CN107525523A - Satellite navigation auxiliary SINS carries out the method and device of initial azimuth alignment - Google Patents
Satellite navigation auxiliary SINS carries out the method and device of initial azimuth alignment Download PDFInfo
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- CN107525523A CN107525523A CN201710732472.XA CN201710732472A CN107525523A CN 107525523 A CN107525523 A CN 107525523A CN 201710732472 A CN201710732472 A CN 201710732472A CN 107525523 A CN107525523 A CN 107525523A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention provides the method and device that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment, it is related to the technical field of satellite navigation, this method includes：Pass through array antenna received multi-channel rf signal；Every road radiofrequency signal is handled, export digital medium-frequency signal, the how blind wave beam anti-interference process of space-time is carried out to digital medium-frequency signal and result is demodulated and resolved, construct multigroup carrier wave pseudorange, carrier phase difference is done to multigroup carrier wave pseudorange, calculate position vector and carry out Coordinate Conversion, draw azimuth, aid in SINS to carry out initial azimuth alignment according to azimuth.Satellite navigation auxiliary SINS provided by the invention carries out the method and device of initial azimuth alignment, effectively overcome in the prior art because Magnetic Sensor precision initial orientation caused by by surrounding environment influence is difficult the technical problem that is accurately aligned, and it is applied widely, it can also aid in SINS to complete initial azimuth alignment under strong electromagnetic interference environment.
Description
Technical field
The present invention relates to the technical field of satellite navigation, and initial side is carried out more particularly, to a kind of satellite navigation auxiliary SINS
The method and device of position alignment.
Background technology
With MEMS (MEMS, Micro-Electro-Mechanical System, MEMS) technology
Develop rapidly, the strapdown inertial navigation system based on MEMS constructions designs (SINS, Strapdown inertial
Navigation system, strapdown inertial navigation system) have become the solution that inertial navigation generally uses.SINS works
As principle be by gather the sensing datas such as gyroscope and accelerometer carry out recursion resolve obtain the position of carrier, speed and
Attitude information, therefore SINS needs to complete the work being initially aligned at the beginning of navigation is started.
According to different definition, initial alignment has different classification.Classify by alignment procedures, initial alignment includes coarse alignment
With two processes of fine alignment；Wherein, coarse alignment divides horizontal aligument and alignment of orientation again.Based on MEMS construction SINS due to its from
The limitation of body gyroscope precision can not perceive earth rotation movement, therefore can not realize initial orientation using conventional analytic method
Coarse alignment process.
For alignment of orientation problem, SINS mainly completes orientation pair using magnetic field sensors such as integrated electronic compass at present
Quasi- work.But because Magnetic Sensor output accuracy is easily affected by the surrounding environment, and soft magnetism effect and Hard Magnetic effect be present, very
Hardly possible carries out accurate error compensation to it, so as to strongly limit magnetic field sensor in SINS system initial orientation coarse alignments
Using.
For above-mentioned because Magnetic Sensor precision is easily by surrounding environment influence, it is difficult accurately to be aligned to cause initial orientation
Technical problem, effective solution is not yet proposed at present.
The content of the invention
In view of this, it is an object of the invention to provide the side that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment
Method and device, with overcome in the prior art Magnetic Sensor precision easily influenceed by periphery electromagnetic environment, cause SINS systems initial
Orientation is difficult the technical problem being accurately aligned.
In a first aspect, the embodiments of the invention provide the side that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment
Method, including：By array antenna received multi-channel rf signal, every road radiofrequency signal is handled, exports digital medium-frequency signal,
Wherein, array antenna includes multiple antenna element, includes satellite-signal and interference signal per road radiofrequency signal；According to digital intermediate frequency
Signal carries out the how blind wave beam anti-interference process of space-time, exports the anti-interference intermediate-freuqncy signal of blind wave beam；The anti-interference intermediate frequency of blind wave beam is believed
Number it is demodulated and resolves, output satellite ephemeris and base band observed quantity；Wherein, base band observed quantity include satellite spreading code pseudorange and
Carrier integration doppler information；Multigroup carrier wave pseudorange is constructed according to base band observed quantity, and carrier wave phase is done to multigroup carrier wave pseudorange
Position difference processing, calculates the position vector between any two antenna element；Coordinate Conversion is carried out to position vector, calculated every
Azimuth corresponding to individual position vector difference；SINS is aided in carry out initial azimuth alignment according to azimuth.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, on
State and aid in SINS progress initial azimuth alignments to include according to azimuth：Geometric average is carried out according to geometrical-restriction relation azimuthal
Processing, to reduce azimuthal measurement variance；Azimuth auxiliary SINS after being handled according to geometric average carries out initial orientation pair
It is accurate.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, on
It is four array element square formations to state array antenna, and antenna element is four, and the spacing of the two neighboring antenna element of four array element square formations is ripple
Long 0.5 times；Radiofrequency signal is four tunnels, and digital medium-frequency signal is four tunnels.
With reference to second of possible embodiment of first aspect, the embodiments of the invention provide the third of first aspect
Possible embodiment, wherein, it is above-mentioned to be included according to the digital medium-frequency signal progress how blind wave beam anti-interference process of space-time：By numeral
Intermediate-freuqncy signal carries out Frequency mixing processing with complex carrier signal caused by the first local intermediate frequency oscillator, produces zero-frequency envelope and high-frequency envelope；
The low-pass filtered device of digital medium-frequency signal after Frequency mixing processing is filtered out into high-frequency envelope and leaves zero-frequency envelope, wherein, zero-frequency envelope
Including four road signals；The how blind wave beam anti-interference process of space-time is carried out to zero-frequency envelope signal.
With reference to the third possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, wherein, the above-mentioned how blind wave beam anti-interference process of space-time includes the blind wave beam anti-interference process of multiple lists, single blind
Wave beam anti-interference process includes：It is all the way the reference signal of single blind wave beam self-adaptive processing algorithm, choosing to select in four road signals
It is the input signal of single blind wave beam self-adaptive processing algorithm median filter to select other three roads signals in four road signals；It is blind to establish space-time
Wave beam self-adaptive processing algorithm model；Filtering interference signals all the way are exported according to the blind wave beam self-adaptive processing algorithm model of space-time,
Retain the anti-interference intermediate-freuqncy signal of blind wave beam of satellite-signal.
With reference to the 4th kind of possible embodiment of first aspect, the embodiments of the invention provide the 5th of first aspect kind
Possible embodiment, wherein, before the anti-interference intermediate-freuqncy signal of blind wave beam is demodulated and resolved, the above method also includes：
Complex carrier signal caused by the anti-interference intermediate-freuqncy signal of blind wave beam and the second local intermediate frequency oscillator is subjected to Frequency mixing processing；By Frequency mixing processing
The anti-interference intermediate-freuqncy signal of blind wave beam afterwards is filtered processing through bandpass filter；In anti-interference to the blind wave beam after filtering process
Frequency signal is demodulated and resolved.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 6th of first aspect kind, wherein, on
State and the anti-interference intermediate-freuqncy signal of blind wave beam is demodulated and resolving includes：Satellite-signal is captured, obtains satellite-signal code
The coarse value of phase and carrier frequency；Processing is tracked to the satellite-signal after acquisition success, exports millisecond integrated value；To milli
Second integrated value carries out bit synchronous and frame synchronization process, so that satellite-signal periodically exports navigation message and base band observation
Amount；Any group of base band observed quantity is selected, carries out satellite position and speed with reference to satellite ephemeris and navigation message, and carrier connects
The position of receipts machine and the resolving of speed.
Second aspect, the embodiment of the present invention additionally provide the dress that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment
Put, including：Rf signal reception module, for by array antenna received multi-channel rf signal, being carried out to every road radiofrequency signal
Processing, digital medium-frequency signal is exported, wherein, array antenna includes multiple antenna element, includes satellite-signal per road radiofrequency signal
And interference signal；Anti-interference process module, for carrying out the how blind wave beam anti-interference process of space-time, output according to digital medium-frequency signal
The blind anti-interference intermediate-freuqncy signal of wave beam；Demodulation resolves module, for the anti-interference intermediate-freuqncy signal of blind wave beam to be demodulated and settled accounts,
Output satellite ephemeris and base band observed quantity；Wherein, base band observed quantity includes satellite spreading code pseudorange and carrier integration Doppler believes
Breath；Position vector computing module, for constructing multigroup carrier wave pseudorange according to base band observed quantity, and multigroup carrier wave pseudorange is carried
Wave phase difference processing, calculate the position vector between any two antenna element；Azimuthal angle calculation module, for being sweared to position
Amount carries out Coordinate Conversion, calculates azimuth corresponding to each position vector difference；Alignment of orientation module, for according to azimuth
SINS is aided in carry out initial azimuth alignment.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, on
Alignment of orientation module is stated to be additionally operable to：Geometric average processing is carried out according to geometrical-restriction relation azimuthal, it is azimuthal to reduce
Measure variance；Azimuth auxiliary SINS after being handled according to geometric average carries out initial azimuth alignment.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of second of second aspect, wherein, on
It is four array element square formations to state array antenna, and antenna element is four, and the spacing of the two neighboring antenna element of four array element square formations is ripple
Long 0.5 times；Radiofrequency signal is four tunnels, and digital medium-frequency signal is four tunnels.
The embodiment of the present invention brings following beneficial effect：
A kind of satellite navigation auxiliary SINS provided in an embodiment of the present invention carries out the method and device of initial azimuth alignment, leads to
Cross and the radiofrequency signal of array antenna received is handled, after exporting digital medium-frequency signal, space-time is carried out to digital medium-frequency signal
More blind wave beam anti-interference process, exports the anti-interference intermediate-freuqncy signal of blind wave beam, is being demodulated and is resolving, output satellite ephemeris and base
Band observed quantity, then the calculating of position vector is carried out, by carrying out Coordinate Conversion to position vector, calculate each position vector pair
The azimuth answered, and then initial azimuth alignment is carried out to auxiliary SINS according to the azimuth.Without magnetic in calculating process
Sensor measures, and effectively overcomes in the prior art because Magnetic Sensor precision is easily by surrounding environment influence, caused
Initial orientation is difficult the technical problem being accurately aligned, and applied widely, be able to can also be aided under strong electromagnetic interference environment
SINS completes initial azimuth alignment..
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those skilled in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the method flow diagram that a kind of auxiliary SINS provided in an embodiment of the present invention carries out initial azimuth alignment；
Fig. 2 realizes block diagram for a kind of satellite signal receiver provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of four array element square formation provided in an embodiment of the present invention；
Fig. 4 is a kind of implementation process figure of the blind wave beam anti-interference process of space-time provided in an embodiment of the present invention；
Fig. 5 is a kind of algorithm model figure of the blind wave beam self-adaptive processing of space-time provided in an embodiment of the present invention；
Fig. 6 is a kind of composition structural representation of base band demodulating provided in an embodiment of the present invention；
Fig. 7 is the structural representation for the device that a kind of auxiliary SINS provided in an embodiment of the present invention carries out initial azimuth alignment
Figure.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those skilled in the art institute under the premise of creative work is not made
The every other embodiment obtained, belongs to the scope of protection of the invention.
At present, Technique of Satellite Navigation and Positioning is due to having the characteristics that positioning precision is high, round-the-clock, Global coverage, and wide
General application.Generally, by carrying out carrier phase difference split-phase to localization process to two and above satellite antenna, load can be calculated
Body orientation.But satellite navigation signals are because its long transmission distance, transmission loss are big, easily intentionally and it is not intended to penetrate by various
Frequency signal interference, it can not even be worked so that the signal to noise ratio of receiver reception signal declines.Based on this, the embodiment of the present invention carries
Supply a kind of satellite navigation auxiliary SINS to carry out the method and device of initial azimuth alignment, to overcome the interference of radiofrequency signal, entered
And SINS is aided in carry out initial azimuth alignment.
For ease of understanding the present embodiment, a kind of satellite navigation disclosed in the embodiment of the present invention is aided in first
The method that SINS carries out initial azimuth alignment describes in detail.
Embodiment one：
The embodiments of the invention provide the method that a kind of satellite navigation auxiliary SINS carries out initial azimuth alignment, such as Fig. 1 institutes
A kind of satellite navigation auxiliary SINS shown carries out the method flow diagram of initial azimuth alignment, comprises the following steps：
Step S102, by array antenna received multi-channel rf signal, every road radiofrequency signal is handled, output numeral
Intermediate-freuqncy signal；
Wherein, the process handled every road radiofrequency signal can include being amplified at frequency conversion every road radiofrequency signal
Reason, analog if signal is exported, and AD samplings are carried out to the analog if signal, and then export digital medium-frequency signal, its is specific
Processing procedure, may be referred to associated materials of the prior art, the embodiment of the present invention is not limited to this.
Wherein, above-mentioned array antenna includes multiple antenna element, includes satellite-signal and interference signal per road radiofrequency signal；
Step S104, the how blind wave beam anti-interference process of space-time is carried out according to digital medium-frequency signal, it is anti-interference to export blind wave beam
Intermediate-freuqncy signal；
Step S106, the anti-interference intermediate-freuqncy signal of blind wave beam is demodulated and resolved, output satellite ephemeris and base band observation
Amount；
Wherein, above-mentioned base band observed quantity includes satellite spreading code pseudorange and carrier integration doppler information；
Step S108, multigroup carrier wave pseudorange is constructed according to base band observed quantity, and carrier phase is done to multigroup carrier wave pseudorange
Difference processing, calculate the position vector between any two antenna element；
Step S110, Coordinate Conversion is carried out to position vector, calculate azimuth corresponding to each position vector difference；
Step S112, SINS is aided in carry out initial azimuth alignment according to azimuth.
The method that a kind of satellite navigation auxiliary SINS provided in an embodiment of the present invention carries out initial azimuth alignment, by being poised for battle
The radiofrequency signal that array antenna receives is handled, and after exporting digital medium-frequency signal, the how blind ripple of space-time is carried out to digital medium-frequency signal
Beam anti-interference process, the anti-interference intermediate-freuqncy signal of blind wave beam is exported, be demodulated and resolving, output satellite ephemeris and base band observation
Amount, then the calculating of position vector is carried out, by carrying out Coordinate Conversion to position vector, calculate side corresponding to each position vector
Parallactic angle, and then initial azimuth alignment is carried out to auxiliary SINS according to the azimuth.Without Magnetic Sensor in calculating process
Measure, effectively overcome in the prior art because Magnetic Sensor precision is easily by surrounding environment influence, cause initial orientation
It is difficult to the technical problem being accurately aligned, and it is applied widely, it can also aid in SINS to complete just under strong electromagnetic interference environment
Beginning alignment of orientation.
Embodiment two：
The method that the satellite navigation auxiliary SINS that above-described embodiment provides carries out initial azimuth alignment, can apply to satellite
The receiver of navigation Satellite signal, the receiver has multiple antenna element, to receive satellite-signal, meanwhile, also there is letter
Number processing module, e.g., (Field-Programmable Gate Array, field-programmable are patrolled by amplifier, frequency converter, FPGA
Collect gate array) and DSP (Digital Signal Processing, Digital Signal Processing) etc., satellite-signal is put
Greatly, frequency conversion, filtering, and the processing such as demodulation resolving.Based on this, the embodiment of the present invention additionally provides a kind of satellite signal receiving
Machine, the method that the satellite navigation auxiliary SINS described in above-described embodiment one carries out initial azimuth alignment can be realized, as shown in Figure 2
A kind of satellite signal receiver realize block diagram.
First, first the form of the array antenna in the present embodiment is illustrated, in embodiments of the present invention, above-mentioned array
Antenna is preferably four array element square formations, a kind of schematic diagram of four array element square formation as shown in Figure 3, and antenna element is four, four array elements
The spacing of the two neighboring antenna element of square formation is 0.5 times (0.5 λ) of wavelength；Antenna element is designed using the feedback of four feed point bottoms, with
Ensure that phase center is fixed on its geometric center, and then ensure that phase center one isosceles of composition of any three antenna element are straight
Angle triangle, such as the antenna element 1 in Fig. 3, antenna element 2 and antenna element 4, the direction vector definition such as Fig. 3 on its three sides
It is shown.Therefore, the radiofrequency signal of array antenna received is four tunnels, and based on the four tunnels radiofrequency signal, every road radiofrequency signal is carried out
Amplify frequency-conversion processing, export analog if signal, and the digital medium-frequency signal for carrying out AD sampling outputs is also four tunnels.
Based on the array antenna shown in Fig. 3, block diagram is realized in the satellite signal receiver shown in Fig. 2, above-mentioned four gusts
1~antenna element of antenna element 4 of first square formation is used to receive radiofrequency signal (including satellite-signal and interference signal), radiofrequency signal
Received through array antenna each a period of time and be introduced into No. 4 low-noise amplifiers (abbreviation LNA) progress power amplification afterwards, be i.e. in Fig. 2
1~LNA of LNA 4, continue to after amplification radiofrequency signal (RF1~RF4) carry out down-converted formed 4 tunnels simulation
Intermediate-freuqncy signal (IF1_A~IF4_A), wherein, down-converted is mainly realized by radio-frequency-down-converter, (the radio frequency in such as Fig. 2
Down coversion 1~4) then export after AD sample circuits (AD sampling 1~4) in Fig. 24 railway digital intermediate-freuqncy signals (IF1_D~
IF4_D)。
Long transmission distance, transmission loss in view of satellite navigation signals is big, easily by it is various intentionally and radio frequency unintentionally
Signal interference, it can not even be worked so that the signal to noise ratio of receiver reception signal declines, generally, to above-mentioned digital medium-frequency signal
(IF1_D~IF4_D) uses space-time Anti-Jamming Technique (STAP, space-time adaptive processing), during progress-
Empty self-adaptive processing, effectively to suppress the interference of the pressing types such as broadband, so as to the normal work for the lower satellite navigation receiver of interference
And its orientation resolves and provides possibility.
Therefore, in the block diagram shown in Fig. 2, digital medium-frequency signal (IF1_D~IF4_D) can be delivered to FPGA, carried out
The how blind wave beam anti-interference process of space-time, specifically, as shown in Fig. 2 above-mentioned 4 railway digital intermediate-freuqncy signal (IF1_D~IF4_D) inputs
To after FPGA, carry out how blind space-time wave beam be anti-interference and the processing such as base band demodulating.
Specifically, Fig. 4 shows a kind of implementation process figure of the how blind wave beam anti-interference process of space-time, wherein, shown in Fig. 4
Processing procedure is realized in above-mentioned FPGA, above-mentioned to be included according to the digital medium-frequency signal progress how blind wave beam anti-interference process of space-time：
After four railway digital intermediate-freuqncy signals (IF1_D~IF4_D) are input into FPGA, first shaken respectively with the first local intermediate frequency
Complex carrier signal caused by device (the intermediate frequency down coversion 1~4 shown in Fig. 4) carries out Frequency mixing processing, produces zero-frequency envelope and high-frequency envelope；Will
The low-pass filtered device of digital medium-frequency signal (LPF (Low Pass Filter, LPF shown in Fig. 4 after Frequency mixing processing
Device)) filter out high-frequency envelope and leave zero-frequency envelope, wherein, zero-frequency envelope includes four road signals, ZF1~ZF4 as shown in Figure 4；It is right
Zero-frequency envelope signal carries out the how blind wave beam anti-interference process of space-time.ZF1~ZF4 after the how blind wave beam anti-interference process of space-time,
The interference of the pressing types such as broadband, three road filtering interference signals of output, the anti-interference intermediate frequency letter for retaining satellite-signal can effectively be suppressed
Number STAP_ZFn, to carry out the follow-up anti-interference intermediate-freuqncy signal demodulation process process of blind wave beam.
For four road zero-frequency envelope signal ZF1~ZF4 shown in Fig. 4, the above-mentioned how blind wave beam anti-interference process of space-time includes
Multiple blind wave beam anti-interference process of list, each single blind wave beam anti-interference process process include：(1) select in four road signals all the way
For the reference signal of single blind wave beam self-adaptive processing algorithm, other three roads signals different from reference signal in four road signals are selected
For the input signal of single blind wave beam self-adaptive processing algorithm median filter；(2) the blind wave beam self-adaptive processing algorithm mould of space-time is established
Type；(3) intermediate frequency of filtering interference signals, reservation satellite-signal all the way is exported according to the blind wave beam self-adaptive processing algorithm model of space-time
Signal STAP_ZFn.
Specifically, Fig. 5 shows a kind of algorithm model figure of the blind wave beam self-adaptive processing of space-time, wherein, x0To be adaptive
The reference signal of Processing Algorithm, x11、x21And x31For the input signal of self-adaptive processing algorithm median filter, wherein, for the ease of
Illustrate, the reference signal x of 3 blind wave beam processing in the embodiment of the present invention0ZF1, ZF2 and ZF4, x are selected respectively11、x21、x31∈
{ ZF1, ZF2, ZF3, ZF4 }, i.e. x11、x21、x31≠x0.The wave filter of self-adaptive processing algorithm is by one group of FIR time domain filtering
Composition, wmk, m ∈ { 1,2,3 }, k ∈ { 1,2,3...P } are filter coefficient；Filter coefficient is constantly updated by iteration, so as to
Effectively inhibit self-adaptive processing algorithm reference signal x0The pressing types such as middle width strip disturb, and retain wherein useful satellite-signal,
The anti-interference intermediate-freuqncy signal STAP_ZFn of the blind wave beam of final output is demodulated and resolving processing.
Preferably, the anti-interference intermediate-freuqncy signal STAP_ZFn of blind wave beam is demodulated and resolving processing before, such as Fig. 4 institutes
Show, the above method also includes：The anti-interference intermediate-freuqncy signal of blind wave beam and the second local intermediate frequency oscillator (are become on the intermediate frequency in Fig. 4
Frequently complex carrier signal caused by) carries out Frequency mixing processing, will be moved with interior envelope near intermediate frequency；Blind wave beam after Frequency mixing processing is anti-dry
Disturb intermediate-freuqncy signal and be filtered processing through bandpass filter, i.e. BPF (band-passfilter, bandpass filter) filters in Fig. 4
Except out-of-band noise forms STAP_IFn signals, corresponding base band solution is output to the anti-interference intermediate-freuqncy signal of blind wave beam after filtering process
Mode transfer block, carry out follow-up demodulation and resolve processing operation.
During specific implementation, above-mentioned demodulation process process can also be carried out in FPGA, specifically, anti-to above-mentioned blind wave beam dry
Disturbing intermediate-freuqncy signal and being demodulated the process of processing to include：Satellite-signal is caught according to blind wave beam anti-interference intermediate-freuqncy signal
Obtain, obtain the coarse value of satellite-signal code phase and carrier frequency；Processing is tracked to the satellite-signal after acquisition success, it is defeated
Go out a millisecond integrated value；Bit synchronous and frame synchronization process are carried out to millisecond integrated value, led so that satellite-signal periodically exports
Avionics text and base band observed quantity, select any group of base band observed quantity, and satellite position is carried out with reference to satellite ephemeris and navigation message
Put and speed, and the resolving of the position of carrier receiver and speed.
In actual use, above-mentioned demodulating process, can be realized in base band demodulating module, Fig. 6 shows a kind of base band
The composition structural representation of demodulation, after STAP_IFn signals enter base band demodulating module, satellite signal acquisition is carried out first, it is led
It is to complete each satellite-signal spread spectrum code phase and the work of carrier frequency two-dimensional search to act on, and obtains each satellite-signal code-phase
Position and the coarse value of carrier frequency.Secondly, processing is tracked to the signal after acquisition success.Tracking processing passes through Fig. 6 institutes
1~the n of satellite-signal tracking channel shown is realized；Its main function is to complete each satellite-signal spread spectrum code phase and carrier phase
Precise synchronization is worked, and core is made up of carrier tracking loop and code tracking loop, is respectively completed carrier phase and code phase
Synchronous working.Once satellite-signal code phase and carrier phase complete that synchronously, integrated carrier Doppler and millisecond can be exported
With lower part pseudo range observed quantity information, and the millisecond integration value information inputted as bit synchronous and frame synchronization.Finally, to
The millisecond integrated value of track output carries out bit synchronous and frame synchronization process, its main function are to determine that satellite broadcasts navigation message
Bit boundaries and frame structure border, specifically it is divided to two stages of bit synchronous and frame synchronization.Signal is same in completion bit synchronous and frame
Navigation message content just can be periodically exported after step, and combines the millisecond that tracking obtains and complete puppet is formed with lower part pseudorange
Away from output.
Whole base band demodulating module exports the base band observed quantities such as pseudorange and the carrier integration Doppler of 3 wave beams and led simultaneously
Avionics text, because the navigation message of 3 wave beam processing outputs is completely the same, it is possible to select the navigation electricity of one of wave beam
Text output supplies the carry out relevant treatment subsequently resolved.It is anti-interference that the blind wave beam of multichannel space-time is contained in FPGA module shown in Fig. 2
Processing procedure (the blind wave beam anti-interference process 1~3 of space-time) and base band demodulating (base band demodulating 1~3) process.Base band demodulating module is defeated
Go out after the base band observed quantity needed for satellite navigation resolving, follow-up solution process can be carried out in the DSP shown in Fig. 2, tool
Body, carrying out resolving according to multigroup base band observed quantity and satellite ephemeris includes：Any group of base is selected from multigroup base band observed quantity
Band observed quantity；According to any group of base band observed quantity, satellite position, speed and load are carried out with reference to satellite ephemeris and navigation message
The resolving that body receiver positions and tested the speed.
During specific implementation, FPGA and DSP shown in Fig. 2 pass through EMIF (External Memory Interface, outside
Memory interface) bus progress data double-way transmission, illustrated by taking the signal that four array element square formations shown in Fig. 3 receive as an example,
DSP is first defended using ephemeris, satellite spreading code pseudorange and carrier integration doppler information exported after FPGA base band demodulatings etc.
The resolving that championship is put, carrier receiver positions and tested the speed, i.e. satellite position and speed, and the position of carrier receiver and speed
The resolving of degree, can after constructing multigroup carrier wave pseudorange according to base band observed quantity and carrying out carrier phase difference to carrier wave pseudorange
A period of time 1, the position vector of a period of time 2 and a period of time 4 between any two are calculated, finally position vector is carried out from earth rectangular coordinate system
To the Coordinate Conversion of geographic coordinate system, azimuth corresponding to each position vector difference is calculated, so as to the initial side to SINS
Position alignment is aided in.
Based on above-mentioned solution process, the main process of the DSP shown in Fig. 2 is divided into (1) base band configuration management；(2) carrier is fixed
Position, resolving of testing the speed；(3) carrier phase difference and azimuthal angle calculation output three zones.Base band configuration management refers to that DSP passes through
EMIF buses capture to base band, tracking and it is recapturing unlocked etc. configured and controlled in real time, complete the traffic control of base-band resource.
The navigation message exported by FPGA to any one wave beam base band demodulating, DSP can calculate the position (x of every satellitesi,
ysi,zsi) and speed (vxsi,vysi,vzsi), the satellite spreading code pseudorange and carrier integration exported with reference to any one wave beam is more
The base band observed quantities such as general Le information, carrier positions (x just can be completed using least square Newton iterativer,yr,zr) and speed
(vxr,vyr,vzr) resolving, while generate observation geometric matrix Hr, HrIt can be expressed as：
Wherein,
The carrier wave pseudorange cp of every satellite can be constructed according to satellite spreading code pseudorange and carrier integration doppler informationi,
Its observational equation is cpi=psei+Ni+τsi+τri-τiono+τtropo+σm, wherein, pseiIt is each antenna array for beam phase center
Sub- phase center with it is intersatellite very away from NiFor carrier wave pseudorange integer ambiguity, τsiFor satellite clock correction error, τriFor receiver clock
Difference, τionoFor ionospheric error, τtropoFor tropospheric error, σmFor carrier loop tracking error.Due to τsi、τri、τiono、τtropo
For common error and ignore σmInfluence, therefore, to different beams, the carrier wave pseudorange cp of same satelliteiMaking single poor processing can derive
Go out Δ cpi=Δ psei+N(i), antenna element phase center geometrical constraint closes in the schematic diagram of four array element square formations according to Fig. 3
System can quickly obtain N(i)Exact value.With reference to equation Δ psei=Hr (i).[Δx Λy Δz]T, observational equation group can be drawn：
The wherein position vector of [Δ x Δ y Δs z] between a period of time phase center.Least square is carried out to observational equation group
Solution can draw position vector [Δ x Δ y Δs z].Position vector is completed from earth rectangular coordinate system [Δ x using equation (2)
Δ y Δs z] Coordinate Conversion of geographic coordinate system [Δ e Δ n Δs u] is arrived, where φ, λ are respectively carrier wherein in equation (2)
Latitude and longitude.With azimuthal angle calculation formulaAzimuth corresponding to position vector difference can be obtained.
Using said process, direction vector shown in Fig. 3 is calculatedAzimuth be respectively
Further, it is above-mentioned to aid in SINS progress initial azimuth alignments to include according to azimuth：According to geometrical-restriction relation pair
Azimuth carries out geometric average processing, to reduce azimuthal measurement variance；Azimuth auxiliary after being handled according to geometric average
SINS carries out initial azimuth alignment.Specifically, by taking the schematic diagram of four array element square formations shown in Fig. 3 as an example, it is assumed that direction vector
It is consistent with carrier y direction, utilizeGeometric average is carried out to carrier azimuth into triangle restriction, then final output
Azimuth
The method that satellite navigation auxiliary SINS provided in an embodiment of the present invention carries out initial azimuth alignment, by becoming to amplification
Intermediate-freuqncy signal after frequency is handled carries out the blind wave beam anti-interference process of space-time, then carries out base band demodulating and resolving, and constructs multigroup only
Vertical carrier wave pseudorange, carrier phase difference processing is done to multigroup carrier wave pseudorange, calculates the position between any two antenna element
Vector, the Coordinate Conversion from the earth rectangular coordinate system to geographic coordinate system is being carried out to position vector, each position can be obtained
Azimuth corresponding to vector, so according to the azimuth to satellite navigation it is initial it is false proof carry out auxiliary alignment, effectively prevent
Due to caused error affected by environment when being aligned in the prior art with Magnetic Sensor, azimuthal survey is greatly improved
Accuracy of measurement.
Embodiment three：
On the basis of above-described embodiment, the embodiment of the present invention additionally provides a kind of satellite navigation auxiliary SINS and carried out initially
The device of alignment of orientation, a kind of auxiliary SINS as shown in Figure 7 carry out the apparatus structure schematic diagram of initial azimuth alignment, including：
Rf signal reception module 101, for by array antenna received multi-channel rf signal, entering to every road radiofrequency signal
Row processing, exports digital medium-frequency signal, wherein, array antenna includes multiple antenna element, believes per road radiofrequency signal including satellite
Number and interference signal；
Anti-interference process module 102, for carrying out the how blind wave beam anti-interference process of space-time, output according to digital medium-frequency signal
The blind anti-interference intermediate-freuqncy signal of wave beam；
Demodulation resolves module 103, for the anti-interference intermediate-freuqncy signal of blind wave beam to be demodulated and settled accounts, output satellite star
Go through and base band observed quantity；Wherein, base band observed quantity includes satellite spreading code pseudorange and carrier integration doppler information；
Position vector computing module 104, for constructing multigroup carrier wave pseudorange according to base band observed quantity, and to multigroup carrier wave
Pseudorange does carrier phase difference processing, calculates the position vector between any two antenna element；
Azimuthal angle calculation module 105, for carrying out Coordinate Conversion to position vector, it is right respectively to calculate each position vector
The azimuth answered；
Alignment of orientation module 106, for aiding in SINS to carry out initial azimuth alignment according to azimuth.
Further, above-mentioned alignment of orientation module is additionally operable to：
Geometric average processing is carried out according to geometrical-restriction relation azimuthal, to reduce azimuthal measurement variance；According to
Azimuth auxiliary SINS after geometric average processing carries out initial azimuth alignment.
Preferably, above-mentioned array antenna is four array element square formations, and antenna element is four, the two neighboring day of four array element square formations
The spacing of linear array is 0.5 times of wavelength；Radiofrequency signal is four tunnels, and digital medium-frequency signal is four tunnels.
Satellite navigation auxiliary SINS provided in an embodiment of the present invention carries out the device of initial azimuth alignment, with previous embodiment
The method that the satellite navigation auxiliary SINS of offer carries out initial azimuth alignment has identical technical characteristic, so can also solve phase
Same technical problem, reaches identical technique effect.
The satellite navigation auxiliary SINS that the embodiment of the present invention is provided carries out the meter of the method and device of initial azimuth alignment
Calculation machine program product, including the computer-readable recording medium of program code is stored, the instruction that described program code includes can
For performing the method described in previous methods embodiment, specific implementation can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In the description of the invention, it is necessary to which explanation, term " first ", " second ", " the 3rd " are only used for describing purpose,
And it is not intended that instruction or hint relative importance.
Finally it should be noted that：Above example, it is only the embodiment of the present invention, to illustrate the skill of the present invention
Art scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although entering with reference to the foregoing embodiments to the present invention
Go detailed description, it should be understood by those skilled in the art that：Any one skilled in the art takes off in the present invention
In the technical scope of dew, it can still modify to the technical scheme described in previous embodiment or can readily occur in change
Change, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make relevant art
Scheme essence depart from technical scheme of the embodiment of the present invention spirit and scope, should all cover protection scope of the present invention it
It is interior.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (10)
1. a kind of method that satellite navigation auxiliary SINS carries out initial azimuth alignment, it is characterised in that including：
By array antenna received multi-channel rf signal, radiofrequency signal described in every road is handled, exports digital medium-frequency signal,
Wherein, the array antenna includes multiple antenna element, and radiofrequency signal described in per road includes satellite-signal and interference signal；
The how blind wave beam anti-interference process of space-time is carried out according to the digital medium-frequency signal, exports the anti-interference intermediate-freuqncy signal of blind wave beam；
The blind anti-interference intermediate-freuqncy signal of wave beam is demodulated and resolved, output satellite ephemeris and base band observed quantity；Wherein, institute
Stating base band observed quantity includes satellite spreading code pseudorange and carrier integration doppler information；
Multigroup carrier wave pseudorange is constructed according to the base band observed quantity, and carrier phase difference office is done to multigroup carrier wave pseudorange
Reason, calculates the position vector between antenna element described in any two；
Coordinate Conversion is carried out to the position vector, calculates azimuth corresponding to each position vector difference；
SINS is aided in carry out initial azimuth alignment according to the azimuth.
2. according to the method for claim 1, it is characterised in that described to aid in SINS to carry out initial side according to the azimuth
Position alignment includes：
Geometric average processing is carried out to the azimuth according to geometrical-restriction relation, to reduce azimuthal measurement variance；
Azimuth auxiliary SINS after being handled according to geometric average carries out initial azimuth alignment.
3. according to the method for claim 1, it is characterised in that the array antenna is four array element square formations, the antenna array
Son is four, and the spacing of the two neighboring antenna element of the four array element square formation is 0.5 times of wavelength；
The radiofrequency signal is four tunnels, and the digital medium-frequency signal is four tunnels.
4. according to the method for claim 3, it is characterised in that described how blind according to digital medium-frequency signal progress space-time
Wave beam anti-interference process includes：
Complex carrier signal caused by the digital medium-frequency signal and the first local intermediate frequency oscillator is subjected to Frequency mixing processing, produces zero-frequency bag
Network and high-frequency envelope；
The low-pass filtered device of the digital medium-frequency signal after Frequency mixing processing is filtered out into the high-frequency envelope and leaves the zero-frequency bag
Network, wherein, the zero-frequency envelope includes four road signals；
The how blind wave beam anti-interference process of space-time is carried out to the zero-frequency envelope signal.
5. according to the method for claim 4, it is characterised in that the how blind wave beam anti-interference process of space-time includes multiple lists
Blind wave beam anti-interference process, the blind wave beam anti-interference process of list include：
It is all the way the reference signal of single blind wave beam self-adaptive processing algorithm to select in the signal of four road, selects the four roads letter
The road signal of other in number three is the input signal of the blind wave beam self-adaptive processing algorithm median filter of the list；
Establish the blind wave beam self-adaptive processing algorithm model of space-time；
The interference signal is filtered out according to the blind wave beam self-adaptive processing algorithm model output of the space-time all the way, retains the satellite
The anti-interference intermediate-freuqncy signal of blind wave beam of signal.
6. according to the method for claim 5, it is characterised in that the blind anti-interference intermediate-freuqncy signal of wave beam is demodulated and
Before resolving, methods described also includes：
Complex carrier signal caused by the blind anti-interference intermediate-freuqncy signal of wave beam and the second local intermediate frequency oscillator is subjected to Frequency mixing processing；
The blind anti-interference intermediate-freuqncy signal of wave beam after Frequency mixing processing is filtered processing through bandpass filter；
The blind anti-interference intermediate-freuqncy signal of wave beam after filtering process is demodulated and resolved.
7. according to the method for claim 1, it is characterised in that described that the blind anti-interference intermediate-freuqncy signal of wave beam is solved
The resolving that reconciles includes：
The satellite-signal is captured, obtains the coarse value of satellite-signal code phase and carrier frequency；
Processing is tracked to the satellite-signal after acquisition success, exports millisecond integrated value；
Bit synchronous and frame synchronization process are carried out to the millisecond integrated value, so that the satellite-signal periodically exports navigation
Text and base band observed quantity；
Base band observed quantity described in any group is selected, satellite position and speed are carried out with reference to the satellite ephemeris and the navigation message
Degree, and the resolving of the position of carrier receiver and speed.
8. a kind of satellite navigation auxiliary SINS carries out the device of initial azimuth alignment, it is characterised in that including：
Rf signal reception module, for by array antenna received multi-channel rf signal, being carried out to radiofrequency signal described in every road
Processing, digital medium-frequency signal is exported, wherein, the array antenna includes multiple antenna element, and radiofrequency signal described in per road includes
Satellite-signal and interference signal；
Anti-interference process module, for carrying out the how blind wave beam anti-interference process of space-time according to the digital medium-frequency signal, output is blind
The anti-interference intermediate-freuqncy signal of wave beam；
Demodulation resolves module, for the blind anti-interference intermediate-freuqncy signal of wave beam to be demodulated and resolved, output satellite ephemeris
With base band observed quantity；Wherein, the base band observed quantity includes satellite spreading code pseudorange and carrier integration doppler information；
Position vector computing module, for constructing multigroup carrier wave pseudorange according to the base band observed quantity, and to multigroup load
Ripple pseudorange does carrier phase difference processing, calculates the position vector between antenna element described in any two；
Azimuthal angle calculation module, for carrying out Coordinate Conversion to the position vector, calculate each position vector difference
Corresponding azimuth；
Alignment of orientation module, for aiding in SINS to carry out initial azimuth alignment according to the azimuth.
9. device according to claim 8, it is characterised in that the alignment of orientation module is additionally operable to：
Geometric average processing is carried out to the azimuth according to geometrical-restriction relation, to reduce azimuthal measurement variance；
Azimuth auxiliary SINS after being handled according to geometric average carries out initial azimuth alignment.
10. device according to claim 8, it is characterised in that the array antenna is four array element square formations, the antenna array
Son is four, and the spacing of the two neighboring antenna element of the four array element square formation is 0.5 times of wavelength；
The radiofrequency signal is four tunnels, and the digital medium-frequency signal is four tunnels.
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