CN104459713B - Method of estimation of the satellite navigation receiver to Deceiving interference arrival bearing - Google Patents
Method of estimation of the satellite navigation receiver to Deceiving interference arrival bearing Download PDFInfo
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- CN104459713B CN104459713B CN201410757543.8A CN201410757543A CN104459713B CN 104459713 B CN104459713 B CN 104459713B CN 201410757543 A CN201410757543 A CN 201410757543A CN 104459713 B CN104459713 B CN 104459713B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
- G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of method of estimation of satellite navigation receiver to Deceiving interference arrival bearing, by to array received signal covariance matrix, and the cross-correlation matrix of array received data vector and the postpones signal vector of itself asks poor, obtain the covariance matrix of only interference and noise, so as to estimate the arrival bearing of Deceiving interference, the method can be accurately estimated to the arrival bearing of multiple Deceiving interferences, and computation complexity is low.
Description
Technical field
The invention belongs to Array Signal Processing field, and in particular to a kind of satellite navigation receiver is to Deceiving interference incoming wave
The method of estimation in direction.
Background technology
At present, anti-deception system can be divided into three below link：Fraud detection, deception are eliminated and are reverse-located.Deception
Testing goal is to find cheating interference, and cheating interference can not be taken some countermeasures；It is then in known cheating interference that deception is eliminated
In the presence of, cheating interference impact is mitigated or eliminated, recovers victim receiver normal navigation positioning function；Inverted orientation is
In the presence of deception is found, interference source is carried out alerting and is even destroyed, reach the purpose that physics eliminates cheating interference.There is no at present
The anti-Cheating Technology of inverted orientation is specialized in, due to possessing warfighting capabilities in anti-deception field, can be caused in future studies
More concerns.
The content of the invention
It is an object of the invention to provide a kind of method of estimation of satellite navigation receiver to Deceiving interference arrival bearing.
To reach above-mentioned purpose, technical scheme below is present invention employs：
Improve oneself correlation properties and GPS navigation signal and Deceiving interference of the method for estimation using GPS navigation signal
Strong correlation characteristic, by the covariance matrix to array received signal andDifference is asked only to be included interference with noise
Covariance matrix,For the cross-correlation matrix of array received signal and the postpones signal of array received signal, then by institute
Stating only to include disturbs the covariance matrix with noise to do Eigenvalues Decomposition, so as to obtain the arrival bearing of Deceiving interference.
The method of estimation specifically includes following steps：
1) by array received signal x (n) and reference signalCross-correlation is done, is obtained K
Represent time delay, the value of K is any positive integer times of 1023 chips, n represents sampled point；
2) by the covariance matrix of array received signal andMake the difference, obtain covariance matrix RJv；
3) to covariance matrix RJvEigenvalues Decomposition is done, the signal subspace V of Q dimensions is obtaineds(M-Q) noise tieed up is empty
Between Vn；Q represents covariance matrix RJvIt is more than in the eigenvalue diagonal matrix obtained after doing Eigenvalues DecompositionEigenvalue number
Amount,Noise variance is represented, M represents antenna number；
4) utilization space spectral functionEstimate the azimuth angle theta of Deceiving interferenceq, a (θ) table
Show the steering vector of spectrum peak search.
The mathematical model of the Deceiving interference is：The multiple Deceiving interference J=[J of array received1,J2,…JQ]T, q
Individual Deceiving interference is designated asQ=1,2 ... Q, b (n) they are pilot symbols,It is to be defended by 20 differences
The C/A codes composition of star signal,Length be 20 × 1023 chips,By jammer in the C/A codes of all satellites with
Machine selects to send.
Beneficial effects of the present invention are embodied in：The present invention is by connecing to array received signal covariance matrix, and array
The cross-correlation matrix that signal phasor is received with the postpones signal vector of itself asks poor, obtains the covariance square of only interference and noise
Battle array, so as to estimate the arrival bearing of Deceiving interference, the method can be accurately estimated to the arrival bearing of multiple Deceiving interferences,
And computation complexity is low.
Description of the drawings
Fig. 1 is single GPS symbolic constructions；
Angle estimations of the Fig. 2 for Deceiving interference source；
Fig. 3 is Deceiving interference angle estimation root-mean-square error under the conditions of difference SNR.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is elaborated.
Generally Deceiving interference source constantly randomly chooses the C/A codes for sending different navigation satellite, the interference signal easily and
Navigation satellite signal produces strong correlation, causes receiver to be easy to be misled into and inveigle, so as to provide the location information of mistake.
It was found that in the presence of Deceiving interference, even destroying to carry out alerting to interference source, the purpose that physics eliminates cheating interference is reached,
The present invention proposes a kind of method for estimating Deceiving interference arrival bearing.By to array received signal covariance matrix, with
And the cross-correlation matrix of array received signal phasor and the postpones signal vector of itself asks poor, only interference and noise are obtained
Covariance matrix, so as to estimate the arrival bearing of Deceiving interference.
1) signal model
Under Deceiving interference background, array antenna received to be strong correlation satellite-signal and Deceiving interference conjunction
Into signal, and the white Gaussian noise of statistical iteration.It is assumed that being stable all signals in time slot are observed.The array antenna connects
The mathematical model of the GPS navigation signal of receipts is write and is done：
X (n)=a0s0(n)+βB J(n)+v(n) (1)
Wherein, x (n) represents array received signal, a0It is the steering vector of desired signal,
J represents complex unit, θ0The azimuth of navigation signal is represented, T represents transposition, and M represents the quantity of antenna, and n represents sampled point, and B is Q and takes advantage of
Deceive the steering vector matrix B=[B of formula interference1,B2,…BQ], wherein
θqRepresent the azimuth of Deceiving interference.Desired intracardiac signal s0N () can write s0(n)=b (n) c (n-iTc), c (n-iTc)
It is the chip symbol of the PRN code of i-th satellite, can writesIt is 1023 that 20 length are included in 1ms
C/A code cai, and b (n) is pilot symbol, therefore s0(n)=b (n) ci(n).J represents Deceiving interference, J=[J1,J2,…JQ
]T, q-th Deceiving interference be designated asWhereinBe from the C/A codes of multiple different satellite-signals with
Machine is generated,Length be also 20 × 1023, butTransmission is randomly choosed in the C/A codes of all satellites by jammer,
I.e.β is the amplitude of Q Deceiving interference；V (n) is additive white Gaussian noise vector.
It is assumed that noise is separate with desired signal and Deceiving interference respectively, it is mutually solely between multiple Deceiving interferences
Vertical, and desired signal and Deceiving interference be not separate, then the covariance matrix R of array received signalxxCan write：
Wherein, H represents conjugate transpose, a0For the steering vector of desired signal, RsFor the covariance matrix of desired signal, s is
Desired signal, J is Deceiving interference, RJFor the covariance matrix of Deceiving interference, RvThe covariance matrix of noise is represented, I is single
Position battle array,For noise variance, it can be seen that array received signal covariance matrix not only includes navigation desired signal part, takes advantage of
Formula interference and noise section are deceived, also including navigation desired signal and Deceiving interference relevant portion.
2) Deceiving interference arrival bearing estimates
In order to obtain the arrival bearing of Deceiving interference, desired signal and its related to Deceiving interference is reduced as far as possible
Item estimates the impact for bringing to Deceiving interference arrival bearing.First, build reference signal as follows：By time delay any 1023 chips
Data x (n-K) of positive integer times are used as reference signal：
In formula (3), time delay K takes any positive integer times of 1023 chips.This is due to single gps data symbol bit structures
(as shown in Figure 1), C/A codes are repeated 20 times in 1 bit, i.e.,
Either array received signal x (n) is also with reference to signalDesired signal therein, Deceiving interference have
There is strong autocorrelation, and desired signal is not separate with Deceiving interference.Noise item is equal with desired signal and Deceiving interference
Separate, each array element (i.e. antenna) receives white Gaussian noise of the noise for statistical iteration, and between the noise of different periods
Also it is orthogonal, and dependency very little between the Deceiving interference of different periods, can ignore.Then, by array received signal
The cross-correlation matrix that cross-correlation, array received signal and reference signal are done with reference signal can be write：
Array received signal with the cross-correlation matrix of reference signal isIt also includes desired signal item ARsAHAnd the phase
Hope signal and Deceiving interference continuous item AE [s JH]BH+BE[J sH]AHThe two parts.The cross-correlation matrixNo longer wrap
Noise item and distracter, this is due to reference signalAnd the noise of array received signal x (n) different periods between, with
And the Deceiving interference of different periods orthogonal is caused.
Next, the cross-correlation matrix shown in the covariance matrix shown in formula (2) and formula (4) is made the difference：
Now, covariance matrix RJvOnly comprising interference and noise, so as to eliminate desired signal and its and Deceiving interference
Impact of the continuous item in covariance matrix shown in formula (2).Again to the covariance matrix R shown in formula (5)JvDo eigenvalue point
Solution, i.e.,
In formula (6), eigenvalue diagonal matrix Λ=diag { λ1,λ2,…,λM, corresponding feature matrix V=[v1,
v2,…,vM].By eigenvalue according to descending sequenceWherein front Q big spy
Value indicative Λs=diag { λ1,λ2,…,λQ, corresponding feature matrix Vs=[v1,v2,…,vQ], remaining little eigenvalue pair
Feature matrix V answeredn=[vQ+1,vQ+2,…,vM].Wherein Vs=[v1,v2..., vQ] and Vn=[vQ+1,vQ+2,…,vM] point
It is not the signal subspace that Q is tieed up and the noise subspace that (M-Q) is tieed up.
Due to VsOnly, V relevant with interferencenIt is orthogonal with the array steering vector of interference radiating way.Finally, utilization space spectral function
Estimate Deceiving interference azimuth：
Spectrum peak search is carried out to space spectral function, it is exactly Deceiving interference azimuth angle theta that maximum is correspondingqEstimated value.a
(θ) spectrum peak search steering vector is represented, the scope of θ is from -90 ° to 90 °, with the angle variable quantity of a fixed step size to spatial spectrum letter
Number carries out spectrum peak search, and obtains the angle information corresponding to maximum point.
3) experiment simulation
Assume that single gps satellite is located at 30 °, the power of actual signal is -128.5dBm, and white Gaussian noise is -174dBm/
Hz, the power of interference is -123dBm., from 30 degree, point frequency disturbed one is from 65 degree for signal.Run out of directional diagram.Signal power ratio
The low 20dB of receiver thermal noise power, 4 Deceiving interference direction of arrival respectively from -60 °, -35 °, 0 ° and 55 °, divide by amplitude
5.5dB not high than LOSS signal amplitude.Deceiving interference constantly sends different PRN-sequences at random.It is uniform using half-wavelength
The 10 array element linear arrays placed, estimate the azimuth of Deceiving interference using method proposed by the present invention, as a result as shown in Figure 2.Can
To find out, the inventive method can correctly estimate the azimuth information of 4 Deceiving interferences.
Deceiving interference signal DOA estimation standard deviation R is defined as：
Wherein, H is Monte-Carlo experiment numbers, and Q is Deceiving interference number；θq,θqhThe in respectively testing every time
Azimuthal actual value of q Deceiving interference and estimated value.Fig. 3 is cheated under the conditions of showing different input signal-to-noise ratios (SNR)
The root-mean-square error of the angle estimation of formula interference.The situation that antenna number M is 9,12 and 15 has been investigated in experiment respectively, it can be seen that
When SNR is certain, array element number is more, and its root-mean-square error is less.When it is less than 1 degree to reach root-mean-square error, to being input into SNR
Requirement be M=9,12 and 15 from high to low successively.
The present invention proposes the method that GPS reverse-locates Deceiving interference, can be provided without local C/A codes solution
In the case of expansion, using signal and signal, signal and the strong correlation characteristic of Deceiving interference, obtain only comprising interference and noise
Covariance matrix, then by doing Eigenvalues Decomposition to the covariance matrix, so as to obtain Deceiving interference arrival bearing.The party
Method can be accurately estimated to the arrival bearing of multiple Deceiving interferences, and computation complexity is low.The emulation reality be given in text of the invention
Example illustrates the effectiveness of the method.
Claims (3)
1. method of estimation of a kind of satellite navigation receiver to Deceiving interference arrival bearing, it is characterised in that：The method of estimation
Using the strong correlation characteristic of improve oneself correlation properties and GPS navigation signal and the Deceiving interference of GPS navigation signal, by being poised for battle
Row receive signal covariance matrix andDifference is asked only to be included the covariance matrix of interference and noise,For battle array
Row receive the cross-correlation matrix of the postpones signal of signal and array received signal, then by only including interference and making an uproar to described
The covariance matrix of sound does Eigenvalues Decomposition, so as to obtain the arrival bearing of Deceiving interference.
2. method of estimation of a kind of satellite navigation receiver to Deceiving interference arrival bearing according to claim 1, which is special
Levy and be：The method of estimation specifically includes following steps：
1) by array received signal x (n) and reference signalCross-correlation is done, is obtained K is represented
Time delay, the value of K is any positive integer times of 1023 chips, and n represents sampled point；
2) by the covariance matrix of array received signal andMake the difference, obtain covariance matrix RJv；
3) to covariance matrix RJvEigenvalues Decomposition is done, the signal subspace V of Q dimensions is obtaineds(M-Q) the noise subspace V for tieing upn；
Q represents covariance matrix RJvIt is more than in the eigenvalue diagonal matrix obtained after doing Eigenvalues DecompositionEigenvalue quantity,Noise variance is represented, M represents antenna number；
4) utilization space spectral functionEstimate the azimuth angle theta of Deceiving interferenceq, a (θ) expression spectrums
The steering vector of peak search.
3. method of estimation of a kind of satellite navigation receiver to Deceiving interference arrival bearing according to claim 1, which is special
Levy and be：The mathematical model of the Deceiving interference is：The multiple Deceiving interference J=[J of array received1,J2,…JQ]T, q-th
Deceiving interference is designated asQ=1,2 ... Q, b (n) they are pilot symbols,It is by 20 different satellites
The C/A codes composition of signal,Length be 20 × 1023 chips,It is random in the C/A codes of all satellites by jammer
Select to send.
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| CN106950539B (en) * | 2017-03-03 | 2020-05-12 | 长沙理工大学 | High-precision anti-GPS tracking module positioning identification method based on time difference method |
| CN109743078B (en) * | 2019-01-11 | 2020-12-04 | 河南宏泰控飞信息技术有限公司 | Unmanned aerial vehicle frequency hopping remote control signal detection and reception method and device based on array antenna |
| CN112578407B (en) * | 2020-11-24 | 2023-11-10 | 中国电子科技集团公司第二十研究所 | Low-complexity satellite navigation anti-deception method |
| CN113075613B (en) * | 2021-03-24 | 2024-01-19 | 东南大学 | Interference direction finding method in satellite mobile communication system |
| CN113050127B (en) * | 2021-04-13 | 2024-01-02 | 广州海格通信集团股份有限公司 | Signal processing method, apparatus, computer device and storage medium |
| CN113759392B (en) * | 2021-08-23 | 2023-08-18 | 中国民航大学 | Robust GNSS interference source positioning method based on flight big data |
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| CN102508213B (en) * | 2011-11-04 | 2013-09-25 | 西安电子科技大学 | Wavebeam domain adaptive interference suppression method based on null trough widening |
| CN103941267A (en) * | 2014-03-17 | 2014-07-23 | 中国民航大学 | Satellite navigation deception interference suppression method combined with denoising and DOA estimation |
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