to acquire snapshot array data of the array antenna, construct a diagonal loading correlation matrix based on the snapshot array data and the real-time loading value, solve the array weighting value of the diagonal loading correlation matrix through an adaptive zeroing algorithm, and process the snapshot array data using the array weighting value to obtain the array anti-interference signal.

[0035] The feedback factor construction module is used to obtain the accuracy factor of the currently visible satellite and the carrier-to-noise ratio of each currently visible satellite based on the array anti-interference signal, and to construct a feedback factor reflecting the current anti-interference performance based on the accuracy factor and the carrier-to-noise ratio.

[0036] The loading value update optimization module is used to compare the current feedback factor with the feedback factor before the last loading coefficient update, adjust the counter value according to the comparison result, and when the counter value reaches a preset threshold, reverse the update direction of the loading coefficient and continue to update the loading coefficient to achieve closed-loop adaptive optimization of the loading value.

[0037] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the above-described anti-interference method for satellite navigation arrays based on adaptive diagonal loading.

[0038] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described anti-interference method for satellite navigation arrays based on adaptive diagonal loading.

[0039] The aforementioned anti-interference method and apparatus for satellite navigation arrays based on adaptive diagonal loading involves using sampled and quantized data of the signals received by each element of the array antenna as the data to be processed. Based on this data, the noise power of each element is estimated to calculate the receiver noise power. The loading value is initialized according to the receiver noise power and a preset initial loading coefficient. The initial loading coefficient is updated according to a preset increasing or decreasing formula. The real-time loading value is calculated using the updated loading coefficient and the receiver noise power. A diagonal loading correlation matrix is ​​constructed based on the snapshot array data of the array antenna and the real-time loading value. Adaptive zeroing is then applied. The algorithm solves for the array weighting of the diagonal loading correlation matrix, processes the snapshot array data using the array weighting, and obtains the array anti-interference signal. Based on the array anti-interference signal, it obtains the accuracy factor and carrier-to-noise ratio of the currently visible satellites. Based on the accuracy factor and carrier-to-noise ratio, it constructs a feedback factor reflecting the current anti-interference performance. It compares the current feedback factor with the feedback factor before the last loading coefficient update, adjusts the counter value according to the comparison result, and when the counter value reaches the preset threshold, it reverses the update direction of the loading coefficient and continues to update the loading coefficient, realizing closed-loop adaptive optimization of the loading value.

[0040] This method dynamically adapts to the power enhancement mode of the satellite navigation system and different interference scenarios by adjusting the loading value through closed-loop adaptive adjustment, without the need for prior information such as satellite signal landing power and interference parameters. This avoids the problem of traditional methods misjudging strong satellite signals as interference, significantly improving anti-interference performance and positioning reliability. At the same time, it adopts a single-path optimization design, eliminating the need to preset multi-level loading levels and process multiple signals in parallel, reducing hardware and software implementation costs. It is compatible with various satellite navigation systems such as medium-high orbit and low orbit, making it more widely applicable. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating an anti-interference method for satellite navigation arrays based on adaptive diagonal loading in one embodiment.

[0042] Figure 2 This is a schematic diagram of the specific process of an anti-interference method for satellite navigation arrays based on adaptive diagonal loading in one embodiment;

[0043] Figure 3 This is a flowchart illustrating the adaptive adjustment process of the loading coefficient update direction in one embodiment;

[0044] Figure 4 This is a structural block diagram of a satellite navigation array anti-jamming device based on adaptive diagonal loading in one embodiment;

[0045] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] In addressing the problems in existing technologies, when satellite navigation systems evolve to low Earth orbit or enter power enhancement mode, the landing power of satellite signals increases significantly. Traditional adaptive nulling anti-interference methods are prone to misinterpreting satellite signals as interference, leading to deterioration of anti-interference performance. Furthermore, the optimal loading value in diagonal loading methods is difficult to determine due to its reliance on prior information such as satellite signal power and interference parameters. In this application, as... Figure 1 As shown, an anti-interference method for satellite navigation arrays based on adaptive diagonal loading is provided, including the following steps:

[0048] Step S100: Obtain the data to be processed, which is the sampled and quantized data of the signals received by each element of the array antenna.

[0049] Step S110: Based on the noise power of each array element estimated from the data to be processed, calculate the receiver noise power, and initialize the loading value according to the receiver noise power and the preset initial loading coefficient.

[0050] Step S120: Update the initial loading coefficient according to a preset incrementing or decrementing formula, and calculate the real-time loading value using the updated loading coefficient and receiver noise power.

[0051] Step S130: Obtain the snapshot array data of the array antenna, construct a diagonal loading correlation matrix based on the snapshot array data and real-time loading value, solve the array weighting value of the diagonal loading correlation matrix through an adaptive zeroing algorithm, and process the snapshot array data using the array weighting value to obtain the array anti-interference signal.

[0052] Step S140: Based on the array anti-interference signal, obtain the accuracy factor of the currently visible satellite and the carrier-to-noise ratio of each currently visible satellite, and construct a feedback factor reflecting the current anti-interference performance based on the accuracy factor and carrier-to-noise ratio.

[0053] Step S150: Compare the current feedback factor with the feedback factor before the last loading coefficient update, adjust the counter value according to the comparison result, and when the counter value reaches the preset threshold, reverse the update direction of the loading coefficient and continue to update the loading coefficient to achieve closed-loop adaptive optimization of the loading value.

[0054] This paper presents an anti-jamming method for satellite navigation arrays based on adaptive diagonal loading. Unlike traditional methods, the proposed method employs an adaptive diagonal loading approach, using the satellite signal carrier-to-noise ratio and DOP (Dilution of Precision) value output by the receiver as feedback to dynamically optimize and adaptively adjust the loading value, thereby achieving optimal anti-jamming performance of the receiver.

[0055] In step S100, the array antenna consists of N array elements. Each array element synchronously receives satellite navigation signals, electromagnetic interference signals, and receiver thermal noise signals, forming multiple raw received signals. After the raw received signals of each array element are filtered, amplified, and frequency converted by the receiver's radio frequency front end, the processed signals are sampled and quantized by an analog-to-digital converter (ADC) to obtain digitized sampled and quantized data. This data is the data to be processed for subsequent noise power estimation.

[0056] In step S110, the noise power of each array element is estimated by first performing conjugate operation on the sampled and quantized data of the received signal of each array element, and then performing statistical calculations in combination with a preset data length.

[0057] Specifically, the method for estimating the noise power of each array element is expressed by the following formula:

[0058] ;

[0059] In the above formula, N This indicates the number of elements in the array antenna. Indicates the first n The sampled and quantized data of the signal received by each array element. Indicates the first n The noise power corresponding to each array element, with the superscript "*" indicating a conjugate operation. M The data length used to estimate noise power M The larger the value, the higher the accuracy of noise power estimation.

[0060] Furthermore, the receiver noise power is calculated based on the noise power corresponding to each array element. The receiver noise power can be calculated using the following formula:

[0061] ;

[0062] Next, based on the receiver noise power, initialize the load value according to the following formula:

[0063] ;

[0064] In the above formula, For loaded values, For loading coefficient, The initial value (i.e.) Preferred, The initial value is set to -30.

[0065] In this embodiment, the initialization of the loaded values ​​is performed in an interference-free environment and only needs to be performed once. That is, the initialization of the loaded values ​​needs to be completed in an interference-free environment, which is generally done once when the receiver leaves the factory, and does not need to be repeated subsequently.

[0066] In step 120, the loading coefficient is updated according to preset numerical adjustment rules, including two types: incremental formulas and decremental formulas. The incremental formulas are used to increase the loading coefficient value, while the decremental formulas are used to decrease the loading coefficient value. After the receiver is powered on, the incremental formula is used by default to update the initial loading coefficient for the first time. Subsequent update directions will be dynamically switched according to the changing trend of the feedback factor.

[0067] In this embodiment, the preset increment formula is:

[0068]

[0069] The preset decreasing formula is:

[0070]

[0071] In the above formula, The increment for loading coefficient updates is a positive real number, preferably an empirical value of 0.5. The preceding symbols indicate the direction of increase or decrease when loading and updating values. When preceded by a plus sign, it indicates an increasing direction; otherwise, it indicates a decreasing direction. m Indicates the loading coefficient. m This is the second update.

[0072] In this embodiment, after obtaining the updated loading coefficients, the real-time loading value is calculated based on the correlation between the loading value, loading coefficients, and receiver noise power, combined with the determined receiver noise power. Since the receiver noise power is accurately determined during the initialization phase and remains stable thereafter, the dynamic change of the real-time loading value is determined only by the update of the loading coefficients. This method enables flexible adaptation of the loading value to changes in the anti-interference scenario, providing real-time and adaptive loading parameters for the subsequent construction of the diagonal loading correlation matrix.

[0073] Specifically, the real-time load value is calculated using the updated load factor and receiver noise power, using the following formula:

[0074] ;

[0075] In step S130, the snapshot array data consists of the received signal sampling and quantization data of each array element of the array antenna in a continuous time series. The acquisition method is the same as the acquisition process of the data to be processed in step S100, that is, after RF front-end processing and ADC sampling and quantization, the array data is organized into an N-dimensional column vector form (N is the number of array elements) according to the snapshot order. Each snapshot corresponds to a set of synchronously acquired array data.

[0076] In this embodiment, the diagonal loading correlation matrix constructed based on the snapshot array data and the real-time loading value is represented as follows:

[0077] ;

[0078] In the above formula, Indicates the first k The array data of a snapshot, specifically... ,in, Indicates the first n The sampled and quantized data of the received signal from each array element, n = 1, 2, …, N. The correlation matrix after diagonal loading. It is The matrix, Represent a N 3D identity matrix K The number of snapshots used to calculate the correlation matrix. The superscript "H" indicates the conjugate transpose.

[0079] Furthermore, the array weighting values ​​of the diagonally loaded correlation matrix are solved using an adaptive zeroing algorithm, employing the following formula:

[0080] ;

[0081] In the above formula, The array weighting values ​​are represented as follows: N Dimensional column vector. This indicates that the first element is 1 and the rest are 0. N A column vector, with the superscript "H" indicating conjugate transpose. This represents the diagonal loading correlation matrix.

[0082] Furthermore, the array's anti-interference capability is obtained based on the array's weighted values ​​using the following formula:

[0083] ;

[0084] In the above formula, The first for array anti-interference output k A quick snapshot.

[0085] In step S140, the receiver acquires, tracks, and demodulates the array anti-interference signal. For example, it acquires visible satellite signals through a two-dimensional search (Doppler frequency and pseudocode phase), and then accurately tracks the acquired satellite signals through a tracking loop (carrier tracking loop and pseudocode tracking loop) to obtain key information such as carrier phase and pseudocode phase, thereby completing the demodulation of the navigation message. Based on the demodulated navigation message, the orbital parameters and clock bias information of the visible satellites are extracted. Combined with the approximate position of the receiver, the precision factor (DOP) of the current visible satellite is calculated, preferably PDOP (Position Precision Factor). This value directly reflects the impact of the satellite constellation layout on positioning accuracy; the smaller the value, the higher the positioning reliability. At the same time, by performing statistical analysis and mathematical operations on the relevant accumulated values ​​output by the tracking loop, the carrier-to-noise ratio (C / N0) of each visible satellite signal is estimated. The carrier-to-noise ratio is a core indicator for measuring satellite signal quality; the larger the value, the stronger the signal anti-interference capability. The PDOP value of the current visible satellite and the carrier-to-noise ratio of each satellite signal can be further obtained.

[0086] In this embodiment, the feedback factor, constructed based on the accuracy factor and the carrier-to-noise ratio, is expressed as:

[0087] ;

[0088] In the above formula, Indicates the feedback factor. This represents the precision factor of currently visible satellites. L The number of visible satellites, For the first l Estimated carrier-to-noise ratio of visible satellite signals.

[0089] Specifically, the calculation cycle of the feedback factor is consistent with the update cycle of the loading coefficient, which is generally 1 to 10 times per second.

[0090] In step S150, the adaptive adjustment process of the loading coefficient update direction includes: after updating the loading coefficient according to the currently set increment or decrement formula, calculating the corresponding feedback factor, comparing the feedback factor with the feedback factor before the last loading coefficient update, if the current feedback factor is not less than the previous feedback factor, then the counter is cleared and the loading coefficient is updated according to the currently set formula; if the current feedback factor is less than the previous feedback factor, then the counter value is incremented by 1; if the counter value after incrementing by 1 does not reach the preset threshold, then the loading coefficient is updated according to the currently set formula; if the counter value after incrementing by 1 is equal to the preset threshold, then the counter is cleared and the loading coefficient update direction is reversed.

[0091] Specifically, if the loading coefficient was updated according to a preset increasing formula in the previous update, the current loading coefficient update direction will be changed to an updated direction according to a preset decreasing formula. Conversely, if the loading coefficient was updated according to a preset decreasing formula in the previous update, the current loading coefficient update direction will be changed to an updated direction according to a preset increasing formula.

[0092] Preferably, the preset threshold for the counter value can be set to 5.

[0093] In this embodiment, to more intuitively and clearly illustrate the process of the satellite navigation array anti-interference method based on adaptive diagonal loading, please also refer to... Figure 2 ,include:

[0094] Step S201: Receiver noise power estimation and load value initialization.

[0095] Step S202: Update the loading coefficient and calculate the loading value according to the preset increment or decrement formula.

[0096] Step S203: Calculate the correlation matrix after diagonal loading, and calculate the array weighting and array anti-interference output.

[0097] Step S204: Calculate the feedback factor based on the PDOP value output by the receiver and the satellite signal carrier-to-noise ratio.

[0098] Step S205: Adjust the update direction of the loading coefficients according to the feedback factor, and then execute step S202.

[0099] In one embodiment, a more intuitive process for the adaptive adjustment of the loading coefficient update direction can be found in [reference needed]. Figure 3 ,include:

[0100] Step S301: Update the loading coefficient according to the preset increment or decrement formula, and execute steps S202 to S204.

[0101] In the specific implementation of step S301, the loading coefficient is updated according to a preset incremental or decremental formula; after the loading coefficient is updated, steps S202 to S204 are executed to determine the new feedback factor.

[0102] Step S302: Compare the feedback factor after the loading coefficient update with the feedback factor before the update.

[0103] During the specific execution of step S302, the loading coefficient is updated according to the preset incremental or decremental formula. After executing steps S202 to S204 to determine the new feedback factor, the feedback factor after the loading coefficient is updated and the feedback factor before the update are read.

[0104] Determine the relationship between the updated feedback factor and the original feedback factor.

[0105] If the updated feedback factor is not less than the original feedback factor, proceed to step S303. If the updated feedback factor is less than the original feedback factor, proceed to step S304 and subsequent related steps.

[0106] Step S303: When the updated feedback factor is not less than the unupdated feedback factor, clear the counter value and execute step S301.

[0107] In the specific implementation of step S303, when the feedback factor after the loading coefficient is updated is not less than the feedback factor before the update, the value of the counter is cleared to zero, and step S301 is executed to continue updating the loading coefficient according to the preset increment formula or decrement formula.

[0108] Step S304: When the updated feedback factor is less than the unupdated feedback factor, increment the counter by 1.

[0109] In the specific implementation of step S304, when the feedback factor after the loading coefficient is updated is less than the feedback factor before the update, the value of the counter is incremented by 1, and step S305 is executed.

[0110] Step S305: Determine whether the counter value is equal to the threshold (i.e., whether the calculator value is equal to the threshold). If the counter value is less than the threshold, proceed to step S301. If the counter value is equal to the threshold, proceed to step S306.

[0111] In the specific implementation of step S305, it is determined whether the value of the counter is equal to the threshold T, which is a positive integer and can be an empirical value (e.g., T is 5). If the value of the counter is less than the threshold, step S301 is executed; if the value of the counter is equal to the threshold, step S306 is executed.

[0112] Step S306: Clear the counter value and proceed to step S307.

[0113] Step S307: Determine whether the loading coefficient was updated according to the preset incremental formula in the previous loading.

[0114] During the execution of step S207, if the previous loading coefficient was updated according to a preset incremental formula, step S309 is executed. If the previous loading coefficient was not updated according to a preset incremental formula, step S308 is executed.

[0115] Step S308: Change the current loading coefficient update direction to update according to the preset incremental formula, and execute step S301.

[0116] Step S309: Change the current loading coefficient update direction to update according to the preset decreasing formula, and execute step S301.

[0117] The aforementioned anti-interference method for satellite navigation arrays based on adaptive diagonal loading employs a closed-loop adaptive diagonal loading method based on feedback factors. It combines the precision factor (DOP) of visible satellites with the carrier-to-noise ratio to construct performance evaluation indicators. Relying on the dynamic adjustment mechanism of counter judgment and loading coefficient update direction switching, the loading value is optimized and adaptively matched in real time. This fundamentally solves the problem that traditional adaptive zeroing methods misjudge satellite signals as interference when the satellite signal landing power is close to or exceeds the thermal noise power, leading to a deterioration in anti-interference performance. At the same time, it avoids the technical bottleneck of traditional diagonal loading methods where the optimal loading value depends on prior information such as satellite signal landing power and interference parameters.

[0118] Compared with existing parallel hierarchical diagonal loading techniques, this method does not require presetting multiple loading levels, does not rely on prior information such as the maximum power enhancement design value of the satellite navigation system, and does not require parallel acquisition, tracking and selection of multiple loading outputs. It can achieve accurate adaptation of loading values ​​to changes in satellite signal power and interference scenarios through single-path closed-loop optimization, which significantly reduces the complexity of hardware implementation and the computational overhead of software.

[0119] This method is highly compatible, applicable to both normal modes (without power enhancement) of medium and high orbit satellite navigation systems and power enhancement modes of low orbit or medium and high orbit satellite navigation systems. It can maintain optimal anti-interference performance and positioning reliability under various interference scenarios, making it more widely applicable and practical.

[0120] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0121] In one embodiment, such as Figure 4 As shown, a satellite navigation array anti-interference device based on adaptive diagonal loading is provided, including: a data acquisition module 400, a loading value initialization module 410, a real-time loading value update module 420, an array anti-interference processing module 430, a feedback factor construction module 440, and a loading value update optimization module 450, wherein:

[0122] The data acquisition module 400 is used to acquire data to be processed, which is the sampled and quantized data of the signals received by each element of the array antenna.

[0123] The loading value initialization module 410 is used to calculate the receiver noise power based on the noise power of each array element estimated from the data to be processed, and to initialize the loading value according to the receiver noise power and the preset initial loading coefficient.

[0124] The real-time loading value update module 420 is used to update the initial loading coefficient according to a preset incrementing or decrementing formula, and to calculate the real-time loading value using the updated loading coefficient and the receiver noise power.

[0125] The array anti-interference processing module 430 is used to acquire snapshot array data of the array antenna, construct a diagonal loading correlation matrix based on the snapshot array data and the real-time loading value, solve the array weighting value of the diagonal loading correlation matrix through an adaptive zeroing algorithm, and process the snapshot array data using the array weighting value to obtain the array anti-interference signal.

[0126] The feedback factor construction module 440 is used to obtain the accuracy factor of the currently visible satellite and the carrier-to-noise ratio of each currently visible satellite based on the array anti-interference signal, and to construct a feedback factor reflecting the current anti-interference performance based on the accuracy factor and the carrier-to-noise ratio.

[0127] The loading value update optimization module 450 is used to compare the current feedback factor with the feedback factor before the last loading coefficient update, adjust the counter value according to the comparison result, and when the counter value reaches a preset threshold, reverse the update direction of the loading coefficient and continue to update the loading coefficient to realize closed-loop adaptive optimization of the loading value.

[0128] Specific limitations regarding the anti-jamming device for satellite navigation arrays based on adaptive diagonal loading can be found in the limitations of the anti-jamming method for satellite navigation arrays based on adaptive diagonal loading described above, and will not be repeated here. Each module in the aforementioned anti-jamming device for satellite navigation arrays based on adaptive diagonal loading can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0129] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements an anti-interference method for satellite navigation arrays based on adaptive diagonal loading. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0130] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0131] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0132] Acquire the data to be processed, which is the sampled and quantized data of the signals received by each element of the array antenna;

[0133] Based on the noise power of each array element estimated from the data to be processed, the receiver noise power is calculated, and the loading value is initialized according to the receiver noise power and the preset initial loading coefficient.

[0134] The initial loading coefficient is updated according to a preset incrementing or decrementing formula, and the real-time loading value is calculated using the updated loading coefficient and the receiver noise power.

[0135] Acquire snapshot array data of the array antenna, construct a diagonal loading correlation matrix based on the snapshot array data and the real-time loading value, solve the array weighting value of the diagonal loading correlation matrix through an adaptive zeroing algorithm, and process the snapshot array data using the array weighting value to obtain the array anti-interference signal;

[0136] Based on the array anti-interference signal, the accuracy factor of the currently visible satellite and the carrier-to-noise ratio of each currently visible satellite are obtained. Based on the accuracy factor and the carrier-to-noise ratio, a feedback factor reflecting the current anti-interference performance is constructed.

[0137] The current feedback factor is compared with the feedback factor before the last loading coefficient update. The counter value is adjusted according to the comparison result. When the counter value reaches a preset threshold, the update direction of the loading coefficient is reversed and the loading coefficient is updated again to achieve closed-loop adaptive optimization of the loading value.

[0138] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0139] Acquire the data to be processed, which is the sampled and quantized data of the signals received by each element of the array antenna;

[0140] Based on the noise power of each array element estimated from the data to be processed, the receiver noise power is calculated, and the loading value is initialized according to the receiver noise power and the preset initial loading coefficient.

[0141] The initial loading coefficient is updated according to a preset incrementing or decrementing formula, and the real-time loading value is calculated using the updated loading coefficient and the receiver noise power.

[0142] Acquire snapshot array data of the array antenna, construct a diagonal loading correlation matrix based on the snapshot array data and the real-time loading value, solve the array weighting value of the diagonal loading correlation matrix through an adaptive zeroing algorithm, and process the snapshot array data using the array weighting value to obtain the array anti-interference signal;

[0143] Based on the array anti-interference signal, the accuracy factor of the currently visible satellite and the carrier-to-noise ratio of each currently visible satellite are obtained. Based on the accuracy factor and the carrier-to-noise ratio, a feedback factor reflecting the current anti-interference performance is constructed.

[0144] The current feedback factor is compared with the feedback factor before the last loading coefficient update. The counter value is adjusted according to the comparison result. When the counter value reaches a preset threshold, the update direction of the loading coefficient is reversed and the loading coefficient is updated again to achieve closed-loop adaptive optimization of the loading value.

[0145] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0146] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0147] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A satellite navigation array anti-interference method based on adaptive diagonal loading, characterized in that, The method includes: Acquire the data to be processed, which is the sampled and quantized data of the signals received by each element of the array antenna; Based on the noise power of each array element estimated from the data to be processed, the receiver noise power is calculated, and the loading value is initialized according to the receiver noise power and the preset initial loading coefficient. The initial loading coefficient is updated according to a preset incrementing or decrementing formula, and the real-time loading value is calculated using the updated loading coefficient and the receiver noise power. Acquire snapshot array data of the array antenna, construct a diagonal loading correlation matrix based on the snapshot array data and the real-time loading value, solve the array weighting value of the diagonal loading correlation matrix through an adaptive zeroing algorithm, and process the snapshot array data using the array weighting value to obtain the array anti-interference signal; Based on the array anti-interference signal, the accuracy factor of the currently visible satellite and the carrier-to-noise ratio of each currently visible satellite are obtained. Based on the accuracy factor and the carrier-to-noise ratio, a feedback factor reflecting the current anti-interference performance is constructed. The current feedback factor is compared with the feedback factor before the last loading coefficient update. The counter value is adjusted according to the comparison result. When the counter value reaches a preset threshold, the update direction of the loading coefficient is reversed and the loading coefficient is updated again to achieve closed-loop adaptive optimization of the loading value.

2. The anti-interference method for satellite navigation arrays based on adaptive diagonal loading according to claim 1, characterized in that, The initialization of the loaded values ​​is performed in a undisturbed environment and only needs to be performed once.

3. The anti-interference method for satellite navigation arrays based on adaptive diagonal loading according to claim 1, characterized in that, By performing conjugate operations on the quantized data of the received signal of each array element and combining it with a preset data length, statistical calculations are performed to estimate the noise power of each array element.

4. The anti-interference method for satellite navigation arrays based on adaptive diagonal loading according to claim 1, characterized in that, When updating the initial loading coefficient, an incremental formula is used to update the loading coefficient; After the initial loading coefficients are updated for the first time, the update direction is adaptively switched according to the changing trend of the feedback factor.

5. The anti-interference method for satellite navigation arrays based on adaptive diagonal loading according to claim 1, characterized in that, The diagonal loading correlation matrix constructed based on the snapshot array data and the real-time loading value is expressed as follows: In the above formula, Indicates the first k The array data of each snapshot, with the superscript "H" indicating conjugate transpose. Represent a N 3D identity matrix This indicates that values ​​are loaded in real time.

6. The anti-interference method for satellite navigation arrays based on adaptive diagonal loading according to claim 1, characterized in that, The array weighting values ​​of the diagonally loaded correlation matrix are obtained using an adaptive zeroing algorithm, with the following formula: In the above formula, The array weighting values ​​are represented as follows: N dimensional column vector, This indicates that the first element is 1 and the rest are 0. N A column vector, with the superscript "H" indicating conjugate transpose. This represents the diagonal loading correlation matrix.

7. The anti-interference method for satellite navigation arrays based on adaptive diagonal loading according to claim 1, characterized in that, The feedback factor, constructed based on the accuracy factor and the carrier-to-noise ratio, is expressed as: In the above formula, Indicates feedback factor, This represents the precision factor of currently visible satellites. L The number of visible satellites, For the first l Estimated carrier-to-noise ratio of visible satellite signals.

8. The anti-interference method for satellite navigation arrays based on adaptive diagonal loading according to claim 1, characterized in that, The adaptive adjustment process for the loading coefficient update direction includes: After updating the loading coefficient according to the currently set increment or decrement formula, calculate the corresponding feedback factor and compare the feedback factor with the feedback factor before the last loading coefficient update. If the current feedback factor is not less than the previous feedback factor, the counter will be cleared and the loading coefficient will continue to be updated according to the currently set formula. If the current feedback factor is less than the previous feedback factor, the counter value is incremented by 1. If the counter value does not reach the preset threshold after incrementing by 1, the loading coefficient continues to be updated according to the currently set formula. If the counter value equals the preset threshold after incrementing by 1, the counter is cleared to zero, and the update direction of the loading coefficient is reversed.

9. A satellite navigation array anti-interference device based on adaptive diagonal loading, characterized in that, The device includes: The data to be processed module is used to acquire data to be processed, which is the sampled and quantized data of the signals received by each element of the array antenna; The loading value initialization module is used to calculate the receiver noise power based on the noise power of each array element estimated from the data to be processed, and to initialize the loading value according to the receiver noise power and the preset initial loading coefficient. The real-time loading value update module is used to update the initial loading coefficient according to a preset incrementing or decrementing formula, and to calculate the real-time loading value using the updated loading coefficient and the receiver noise power. The array anti-interference processing module is used to acquire snapshot array data of the array antenna, construct a diagonal loading correlation matrix based on the snapshot array data and the real-time loading value, solve the array weighting value of the diagonal loading correlation matrix through an adaptive zeroing algorithm, and process the snapshot array data using the array weighting value to obtain the array anti-interference signal. The feedback factor construction module is used to obtain the accuracy factor of the currently visible satellite and the carrier-to-noise ratio of each currently visible satellite based on the array anti-interference signal, and to construct a feedback factor reflecting the current anti-interference performance based on the accuracy factor and the carrier-to-noise ratio. The loading value update optimization module is used to compare the current feedback factor with the feedback factor before the last loading coefficient update, adjust the counter value according to the comparison result, and when the counter value reaches a preset threshold, reverse the update direction of the loading coefficient and continue to update the loading coefficient to achieve closed-loop adaptive optimization of the loading value.

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