Array antenna applied to high-precision anti-interference of Beidou navigation and implementation method
Patent Information
- Application Number
- CN202611217282.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-08-12
- Publication Date
- 2026-10-16
AI Technical Summary
其中为期望信号来向
对应的阵列导向矢量，但该约束与图2所示的主/副通道物理架构直接冲突：因主通道固定为参考输出、仅3个副通道参与权重更新，权向量ω维度为3，施加1个等式约束后，系统自由度降至2维，最大可抑制干扰数降为M−2 = 2个，若需恢复M−1=3个干扰的抑制能力，则必须增加阵元数量，导致ADC通道、射频前端、时序同步电路等硬件资源成倍增长，显著抬升系统成本与体积，难以工程化部署
本发明在不增加天线阵元、硬件通道、ADC采样模块及存储模块的前提下，通过开关重构与本地参考信号注入，实现了若干个阵元天线对若干个减一个干扰来向的精确抑制，同时确保北斗导航信号在期望方向上不失真；有效维持载波相位观测量的连续性与稳定性，满足RTK高精度定位对亚毫米级相位一致性的要求；显著降低系统成本与体积，提升工程部署可行性。
Smart Images
Figure CN122923016A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of BeiDou navigation technology, and specifically relates to an array antenna and its implementation method for high-precision anti-interference in BeiDou navigation. Background Technology
[0002] To achieve high-precision RTK (Real-Time Kinematic) positioning in highly dynamic and interference-prone environments, the BeiDou Navigation Satellite System requires receivers with strong anti-interference capabilities and high navigation signal fidelity.
[0003] Existing adaptive array anti-jamming technologies generally employ multi-element antenna structures, with typical implementations such as... Figure 2 As shown: The system is configured with M=4 antenna elements, corresponding to 4 independent hardware channels; the 4th channel is designated as the main channel, and the remaining 1st to 3rd channels are used as secondary channels; both the main and secondary channels store and output the corresponding ADC channel's actual sampled data (sampled by 4 ADC sampling modules); all ADC channel sampled data are sent to the RLS algorithm module, which executes the following algorithm steps: S1. Initialize the weight vector ω and the inverse covariance matrix P to obtain the following formula: P ; In the formula, ω is a 3x1 vector, ω(0) represents the initial value of ω, which defaults to a vector of 0; P(0) represents the initial value of P, which defaults to a vector of 0. , Let I be the root mean square value of the input signal u, and let I be a 3×3 identity matrix. S2. For each time step n = 1, 2, ..., calculate the process variable g(n) using the following formula: ; In the formula, H is the conjugate transpose, u is the input matrix of the anti-interference system, which is a matrix with 4 rows and infinite columns; λ is the forgetting factor, which is generally a fixed value between 0.95 and 0.99; P is a 3×3 matrix, which is physically the inverse matrix of the covariance of the sub-channel input signal (i.e., the sub-vector formed by the first 3 rows of u(n)); P(n-1) is the value of matrix P after updating at time n-1; u is the input matrix of the anti-interference system, which is a matrix with 4 rows and infinite columns, each of which represents the synchronous output value of the 4 ADC channels at a sampling time, i.e., u(n) is the 4×1 column vector corresponding to this matrix at time n, and its k-th row (k=1,2,3,4) represents the real sampled data input from ADC channel k; S3. Update the error function : ; In the formula, d(n) is the value of the 4th row of the input signal u matrix at time n, that is, the main channel sample value. This value is directly involved in the error calculation, but does not participate in the construction of the sub-channel part in u(n); S4. Update weight vector : ; S5. Update the covariance matrix P(n): P ; S6. Return to step S1 and iterate to calculate the value at the next n time step. The above method, i.e., using RLS calculation, solves for the error function. The weight vector with the minimum mean square error That is, calculation: ] ; The above algorithm steps have been widely used to achieve M-1 interferences for M array elements. In this example, M=4, which can resist 3 interferences. However, when used in the BeiDou navigation field, this algorithm can only achieve positioning with ordinary accuracy and cannot achieve high-precision RTK positioning. The reason is that the algorithm adjusts the total vector ω to minimize the output power. While suppressing interference, the navigation signal is also distorted due to the operation of the total vector. To solve the above problems, the current approach is to add constraints, as follows: ; in For the direction of the desired signal The corresponding array guide vector, but this constraint is related to Figure 2 The physical architecture of the main / sub-channel shown directly conflicts: since the main channel is fixed as the reference output and only 3 sub-channels participate in the weight update, the weight vector ω has a dimension of 3. After applying one equality constraint, the system's degree of freedom is reduced to 2 dimensions, and the maximum number of suppressable interferences is reduced to M−2 = 2. If the ability to suppress M−1 = 3 interferences needs to be restored, the number of array elements must be increased, resulting in a multiple increase in hardware resources such as ADC channels, RF front-end, and timing synchronization circuits, significantly increasing the system cost and size, and making it difficult to deploy in an engineering manner. Summary of the Invention
[0004] (a) Technical problems to be solved To address the aforementioned technical problems, this invention provides an array antenna and its implementation method for high-precision anti-interference in BeiDou navigation.
[0005] (II) Technical Solution This invention is achieved through the following technical solution: On the one hand, the present invention proposes an array antenna for high-precision anti-interference of Beidou navigation. The array antenna includes N antenna elements, N hardware channels, N ADC sampling modules, N secondary storage modules, a main storage module, an RLS algorithm module, an interpolation filter, and an RNSS navigation receiver, where N is a natural number greater than or equal to 2. Among them, N-1 antenna elements out of N antenna elements are connected to the RLS algorithm module in sequence through their respective N-1 hardware channels, N-1 ADC sampling modules, and N-1 secondary storage modules to form a secondary storage unit. The remaining antenna element forms a main-secondary collaborative storage unit through its directly connected hardware channel, ADC sampling module, secondary storage module, and main storage module; The RLS algorithm module is connected to the RNSS navigation receiver via an interpolation filter; It also includes a signal switch, a data switch, a switching switch, a local pseudo-code generator, a local carrier generator, and a same-frequency and same-phase virtual signal generation module; The secondary storage module in the primary-secondary collaborative storage unit is connected to the RLS algorithm module via a data switch; The ADC sampling module in the primary and secondary collaborative storage unit is connected to the primary storage module and the secondary storage module respectively via a switching switch; The RNSS navigation receiver is connected to the same-frequency and same-phase virtual signal generation module via a local pseudo-code generator and a local carrier generator, respectively. The same frequency and phase virtual signal generation module is connected to the main storage module via a signal switch.
[0006] On the other hand, this invention also proposes a method for implementing an array antenna for high-precision anti-interference in BeiDou navigation. Based on the above-mentioned implementation of an array antenna for high-precision anti-interference in BeiDou navigation, it includes the following steps: S1: The switching switch connects the ADC sampling module in the main and secondary collaborative storage unit to the main storage module; S2: Data switch is in the off state; S3: The signal switch is in the off state; S4: The system uses the ADC sampling module in the primary and secondary collaborative storage unit as the main channel; S5: The system uses the remaining N-1 secondary storage modules as secondary channels; S6: The RLS algorithm module performs traditional anti-interference calculations; S7: The interference-filtered signal output by the RLS algorithm module is sent to the RNSS navigation receiver via an interpolation filter; S8: The RNSS navigation receiver performs satellite signal tracking and demodulation; S9: After the RNSS navigation receiver completes the initial positioning, it outputs the satellite pseudocode phase parameters and carrier phase parameters obtained from tracking to the local pseudocode generator in reverse order. S10: After the RNSS navigation receiver completes the initial positioning, it outputs the satellite pseudocode phase parameters and carrier phase parameters obtained from tracking to the local carrier generator in reverse order. S11: Local pseudocode generator drives the same-frequency and same-phase virtual signal generation module; S12: Local carrier generator drives the same-frequency and in-phase virtual signal generation module; S13: The same frequency and phase virtual signal generation module generates a local reference signal that is consistent with the signal stored in the main storage module in terms of carrier frequency and pseudocode phase; S14: Use the switch to adjust the connection direction so that the ADC sampling module in the main and secondary collaborative storage unit is connected to the secondary storage module; S15: The data switch is in the closed state; S16: The signal switch is in the closed state; S17: A new signal path is formed, which includes one data input from the main memory module; S18: A new signal path is formed, which contains N data inputs from the secondary storage module; S19: The data output by the main storage module is synchronized with the data output by the N-way secondary storage modules in terms of carrier frequency and pseudocode phase; S20: The RLS algorithm module generates an output signal based on 1 data source from the main storage module and N data sources from N secondary storage modules.
[0007] (III) Beneficial Effects This invention, without increasing antenna array elements, hardware channels, ADC sampling modules, and storage modules, achieves precise suppression of several interference directions by several array element antennas through switch reconstruction and local reference signal injection, while ensuring that the BeiDou navigation signal is not distorted in the desired direction; effectively maintains the continuity and stability of carrier phase observations, meeting the requirements of RTK high-precision positioning for sub-millimeter-level phase consistency; significantly reduces system cost and size, and improves the feasibility of engineering deployment. Attached Figure Description
[0008] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a system block diagram of the present invention.
[0009] Figure 2 This is a system block diagram of the existing adaptive array anti-interference system of the present invention. Detailed Implementation
[0010] Reference Figure 1 As shown, on the one hand, the present invention proposes an array antenna for high-precision anti-interference of Beidou navigation. The array antenna includes N antenna elements, N hardware channels, N ADC sampling modules, N secondary storage modules, a main storage module, an RLS algorithm module, an interpolation filter, and an RNSS navigation receiver, where N is a natural number greater than or equal to 2. Among them, N-1 antenna elements out of N antenna elements are connected to the RLS algorithm module in sequence through their respective N-1 hardware channels, N-1 ADC sampling modules, and N-1 secondary storage modules. The remaining antenna element forms a main-secondary collaborative storage unit through its directly connected hardware channel, ADC sampling module, secondary storage module, and main storage module; The RLS algorithm module is connected to the RNSS navigation receiver via an interpolation filter; It also includes a signal switch, a data switch, a switching switch, a local pseudo-code generator, a local carrier generator, and a same-frequency and same-phase virtual signal generation module; The secondary storage module in the primary-secondary collaborative storage unit is connected to the RLS algorithm module via a data switch; The ADC sampling module in the primary and secondary collaborative storage unit is connected to the primary storage module and the secondary storage module respectively via a switching switch; The RNSS navigation receiver is connected to the same-frequency and same-phase virtual signal generation module via a local pseudo-code generator and a local carrier generator, respectively. The same frequency and phase virtual signal generation module is connected to the main storage module via a signal switch.
[0011] On the other hand, this invention also proposes a method for implementing an array antenna for high-precision anti-interference in BeiDou navigation. Based on the above-mentioned implementation of an array antenna for high-precision anti-interference in BeiDou navigation, it includes the following steps: The antenna array consists of four elements: four hardware channels, four ADC sampling modules, four secondary storage modules, one main storage module, one RLS algorithm module, one interpolation filter, and one RNSS navigation receiver. Three of the four antenna array elements are connected to the RLS algorithm module in sequence via their respective three directly connected hardware channels, three ADC sampling modules, and three secondary storage modules, forming a secondary storage unit. The remaining antenna element forms a main-secondary collaborative storage unit through its directly connected hardware channel, ADC sampling module, secondary storage module, and main storage module; S1: The switching switch connects the ADC sampling module in the main and secondary collaborative storage unit to the main storage module; S2: Data switch is in the off state; S3: The signal switch is in the off state; S4: The system (here, the system refers to the Beidou navigation high-precision anti-interference system, and applies the above array antenna) uses the ADC sampling module in the main and secondary collaborative storage unit as the main channel; S5: The system uses the remaining N-1 (3) secondary storage modules as secondary channels; S6: The RLS algorithm module performs traditional anti-interference operations, specifically: S61. Initialize the weight vector Inverse Covariance Matrix The following formula is obtained: , ; In the formula, Given a 4x1 vector, Represented as The initial value is a vector of 0 by default; express The initial value is , which defaults to . , Input signal The root mean square value of I, where I is a 4×4 identity matrix; S62. For each time step n=1, 2, ..., calculate the process variables. The formula is: ; In the formula, H is the conjugate transpose. The input matrix of the anti-interference system is a matrix with 5 rows and infinite columns; λ is the forgetting factor, which is generally a fixed value between 0.95 and 0.99. It is a 4×4 matrix, physically representing the secondary channel input signal (i.e. The inverse matrix of the covariance of the subvectors formed by the first 4 rows of (n); Mode The value of the matrix after the update at time n-1; The input matrix of the anti-interference system is a 5x∞ matrix, where each column represents the synchronous output value of the 5 ADC channels at a sampling time. (n) is the 5×1 column vector corresponding to the matrix at time n, and its k-th row (k=1,2,3,4,5) represents the real sampled data input from ADC channel k; S63. Update Error Function : ; In the formula, It is the input signal The value of the 5th row of the matrix at time n, i.e., the main channel sample value, is directly involved in error calculation but not in error propagation. Construction of the secondary channel portion in (n); S64. Update weight vector : ; S65. Update the covariance matrix : ; S66. Return to step S1 and iterate to calculate the value at the next n-time point. The above method, i.e., using RLS calculation, solves for the error function. The weight vector with the minimum mean square error That is, calculation: ] ; S7: The interference-filtered signal output by the RLS algorithm module is sent to the RNSS navigation receiver via an interpolation filter; S8: The RNSS navigation receiver performs satellite signal tracking and demodulation; S9: After the RNSS navigation receiver completes the initial positioning, it outputs the satellite pseudocode phase parameters and carrier phase parameters obtained from tracking to the local pseudocode generator in reverse order. S10: After the RNSS navigation receiver completes the initial positioning, it outputs the satellite pseudocode phase parameters and carrier phase parameters obtained from tracking to the local carrier generator in reverse order. S11: Local pseudocode generator drives the same-frequency and same-phase virtual signal generation module; S12: Local carrier generator drives the same-frequency and same-phase virtual signal generation module; S13: The same frequency and phase virtual signal generation module generates a local reference signal that is consistent with the signal stored in the main storage module in terms of carrier frequency and pseudocode phase; S14: Use the switch to adjust the connection direction so that the ADC sampling module in the main and secondary collaborative storage unit is connected to the secondary storage module; S15: The data switch is in the closed state; S16: The signal switch is in the closed state; S17: A new signal path is formed, which includes one data input from the main memory module; S18: A new signal path is formed, which contains N data inputs from the secondary storage module; S19: The data output by the main storage module is synchronized with the data output by the N-way secondary storage modules in terms of carrier frequency and pseudocode phase; S20: The RLS algorithm module generates an output signal based on 1 data source from the main storage module and N data sources from N secondary storage modules; The above process involves 5 signal inputs, and the navigation signal among these 5 signals is linearly correlated, possessing 4 degrees of freedom. Therefore, it can be performed under one constraint. Solve Achieving zero-limit points from three sources of interference enables resistance to interference from all three directions, and the navigation signal originates from... The directional signal is distortion-free, thus achieving high-precision RTK positioning while resisting interference from three elements.
[0012] This invention connects the ADC sampling module in the main storage module to the main storage module through the initial configuration of the switching switch, while keeping the data switch and signal switch in the off state. At this time, the system uses the output of the ADC sampling module as the main channel signal and the output of the other three secondary storage modules as the secondary channel signals, forming the basic signal path of the traditional four-element anti-interference architecture. Based on this, the RLS algorithm module performs initial anti-interference calculations, with five signals as input: The first four channels are real-time sampling data from four ADC sampling modules, and the fifth channel is a reference signal stored in the main storage module. The five inputs together constitute a five-dimensional data space. However, due to the inherent correlation between the main channel and the secondary channel signals, the actual effective solution dimension is four-dimensional, which allows the weight vector to be adjusted in the four-dimensional space, thereby constructing three null traps in the spatial domain and suppressing three independent interference directions. After the RNSS navigation receiver completes the initial positioning, the system enters the second stage of operation. The RNSS navigation receiver outputs the satellite pseudocode phase parameters and carrier phase parameters obtained from its tracking back to the local pseudocode generator and local carrier generator. The two together drive the same frequency and phase virtual signal generation module to generate a local reference signal that is completely consistent with the signal stored in the main storage module in terms of carrier frequency and pseudocode phase. Subsequently, the system performs a path reconstruction action, switching the connection direction so that the ADC sampling module in the primary and secondary collaborative storage unit is connected to the secondary storage module; The data switch and the signal switch close synchronously; At this point, the original main channel signal is no longer sent to the main storage module, but is directly connected to its corresponding secondary storage module; The local reference signal output by the same frequency and phase virtual signal generation module is injected into the main storage module via a signal switch and sent to the RLS algorithm module as the fifth input. Ultimately, the RLS algorithm module continues to run under the new path, and its input is still five signals: four data inputs from the secondary storage module and one local reference signal from the primary storage module; Since the local reference signal is strictly consistent with the response of the desired satellite direction, the RLS algorithm module naturally satisfies the steering vector constraint during the solution process, which ensures that the signal response in the desired direction remains unchanged. In the four effective degrees of freedom, one dimension is used to maintain the constraint, while the other three dimensions can still be used for the zero trap configuration, thereby continuing to achieve precise suppression of the three directions of disturbance. The entire process relies on the same set of hardware entities: four antenna array elements, four hardware channels, four ADC sampling modules, four secondary storage modules, one main storage module, one RLS algorithm module, one interpolation filter, one RNSS navigation receiver, as well as the configured switching switches, data switches, signal switches, local pseudocode generator, local carrier generator, and in-phase and in-frequency virtual signal generation module. No new physical components were added, nor were the original connections changed. Only through switch state switching and signal source redirection, a seamless transition from ordinary anti-interference mode to high-precision and high-fidelity anti-interference mode was achieved, ensuring the continuous and stable phase observation of BeiDou navigation signals and supporting the reliable realization of RTK high-precision positioning.
[0013] The technical solution of the present invention has good versatility and scalability. Although the above complete process is carried out with N=4 as a typical embodiment, its core architecture and operating logic are fully applicable to any integer value of N≥2. When N takes other values, the system still consists of N antenna array elements, N hardware channels, N ADC sampling modules, N secondary storage modules, one main storage module, one RLS algorithm module, one interpolation filter, one RNSS navigation receiver, as well as switching switches, data switches, signal switches, local pseudocode generators, local carrier generators, and in-phase and in-frequency virtual signal generation modules. In this system, N-1 antenna elements are connected to the RLS algorithm module via their respective directly connected hardware channels, ADC sampling modules, and secondary storage modules. The remaining antenna element, along with its corresponding hardware channel, ADC sampling module, secondary storage module, and main storage module, forms a main-secondary collaborative storage unit. Initially, the ADC sampling module in this main-secondary collaborative storage unit is connected to the main storage module via a switch. The system uses this channel as the main channel and the remaining N-1 channels as secondary channels. The RLS algorithm module receives N+1 inputs (N ADC sampling data + 1 main storage reference signal). Due to signal correlation, the effective solution dimension is N. After the RNSS navigation receiver completes positioning, the switch reconnects the ADC sampling module to the secondary storage module. The in-phase virtual signal generation module outputs a local reference signal and injects it into the main storage module via a signal switch. At this time, the RLS algorithm module still receives N+1 inputs (N secondary storage module data + 1 main storage reference signal). With one main memory local reference signal, under the premise of applying a steering vector constraint, N-1 independent nulls can still be configured to achieve the ability of N array elements to resist N-1 interference directions. Moreover, it is expected that the navigation signal response of the satellite direction is strictly preserved. Therefore, this invention is not limited to a four-element structure, but provides a high-precision anti-interference array antenna implementation method with unchanged hardware, reconfigurable path, preserved degrees of freedom, and no signal distortion for general array scales of N≥2.
Claims
1. An array antenna for high-precision anti-interference in BeiDou navigation, the array antenna comprising N antenna elements, N hardware channels, N ADC sampling modules, N secondary storage modules, a main storage module, an RLS algorithm module, an interpolation filter, and an RNSS navigation receiver, where N is a natural number greater than or equal to 2; in, N-1 antenna elements out of N antenna elements are connected to the RLS algorithm module in sequence through their respective N-1 hardware channels, N-1 ADC sampling modules, and N-1 secondary storage modules. The remaining antenna element forms a main-secondary collaborative storage unit through its directly connected hardware channel, ADC sampling module, secondary storage module, and main storage module; The RLS algorithm module is connected to the RNSS navigation receiver via an interpolation filter; Its features include: a signal switch, a data switch, a switching switch, a local pseudo-code generator, a local carrier generator, and a same-frequency and same-phase virtual signal generation module; The secondary storage module in the primary-secondary collaborative storage unit is connected to the RLS algorithm module via a data switch; The ADC sampling module in the primary and secondary collaborative storage unit is connected to the primary storage module and the secondary storage module respectively via a switching switch; The RNSS navigation receiver is connected to the same-frequency and same-phase virtual signal generation module via a local pseudo-code generator and a local carrier generator, respectively. The same frequency and phase virtual signal generation module is connected to the main storage module via a signal switch.
2. A method for implementing an array antenna for high-precision anti-interference in BeiDou navigation, based on the array antenna implementation method for high-precision anti-interference in BeiDou navigation as described in claim 1, characterized in that: Includes the following steps: The switching switch connects the ADC sampling module in the primary and secondary collaborative storage unit to the primary storage module; The data switch is in the off state; The signal switch is in the off state; The system uses the ADC sampling module in the primary and secondary collaborative storage unit as the primary channel; The system uses the remaining N-1 secondary storage modules as secondary channels; The RLS algorithm module performs traditional anti-interference operations; The interference-filtered signal output from the RLS algorithm module is sent to the RNSS navigation receiver via an interpolation filter; RNSS navigation receivers perform satellite signal tracking and demodulation; After the RNSS navigation receiver completes the initial positioning, it outputs the satellite pseudocode phase parameters and carrier phase parameters obtained from tracking to the local pseudocode generator in reverse order. After completing the initial positioning, the RNSS navigation receiver outputs the satellite pseudocode phase parameters and carrier phase parameters obtained from its tracking back to the local carrier generator; The local pseudocode generator drives the in-phase and in-frequency virtual signal generation module; The local carrier generator drives the in-phase and in-frequency virtual signal generation module; The same frequency and phase virtual signal generation module generates a local reference signal that is consistent with the signal stored in the main storage module in terms of carrier frequency and pseudocode phase; Adjust the connection direction using the switch so that the ADC sampling module in the primary and secondary collaborative storage unit is connected to the secondary storage module. The data switch is in the closed state; The signal switch is in the closed state; A new signal path is formed, which includes one data input from the main storage module; A new signal path is formed, which contains N data inputs from the secondary storage module; The data output from the main storage module is synchronized with the data output from the N-way secondary storage modules in terms of carrier frequency and pseudocode phase. The RLS algorithm module generates an output signal based on one data stream from the main storage module and N data streams from N secondary storage modules.