CN113433575A - Method, device, equipment and system for positioning radiation source and storage medium - Google Patents
Method, device, equipment and system for positioning radiation source and storage medium Download PDFInfo
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- 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
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- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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- 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
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- 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
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- G01S19/35—Constructional details or hardware or software details of the signal processing chain
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Abstract
The invention discloses a method, a device, equipment and a system for positioning a radiation source and a storage medium. The method comprises the following steps: respectively receiving radiation source signals transmitted by a high-orbit satellite and low-orbit satellite signals transmitted by a low-orbit satellite; performing interference separation on the low-orbit satellite signals to obtain low-orbit radiation source signals; and determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal. By the technical scheme, the privacy and the safety of radiation source positioning can be improved, and the transparent transmission of the radiation source signal by the high-orbit satellite is not influenced, so that the radiation source can be positioned only by carrying out interference separation on the signal transmitted by the low-orbit satellite, thereby simplifying the positioning complexity and reducing the hardware consumption.
Description
Technical Field
The embodiment of the invention relates to the field of radiation source positioning, in particular to a method, a device, equipment and a system for positioning a radiation source and a storage medium.
Background
The radiation source positioning technology is widely applied to the aspects of navigation, robot tracking, virtual realization, military target positioning and the like, and is also gradually applied to building information at present.
The principle of radiation source location is that ground equipment carries out time-frequency difference location according to the radiation source signal that high earth orbit satellite and low earth orbit satellite sent, but all ground equipment can all fix a position the radiation source, and privacy and security do not have the guarantee. In order to solve the above problems, in the prior art, a strong interference signal is aliased on a target radiation source signal by additionally adding a ground signal interference device, so as to improve privacy and safety. However, the adjustment of the transmitting position and the signal power of the ground equipment is complicated, and the high-orbit satellite and the low-orbit satellite receive aliasing signals, so that when the ground equipment performs time-frequency difference positioning, the aliasing signals sent by the high-orbit satellite and the low-orbit satellite need to be subjected to interference separation, the positioning complexity is increased, and hardware resources are consumed very much.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment, a system and a storage medium for positioning a radiation source, which aim to realize that an interference signal generated by a low-orbit satellite is mixed on a radiation source signal, improve the privacy and the safety of positioning the radiation source, and do not influence the transparent transmission of the radiation source signal by a high-orbit satellite, so that the radiation source can be positioned only by carrying out interference separation on the signal transmitted by the low-orbit satellite, thereby simplifying the positioning complexity and reducing the hardware consumption.
In a first aspect, an embodiment of the present invention provides a method for positioning a radiation source, including:
respectively receiving a radiation source signal transmitted by a high-orbit satellite and a low-orbit satellite signal transmitted by a low-orbit satellite, wherein the low-orbit satellite signal is an aliasing signal of the radiation source signal received by the low-orbit satellite and an interference signal generated by the low-orbit satellite;
performing interference separation on the low-orbit satellite signals to obtain low-orbit radiation source signals;
and determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal.
In a second aspect, an embodiment of the present invention further provides a method for positioning a radiation source, including:
receiving a radiation source signal sent by a radiation source;
generating an interference signal according to a signal element of the radiation source signal;
aliasing is carried out on the radiation source signal and the interference signal to obtain a low-orbit satellite signal;
transmitting the low earth orbit satellite signals to a ground receiving device for the ground receiving device to determine the position of the radiation source.
In a third aspect, an embodiment of the present invention further provides a positioning apparatus for a radiation source, where the apparatus includes:
the receiving module is used for respectively receiving a radiation source signal transmitted by a high-orbit satellite and a low-orbit satellite signal transmitted by a low-orbit satellite, wherein the low-orbit satellite signal is an aliasing signal of the radiation source signal received by the low-orbit satellite and an interference signal generated by the low-orbit satellite;
the separation module is used for carrying out interference separation on the low-orbit satellite signals to obtain low-orbit radiation source signals;
and the determining module is used for determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal.
In a fourth aspect, an embodiment of the present invention further provides a positioning apparatus for a radiation source, the apparatus including:
the receiving module is used for receiving a radiation source signal sent by a radiation source;
the determining module is used for determining an interference signal according to the signal element of the radiation source signal;
the aliasing module is used for performing aliasing on the radiation source signal and the interference signal to obtain a low-orbit satellite signal;
and the transmission module is used for transmitting the low-orbit satellite signals to ground receiving equipment so that the ground receiving equipment can determine the position of the radiation source.
In a fifth aspect, an embodiment of the present invention further provides a ground receiving device, including:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for positioning a radiation source as described in the first embodiment or the second embodiment of the present invention.
In a sixth aspect, an embodiment of the present invention further provides a low earth orbit satellite, including:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for positioning a radiation source according to the third embodiment of the present invention.
In a seventh aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for positioning a radiation source according to any one of the embodiments of the present invention.
The embodiment of the invention respectively receives the radiation source signal transmitted by the high-orbit satellite and the low-orbit satellite signal transmitted by the low-orbit satellite; performing interference separation on the low-orbit satellite signals to obtain low-orbit radiation source signals; the position of the radiation source is determined according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal, so that the privacy and the safety of radiation source positioning can be improved, the transmission of the radiation source signal by the high-orbit satellite is not influenced, the radiation source can be positioned only by carrying out interference separation on the signal transmitted by the low-orbit satellite, the positioning complexity is simplified, and the hardware consumption is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a method for positioning a radiation source according to a first embodiment of the present invention;
FIG. 2 is a flow chart of a method for positioning a radiation source according to a second embodiment of the present invention;
FIG. 3 is a graphical illustration of the Doppler shift of low-orbiting satellite signals as a function of sampling frequency and time for low-orbiting satellites in an embodiment of the present invention;
FIG. 4 is a schematic diagram of the structure of an adaptive filter;
FIG. 5 is a flowchart of a method for determining a low-rail radiation source signal according to a second embodiment of the present invention;
FIG. 6 is a flow chart of a method for positioning a radiation source according to a third embodiment of the present invention;
FIG. 7 is a flow chart of a low-orbit satellite determining a low-orbit satellite signal;
FIG. 8 is a schematic structural diagram of a positioning device of a radiation source according to a fourth embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a positioning device of a radiation source according to a fifth embodiment of the present invention;
fig. 10 is a block diagram of a ground receiving apparatus in the sixth embodiment of the present invention;
fig. 11 is a block diagram of a ground receiving device in a seventh embodiment of the present invention;
fig. 12 is a schematic structural diagram of a positioning system of a radiation source in the eighth embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a method for positioning a radiation source according to an embodiment of the present invention, where the embodiment is applicable to a case where a radiation source is positioned based on a high-orbit satellite and a low-orbit satellite, and the method can be executed by a positioning apparatus for a radiation source according to an embodiment of the present invention, the apparatus is integrated in a ground receiving device, and can be implemented in a software and/or hardware manner.
The principle of the radiation source positioning method is as follows: the radiation source respectively sends radiation source signals to a high orbit satellite and a low orbit satellite, the high orbit satellite and the low orbit satellite respectively send the received radiation source signals to ground equipment, and the ground equipment determines the position of the radiation source according to the time difference of the radiation source signals transmitted by the high orbit satellite and the radiation source signals transmitted by the low orbit satellite, wherein the transmission is transparent transmission, namely, the transmission only transmits the signals without any processing on the signals. It should be noted that the satellite includes a payload and a satellite platform, the payload refers to an instrument, equipment or subsystem that directly performs a specific satellite task, and the satellite platform provides environmental and technical conditions for the operation of the payload. In the embodiment of the invention, the satellites are all payloads of the satellites, namely, the high-orbit satellite refers to the payload of the high-orbit satellite, and the low-orbit satellite refers to the payload of the low-orbit satellite.
As shown in fig. 1, the method specifically includes the following steps:
and S110, respectively receiving radiation source signals transmitted by the high-orbit satellite and low-orbit satellite signals transmitted by the low-orbit satellite.
The low-orbit satellite signal is an aliasing signal of a radiation source signal received by the low-orbit satellite and an interference signal generated by the low-orbit satellite. By radiation source is meant a device capable of emitting ionizing radiation, such as an up-line transmitting station of a satellite television system.
In the embodiment of the invention, the high orbit satellite receives the radiation source signal sent by the radiation source through an uplink and transmits the radiation source signal through a downlink. Meanwhile, in order to avoid that any ground equipment can position the radiation source according to the radiation source signal transmitted by the satellite, the low-orbit satellite does not transmit the received radiation source signal in a transmitting manner, but performs aliasing on the generated interference signal and the received radiation source signal to obtain a low-orbit satellite signal, and transmits the low-orbit satellite signal to the ground receiving equipment.
According to the embodiment of the invention, the low-orbit satellite generates the interference signal, and the low-orbit satellite signal is obtained by continuously aliasing with the received radiation source signal, and then the low-orbit satellite signal is transmitted to the ground receiving equipment, so that the situation that any ground equipment can position the radiation source according to the radiation source signal transmitted by the satellite is avoided, the privacy and the safety of radiation source positioning are improved, the transmission of the radiation source signal by the high-orbit satellite is not influenced, and the subsequent processing process of the radiation source signal transmitted by the satellite by the ground equipment can be simplified.
And S120, performing interference separation on the low-orbit satellite signals to obtain low-orbit radiation source signals.
Because the low-earth satellite signal includes the interference signal, after receiving the low-earth satellite signal, the ground device needs to separate the interference signal in the low-earth satellite signal to obtain a radiation source signal in the low-earth satellite signal, that is, a low-earth radiation source signal.
For example, the ground receiving device may reconstruct the interference signal according to the modulation element of the interference signal, and remove the reconstructed interference signal from the low-orbit satellite signal to obtain the low-orbit radiation source signal. The ground receiving equipment and the low-orbit satellite can simultaneously have a code book recording modulation elements of the interference signal, the low-orbit satellite generates the interference signal according to the modulation elements in the code book, and the ground receiving equipment reconstructs the interference signal according to the modulation elements in the code copy, so that the specified ground receiving equipment can reconstruct the interference signal in the low-orbit satellite signal and recover the radiation source signal transmitted by the low-orbit satellite.
And S130, determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high orbit satellite and the low orbit radiation source signal.
Specifically, the position of the radiation source is determined according to the radiation source signal transmitted by the high-orbit satellite and the time difference between the low-orbit radiation source signal restored from the low-orbit satellite signal transmitted by the low-orbit satellite and the ground receiving equipment.
According to the technical scheme of the embodiment, a radiation source signal transmitted by a high-orbit satellite and a low-orbit satellite signal transmitted by a low-orbit satellite are received respectively; performing interference separation on the low-orbit satellite signals to obtain low-orbit radiation source signals; the position of the radiation source is determined according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal, so that the privacy and the safety of radiation source positioning can be improved, the transmission of the radiation source signal by the high-orbit satellite is not influenced, the radiation source can be positioned only by carrying out interference separation on the signal transmitted by the low-orbit satellite, the positioning complexity is simplified, and the hardware consumption is reduced.
Example two
Fig. 2 is a flowchart of a method for positioning a radiation source in an embodiment of the present invention, where the embodiment is optimized based on the above embodiment, and in the embodiment, the performing interference separation on the low-orbit satellite signal to obtain a low-orbit radiation source signal includes: carrying out frequency processing on the low-orbit satellite signal to obtain a low-orbit satellite baseband signal; and carrying out interference suppression on the low-orbit satellite baseband signal to obtain a low-orbit radiation source signal.
As shown in fig. 2, the method of this embodiment specifically includes the following steps:
and S210, respectively receiving radiation source signals transmitted by the high-orbit satellite and low-orbit satellite signals transmitted by the low-orbit satellite.
S220, performing Doppler frequency offset correction on the low-orbit satellite signal.
Because the low-earth satellite runs around the earth on the elliptical orbit and the low-earth satellite and the ground receiving equipment have relative motion, the low-earth satellite signal transmitted by the satellite received by the ground receiving equipment generates frequency change, and the frequency change can be called doppler frequency offset, so that the doppler frequency offset correction processing needs to be performed on the low-earth satellite signal.
And S230, carrying out digital down-conversion processing on the corrected low-orbit satellite signal to obtain a low-orbit satellite baseband signal.
When the low-earth orbit satellite transmits the radiation source signal, the received radiation source signal is subjected to aliasing according to the interference signal generated by the low-earth orbit satellite, and the mixed and overlapped signal is modulated to a high-frequency signal in a digital mode based on a digital up-conversion technology. Therefore, the modified low-orbit satellite signal needs to be down-converted to obtain a low-orbit satellite baseband signal.
For example, the manner of performing digital down-conversion processing on the modified low-orbit satellite signal may be: the frequency spectrum of the modified low-orbit satellite signal is down-converted to a baseband signal through digital mixing, and is restored to a digital low-orbit satellite baseband signal through a decimation filtering method, wherein the decimation filtering method comprises the following steps: sampling, orthogonal transformation, digital filtering and decimation algorithms.
And S240, carrying out interference suppression on the low-orbit satellite baseband signal to obtain a low-orbit radiation source signal.
Because the low-orbit satellite baseband signal contains the interference signal and the radiation source signal, the interference signal contained in the low-orbit satellite baseband signal needs to be determined, and the interference signal is suppressed, so that the low-orbit radiation source signal is obtained.
For example, the method for obtaining the low orbit radiation source signal by performing interference suppression on the low orbit satellite baseband signal may be: reconstructing the interference signal to obtain a reconstructed signal, and subtracting the reconstructed signal from a low-orbit satellite baseband signal to realize the suppression of the interference signal; or a recursive least square adaptive filter algorithm is adopted to suppress the interference signals in the low-orbit satellite baseband signals.
And S250, determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high orbit satellite and the low orbit radiation source signal.
According to the technical scheme of the embodiment, a radiation source signal transmitted by a high-orbit satellite and a low-orbit satellite signal transmitted by a low-orbit satellite are received respectively; carrying out digital down-conversion and interference suppression on the low-orbit satellite signal to obtain a low-orbit radiation source signal; the position of the radiation source is determined according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal, so that the privacy and the safety of radiation source positioning can be improved, the transmission of the radiation source signal by the high-orbit satellite is not influenced, the radiation source can be positioned only by carrying out interference separation on the signal transmitted by the low-orbit satellite, the positioning complexity is simplified, and the hardware consumption is reduced.
Optionally, the performing doppler frequency offset correction on the low earth orbit satellite signal includes:
segmenting the bandwidth of the low-orbit satellite signal based on a preset bandwidth value;
determining Doppler frequency offset values of low-orbit satellite signals of all the sections;
and performing frequency offset correction on the low-orbit satellite signals of each section based on the Doppler frequency offset value.
Illustratively, FIG. 3 is a plot of Doppler frequency offset of low-orbiting satellite signals as a function of sampling frequency and time for low-orbiting satellites. If the bandwidth of the low-orbit satellite signal received by the ground equipment is 54MHz, segmenting the 54MHz bandwidth by 1Mhz, corresponding different Doppler frequency offsets of the low-orbit satellite signal of each segment, and determining the Doppler frequency offset value of the low-orbit satellite signal of each segment; and performing frequency offset correction on the low-orbit satellite signals of each section based on the Doppler frequency offset value.
It should be noted that the doppler compensation method needs to be performed on a narrow band, so that a narrow band signal may be generated for the low-orbit satellite signal corresponding to the segment with the largest doppler frequency offset change, a doppler frequency offset correction test is performed on the segmented narrow band signal to determine a doppler frequency offset value of the segment, and similarly, the doppler frequency offset value of the low-orbit satellite signal of each segment is determined; and performing frequency offset correction on the low-orbit satellite signals of each section based on the Doppler frequency offset value.
Optionally, the performing interference suppression on the low orbit satellite baseband signal to obtain a low orbit radiation source signal includes:
determining a reference signal of the interference signal according to a modulation element of the interference signal;
determining an amplitude ratio and a phase difference of the reference signal and the interference signal;
compensating the reference signal based on the amplitude ratio and the phase difference, and determining a reconstructed signal of the interference signal;
and removing the reconstructed signal from the low-orbit satellite baseband signal to obtain a low-orbit radiation source signal.
Specifically, the low earth orbit satellite can accurately grasp the modulation elements of the low earth orbit satellite interference signal from the codebook, wherein the modulation elements include: modulation, carrier, code rate, and symbol. A reference signal for the interfering signal may be initially determined based on the modulation factor. Due to the phase ambiguity of the demodulation code, the amplitude and the initial phase of the reference signal obtained by re-modulating the signal based on the modulation element are unknown, namely the difference between the interference signal and the reference signal is different in amplitude and initial phase, so that the amplitude ratio and the phase difference between the reference signal and the interference signal need to be determined; and compensating the reference signal based on the amplitude ratio and the phase difference to determine a reconstructed signal of the interference signal.
It should be noted that, due to the existence of noise and radiation source signals in the low-orbit satellite baseband signal, errors exist in the estimation of each parameter, and the finally obtained reconstructed signal may not be completely consistent with the interference signal. I.e. a residual amount of interfering signals is still present after interference suppression. The suppression effect can generally be measured by the interference suppression ratio, which is the ratio of the signal power before and after suppression. When the interference suppression ratio reaches a preset siren, the reconstructed signal and the interference signal are considered to be basically the same.
For example, the method for determining the amplitude ratio and the phase difference between the reference signal and the interference signal may be: taking the interference signal of MPSK or 16QAM modulation as an example, the expression of the reference signal c (t) is:
where B is the amplitude of the reference signal, θ1Is the initial phase of the reference signal, fcTo sample the frequency, IIIs a component of I direction, IQIs the Q-direction component.
And performing cross-correlation calculation on the low-orbit satellite baseband signal and the reference signal, and taking a zero point to obtain:
since the interference signal is very powerful compared to the radiation source signal, the power of the radiation source signal and the noise signal can be ignored. And the low orbit satellite baseband signal is subjected to autocorrelation operation to obtain:
the low-orbit satellite baseband signal is r (t), I (t) s (t) + n (t), n (t) is a noise signal, and B is the amplitude of an interference signal.
Similarly, the autocorrelation operation on the reference signal can obtain:
then, the phase difference between the reference signal and the interference signal can be obtained as:
the reference signal to interference signal amplitude ratio is:
optionally, the determining an amplitude ratio and a phase difference between the reference signal and the interference signal includes:
resampling the reference signal based on a proportional relation between a sampling frequency and a code rate of the interference signal;
respectively segmenting the re-sampled reconstruction signal and the interference signal based on the number of preset sampling points, and aligning the reference signal of each segment with the interference signal of the corresponding segment;
and respectively carrying out frequency spectrum estimation on the aligned reference signal and the aligned interference signal to obtain the amplitude ratio and the phase difference of the reference signal and the interference signal.
Specifically, the difference between the reference signal and the interference signal is different from the initial phase, and there is a problem that the time of the sampling point is not synchronized. When an interference signal is generated, the sampling rate and the code rate of the signal are often not in integral multiple, and when the interference signal is reconstructed, the number of samples corresponding to each code element can only be an integer, and then the number of samples corresponding to each code element of the reference signal is inconsistent with the interference signal. Along with the increase of observation time and the increase of the number of code elements, obvious dislocation occurs to sampling points between the reference signal and the interference signal, so that the sampling points of the reference signal and the interference signal are not in one-to-one correspondence at the same time. This will seriously affect the subsequent estimation of the initial phase and amplitude difference, resulting in a large difference between the reference signal and the interference signal, and failing to achieve the desired interference suppression effect.
The method comprises the steps of firstly resampling a reference signal based on the proportional relation between the sampling frequency and the code rate of an interference signal, secondly, respectively carrying out segmentation processing on a resampled reconstructed signal and the interference signal based on a preset sampling point number, for each segment, correlating the reference signal with the interference signal of the corresponding segment to obtain the delay sampling point number between two segments of signals, and moving the delay sampling point number of the reference signal on a time domain to align each sample point of the reference signal and each sample point of the interference signal as much as possible so as to solve the problem of time asynchronization of the sampling points.
Optionally, the performing interference suppression on the low orbit satellite baseband signal to obtain a low orbit radiation source signal further includes:
inputting the low orbit satellite baseband signal and the interference signal into an adaptive filter;
and carrying out interference suppression on the low-orbit satellite baseband signal by adaptively adjusting the self-parameters of the adaptive filter to obtain a low-orbit radiation source signal.
Specifically, the structure of the adaptive filter is schematically illustrated in fig. 4. Inputting the low orbit satellite baseband signal and the interference signal into an adaptive filter; and carrying out interference suppression on the low-orbit satellite baseband signal based on the self-adaptive noise cancellation principle of the self-adaptive filter to obtain a low-orbit radiation source signal. The self-adaptive noise cancellation principle is that a reference signal which is strongly related to an interference signal in a low-orbit satellite baseband signal and weakly related to a radiation source signal is adopted, and a self-adaptive algorithm is used for dynamically adjusting parameters of a filter, so that the reference signal can be well offset with an interference signal component in the low-orbit satellite baseband signal after being filtered, and an output error is a required low-orbit radiation source signal.
For the adaptive filter to automatically adjust its parameters to obtain an effective output, the recursive least squares adaptive filter must meet the requirements of the optimal criterion. Different optimization criteria may result in different adaptive algorithms. In the interference suppression process, the adaptive filtering algorithm is required to meet the following requirements: the algorithm is convergent and has better stability: the convergence rate is high, and the real-time tracking requirement is met: and the implementation is easy.
Preferably, the recursive least square adaptive filter has the advantages of fast convergence rate and high precision, so the adaptive filter can adopt the recursive least square adaptive filter.
A Recursive Least Squares (RLS) adaptive transversal filter employs a least squares criterion and is the best filter for a set of known data. In the processing process, no assumption is made on the statistical properties of the input reference sequence, but the problem of pure decisive minimization is solved, the steady-state imbalance error is small, the dispersion of the characteristic value of the autocorrelation matrix is not sensitive, and the adaptability to non-stationary signals is good. The method calculates the covariance matrix based on recursive sampling, has the advantages of a Least Mean Square (LMS) algorithm and a direct inversion (DMI) algorithm of the sampling covariance matrix, and is particularly suitable for software implementation.
For example, as shown in fig. 5, the specific steps of the ground receiving device performing interference separation on the low-orbit satellite signal to obtain the low-orbit radiation source signal in the embodiment of the present invention may be: the ground receiving equipment firstly carries out Doppler frequency offset correction on the low-orbit satellite signal and carries out digital down-conversion processing on the corrected low-orbit satellite signal to obtain a low-orbit satellite baseband signal; secondly, inputting low-orbit satellite baseband signals and interference signals into a self-adaptive filter; and finally, carrying out interference suppression on the low-orbit satellite baseband signal by self-adaptively adjusting the self-parameters of the self-adaptive filter to obtain a low-orbit radiation source signal.
EXAMPLE III
Fig. 6 is a flowchart of a method for positioning a radiation source according to a third embodiment of the present invention, where this embodiment is applicable to a case where a low-earth satellite performs interference aliasing on the radiation source to obtain a low-earth satellite signal, so that a ground receiving device determines a position of the radiation source.
As shown in fig. 6, the method of this embodiment specifically includes the following steps:
and S310, receiving a radiation source signal sent by a radiation source.
And S320, generating an interference signal according to the signal element of the radiation source signal.
Wherein the signal element includes: center frequency, sampling rate, modulation scheme, symbol rate, and power.
Illustratively, the low earth orbit satellite generates a path of interference signals with the same center frequency, power, modulation mode, symbol rate and sampling rate according to signal elements of a radiation source, the signal elements of the radiation source are stored in a codebook, and the codebooks are respectively stored in the low earth orbit satellite and a ground receiving device for reconstructing the interference signals by the ground receiving device.
S330, aliasing is carried out on the radiation source signal and the interference signal to obtain a low-orbit satellite signal.
The radiation source signal and the interference signal are subjected to aliasing, and the radiation source signal is covered, so that the specified ground equipment can reconstruct and inhibit the interference signal according to the codebook of the interference signal, and the privacy of the radiation source is improved.
And S340, transmitting the low-orbit satellite signals to ground receiving equipment so that the ground receiving equipment can determine the position of a radiation source.
Specifically, the low earth orbit satellite transmits a low earth orbit satellite signal to the ground receiving device, so that the ground receiving device determines the position of the radiation source according to the time difference between the radiation source signal transmitted by the high earth orbit satellite and the time when the low earth orbit radiation source signal reaches the ground receiving device.
According to the technical scheme of the embodiment, a radiation source signal sent by a radiation source is received; generating an interference signal according to a signal element of the radiation source signal; aliasing is carried out on the radiation source signal and the interference signal to obtain a low-orbit satellite signal; the low-orbit satellite signals are transmitted to the ground receiving equipment, so that the ground receiving equipment can determine the position of the radiation source, the privacy and the safety of radiation source positioning can be improved, the transparent transmission of the high-orbit satellite to the radiation source signals is not influenced, and the radiation source can be positioned only by carrying out interference separation on the signals transmitted by the low-orbit satellite, so that the positioning complexity is simplified, and the hardware consumption is reduced.
Optionally, aliasing the radiation source signal and the interference signal to obtain a low-earth-orbit satellite signal, including:
aliasing the radiation source signal and the interference signal to obtain an aliasing signal;
and carrying out digital up-conversion processing on the aliasing signals to obtain low-orbit satellite signals.
For example, fig. 7 is a schematic diagram of determining a low-orbit satellite signal by a low-orbit satellite, as shown in fig. 7, after the low-orbit satellite receives a radiation source signal, aliasing is performed on the radiation source signal and the interference signal to obtain an aliasing signal, the aliasing signal is subjected to digital up-conversion processing, the aliasing signal is modulated to a high-frequency signal in a digital manner, and then the high-frequency signal is converted to an analog signal by a digital-to-analog conversion module, so as to obtain the low-orbit satellite signal.
The digital up-conversion processing of the aliasing signal may be: the aliasing signals of the baseband digit are interpolated and filtered through digital mixing, then are up-converted to digital high-frequency signals, and the output low-orbit satellite signals are high-frequency digital signals.
Example four
Fig. 8 is a schematic structural diagram of a positioning apparatus of a radiation source according to a fourth embodiment of the present invention. The present embodiment is applicable to a case where a radiation source is located based on a high-orbit satellite and a low-orbit satellite, the apparatus may be implemented in a software and/or hardware manner, the apparatus may be integrated in a ground receiving device, as shown in fig. 8, and the apparatus for locating a radiation source specifically includes: a receiving module 410, a separating module 420, and a determining module 430.
The receiving module 410 is configured to receive a radiation source signal transmitted by a high-earth orbit satellite and a low-earth orbit satellite signal transmitted by a low-earth orbit satellite, respectively, where the low-earth orbit satellite signal is an alias signal of the radiation source signal received by the low-earth orbit satellite and an interference signal generated by the low-earth orbit satellite;
a separation module 420, configured to perform interference separation on the low-earth-orbit satellite signal to obtain a low-earth-orbit radiation source signal;
and the determining module 430 is configured to determine the position of the radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal.
Optionally, the separation module 420 includes:
the correction unit is used for performing Doppler frequency offset correction on the low-orbit satellite signals;
the processing unit is used for carrying out digital down-conversion processing on the corrected low-orbit satellite signal to obtain a low-orbit satellite baseband signal;
and the suppression unit is used for carrying out interference suppression on the low-orbit satellite baseband signal to obtain a low-orbit radiation source signal.
Optionally, the correction unit is specifically configured to:
segmenting the bandwidth of the low-orbit satellite signal based on a preset bandwidth value;
determining Doppler frequency offset values of low-orbit satellite signals of all the sections;
and performing frequency offset correction on the low-orbit satellite signals of each section based on the Doppler frequency offset value.
Optionally, the suppressing unit includes:
a first determining unit, configured to determine a reference signal of the interference signal according to a modulation factor of the interference signal;
a second determining unit for determining an amplitude ratio and a phase difference of the reference signal and the interference signal;
a compensation unit, configured to compensate the reference signal based on the amplitude ratio and the phase difference, and determine a reconstructed signal of the interference signal;
and the removing unit is used for removing the reconstructed signal from the low-orbit satellite baseband signal to obtain a low-orbit radiation source signal.
Optionally, the second determining unit is specifically configured to:
resampling the reference signal based on a proportional relation between a sampling frequency and a code rate of the interference signal;
respectively segmenting the re-sampled reconstruction signal and the interference signal based on the number of preset sampling points, and aligning the reference signal of each segment with the interference signal of the corresponding segment;
and respectively carrying out frequency spectrum estimation on the aligned reference signal and the aligned interference signal to obtain the amplitude ratio and the phase difference of the reference signal and the interference signal.
Optionally, the suppressing unit is specifically configured to:
inputting the low orbit satellite baseband signal and the interference signal into an adaptive filter;
and carrying out interference suppression on the low-orbit satellite baseband signal by adaptively adjusting the self-parameters of the adaptive filter to obtain a low-orbit radiation source signal.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 9 is a schematic structural diagram of a positioning device of a radiation source according to a fifth embodiment of the present invention. The present embodiment is applicable to a case where a low earth orbit satellite performs interference aliasing on a radiation source to obtain a low earth orbit satellite signal, and the low earth orbit satellite signal is used for a ground receiving device to determine a position of the radiation source, the apparatus may be implemented in a software and/or hardware manner, the apparatus may be integrated in the low earth orbit satellite, as shown in fig. 9, and the apparatus for positioning the radiation source specifically includes: a receiving module 510, a determining module 520, an aliasing module 530, and a transmitting module 540.
A receiving module 510, configured to receive a radiation source signal sent by a radiation source;
a determining module 520, configured to determine an interference signal according to a signal element of the radiation source signal;
an aliasing module 530, configured to perform aliasing on the radiation source signal and the interference signal to obtain an low-earth orbit satellite signal;
a transmission module 540, configured to transmit the low-earth satellite signal to a ground receiving device, so that the ground receiving device determines a position of the radiation source.
Optionally, the aliasing module 530 is specifically configured to:
aliasing the radiation source signal and the interference signal to obtain an aliasing signal;
and carrying out digital up-conversion processing on the aliasing signals to obtain low-orbit satellite signals.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
Fig. 10 is a block diagram of a ground receiving device according to a sixth embodiment of the present invention, as shown in fig. 10, the ground receiving device includes a processor 610 and a memory 620; the number of the processors 610 in the ground receiving device may be one or more, and one processor 610 is taken as an example in fig. 10; the processor 610 and the memory 620 in the surface receiving device may be connected by a bus or other means, and the bus connection is exemplified in fig. 10.
The memory 620, as a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning method of the radiation source in the embodiment of the present invention (e.g., the receiving module 410, the separating module 420, and the determining module 430 in the positioning apparatus of the radiation source). The processor 610 executes software programs, instructions and modules stored in the memory 620 to perform various functional applications and data processing of the surface receiving device, i.e., to implement the above-described positioning method of the radiation source.
The memory 620 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 620 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 620 can further include memory located remotely from the processor 610, which can be connected to surface receiving devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
EXAMPLE seven
Fig. 11 is a block diagram of a low-earth orbit satellite according to a seventh embodiment of the present invention, as shown in fig. 11, the low-earth orbit satellite includes a processor 710 and a memory 720; the number of processors 710 in the low earth orbit satellite can be one or more, and one processor 710 is taken as an example in fig. 11; the processor 710 and the memory 720 in the low earth orbit satellite can be connected by a bus or other means, and the bus connection is exemplified in fig. 11.
The memory 720, which is a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning method of the radiation source in the embodiment of the present invention (e.g., the receiving module 510, the determining module 520, the aliasing module 530, and the transmitting module 540 in the positioning apparatus of the radiation source). The processor 710 executes software programs, instructions and modules stored in the memory 720 to perform various functional applications and data processing of the low earth orbit satellite, namely, to implement the above-mentioned positioning method of the radiation source.
The memory 720 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 720 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 720 may further include memory located remotely from processor 710, which may be connected to the low earth orbit satellite through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Example eight
Fig. 12 is a schematic structural diagram of a positioning system of a radiation source according to an eighth embodiment of the present invention. The present embodiment is applicable to a case where a radiation source is located based on a high-orbit satellite and a low-orbit satellite, as shown in fig. 12, the positioning system of the radiation source specifically includes: a radiation source 810, a low orbit satellite 820, a high orbit satellite 830, and a ground receiving device 840;
the radiation source is used for respectively sending radiation source signals to the low-orbit satellite and the high-orbit satellite;
the high orbit satellite is used for transmitting radiation source signals;
the low-orbit satellite is used for generating an interference signal according to a signal element of a received radiation source signal, aliasing the radiation source signal and the interference signal to obtain a low-orbit satellite signal, and transmitting the low-orbit satellite signal to ground receiving equipment;
the ground receiving equipment is used for respectively receiving the radiation source signal transmitted by the high-orbit satellite and the low-orbit satellite signal transmitted by the low-orbit satellite, and performing interference separation on the low-orbit satellite signal to obtain a low-orbit radiation source signal; and determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal.
The system can execute the automatic scheduling method provided by any embodiment of the invention, and has corresponding equipment, devices and beneficial effects of the execution method.
Example nine
An embodiment ninth of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for positioning a radiation source according to a first embodiment of all inventions of this application: respectively receiving radiation source signals transmitted by a high-orbit satellite and low-orbit satellite signals transmitted by a low-orbit satellite; carrying out digital down-conversion and interference suppression on the low-orbit satellite signal to obtain a low-orbit radiation source signal; determining the position of a radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal; or the positioning method of the radiation source provided by the third inventive embodiment of the present application is realized: receiving a radiation source signal transmitted by a radiation source; generating an interference signal according to a signal element of the radiation source signal; aliasing is carried out on the radiation source signal and the interference signal to obtain a low-orbit satellite signal; transmitting the low earth orbit satellite signals to a ground receiving device for the ground receiving device to determine the position of the radiation source.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (14)
1. A method for positioning a radiation source, which is applied to ground receiving equipment, is characterized by comprising the following steps:
respectively receiving a radiation source signal transmitted by a high-orbit satellite and a low-orbit satellite signal transmitted by a low-orbit satellite, wherein the low-orbit satellite signal is an aliasing signal of the radiation source signal received by the low-orbit satellite and an interference signal generated by the low-orbit satellite;
performing interference separation on the low-orbit satellite signals to obtain low-orbit radiation source signals;
and determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal.
2. The method of claim 1, wherein the interference separating the low-earth satellite signals to obtain low-earth radiation source signals comprises:
performing Doppler frequency offset correction on the low-orbit satellite signal;
carrying out digital down-conversion processing on the corrected low-orbit satellite signal to obtain a low-orbit satellite baseband signal;
and carrying out interference suppression on the low-orbit satellite baseband signal to obtain a low-orbit radiation source signal.
3. The method of claim 2, wherein the performing doppler frequency offset correction on the low-earth satellite signal comprises:
segmenting the bandwidth of the low-orbit satellite signal based on a preset bandwidth value;
determining Doppler frequency offset values of low-orbit satellite signals of all the sections;
and performing frequency offset correction on the low-orbit satellite signals of each section based on the Doppler frequency offset value.
4. The method of claim 2, wherein said interference suppressing said low orbit satellite baseband signal to obtain a low orbit radiation source signal comprises:
determining a reference signal of the interference signal according to a modulation element of the interference signal;
determining an amplitude ratio and a phase difference of the reference signal and the interference signal;
compensating the reference signal based on the amplitude ratio and the phase difference, and determining a reconstructed signal of the interference signal;
and removing the reconstructed signal from the low-orbit satellite baseband signal to obtain a low-orbit radiation source signal.
5. The method of claim 4, wherein the determining the amplitude ratio and the phase difference of the reference signal and the interference signal comprises:
resampling the reference signal based on a proportional relation between a sampling frequency and a code rate of the interference signal;
respectively segmenting the re-sampled reconstruction signal and the interference signal based on the number of preset sampling points, and aligning the reference signal of each segment with the interference signal of the corresponding segment;
and respectively carrying out frequency spectrum estimation on the aligned reference signal and the aligned interference signal to obtain the amplitude ratio and the phase difference of the reference signal and the interference signal.
6. The method of claim 2, wherein said interference suppressing said low orbit satellite baseband signal results in a low orbit radiation source signal, further comprising:
inputting the low orbit satellite baseband signal and the interference signal into an adaptive filter;
and carrying out interference suppression on the low-orbit satellite baseband signal by adaptively adjusting the self-parameters of the adaptive filter to obtain a low-orbit radiation source signal.
7. A method for positioning a radiation source, applied to a low earth orbit satellite, the method comprising:
receiving a radiation source signal sent by a radiation source;
generating an interference signal according to a signal element of the radiation source signal;
aliasing is carried out on the radiation source signal and the interference signal to obtain a low-orbit satellite signal;
transmitting the low earth orbit satellite signals to a ground receiving device for the ground receiving device to determine the position of the radiation source.
8. The method of claim 7, wherein aliasing the radiation source signal and the interference signal to obtain an low-earth-orbit satellite signal comprises:
aliasing the radiation source signal and the interference signal to obtain an aliasing signal;
and carrying out digital up-conversion processing on the aliasing signals to obtain low-orbit satellite signals.
9. A positioning device for a radiation source, integrated in a ground-based receiving apparatus, said device comprising:
the receiving module is used for respectively receiving a radiation source signal transmitted by a high-orbit satellite and a low-orbit satellite signal transmitted by a low-orbit satellite, wherein the low-orbit satellite signal is an aliasing signal of the radiation source signal received by the low-orbit satellite and an interference signal generated by the low-orbit satellite;
the separation module is used for carrying out interference separation on the low-orbit satellite signals to obtain low-orbit radiation source signals;
and the determining module is used for determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal.
10. A positioning device for a radiation source integrated with a low earth orbit satellite, the device comprising:
the receiving module is used for receiving a radiation source signal sent by a radiation source;
the determining module is used for determining an interference signal according to the signal element of the radiation source signal;
the aliasing module is used for performing aliasing on the radiation source signal and the interference signal to obtain a low-orbit satellite signal;
and the transmission module is used for transmitting the low-orbit satellite signals to ground receiving equipment so that the ground receiving equipment can determine the position of the radiation source.
11. A surface receiving apparatus, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of positioning a radiation source of any of claims 1-6.
12. A low earth orbit satellite, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of positioning a radiation source of claim 7 or 8.
13. A positioning system for a radiation source, comprising: a radiation source, a low earth orbit satellite according to claim 12, a high earth orbit satellite and a ground reception apparatus according to claim 11;
the radiation source is used for respectively sending radiation source signals to the low-orbit satellite and the high-orbit satellite;
the high orbit satellite is used for transmitting radiation source signals;
the low-orbit satellite is used for generating an interference signal according to a signal element of a received radiation source signal, aliasing the radiation source signal and the interference signal to obtain a low-orbit satellite signal, and transmitting the low-orbit satellite signal to ground receiving equipment;
the ground receiving equipment is used for respectively receiving the radiation source signal transmitted by the high-orbit satellite and the low-orbit satellite signal transmitted by the low-orbit satellite, and performing interference separation on the low-orbit satellite signal to obtain a low-orbit radiation source signal; and determining the position of the radiation source according to the time difference between the radiation source signal transmitted by the high-orbit satellite and the low-orbit radiation source signal.
14. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for positioning a radiation source according to any one of claims 1 to 6 or a method for determining low-earth-orbit satellite signals according to claim 7 or 8.
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| CN115955258A (en) * | 2023-03-13 | 2023-04-11 | 中国人民解放军国防科技大学 | Navigation signal receiving and transmitting isolation self-adaptive cancellation method based on reference waveform |
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