CN113552597A - Satellite navigation receiver pulse interference monitoring and suppressing method - Google Patents
Satellite navigation receiver pulse interference monitoring and suppressing method Download PDFInfo
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Abstract
A method for monitoring and suppressing pulse interference of a satellite navigation receiver adopts a method of dividing frequency bands of navigation signals, carries out filtering processing on two sections of navigation signals, simultaneously adopts an analog-to-digital conversion method of broadband sampling, totally digitizes the two sections of navigation signals, improves the pulse interference monitoring capability by utilizing power detection and incoherent accumulation, can realize the monitoring and suppression of the pulse interference signals, has flexible parameter calculation and high accuracy, is convenient for realizing and upgrading an algorithm, and improves the subsequent upgrading capability of the interference parameter monitoring and the pulse interference suppression.
Description
Technical Field
The invention relates to a method for monitoring and inhibiting pulse interference of a satellite navigation receiver, belonging to the field.
Background
Since the fifties of the last century, satellite navigation technology has developed at a rapid pace. The GPS system in the United states of the last century and the GLONASS system in Russia have been already established. The satellite navigation system of the european union (GALILEO project) was formally launched in 3 months 2002, now being substantially built and beginning to provide part of the service capacity. China builds a regional satellite navigation system of 'Beidouyi' at the end of the last century and provides regional active positioning navigation service for Asia-Pacific region. A Beidou No. two satellite navigation system with higher performance and wider coverage is built successfully in 2017, and has been applied to a Beidou No. three satellite navigation system covering the world in 8 months in 2020.
The development of a satellite navigation system provides abundant technical means for a human navigation positioning technology, and the frequency bands of satellite navigation signals are mainly distributed near 1.2G and 1.5G, the frequency bands have more interference signals, and particularly military or civil radar pulse interference signals are the most serious. After the pulse interference signal enters the satellite navigation receiver, the interference signal raises the bottom noise power of the navigation receiver through receiver spread spectrum processing, so that the tracking precision of the navigation receiver on the navigation signal is reduced, the error of a navigation positioning result is increased, and different degrees of influence on a user sensitive to navigation positioning can be caused. In severe interference situations, the navigation receiver may operate abnormally or be positioned incorrectly, with more serious consequences for the user.
According to the characteristics of the interference signal in the time domain, the interference signal comprises continuous wave interference and pulse interference, the continuous wave interference signal is continuous in the time domain, completely covers the navigation signal, and has no discontinuity in the time domain. The pulse interference signal is discontinuous, due to the discontinuous characteristic of the pulse signal in time, the signal can not completely cover the navigation signal in the whole time range of the navigation signal, and the occupied width of the pulse signal in time is determined by the duty ratio and the pulse repetition frequency. Generally, the pulsed interference signals with a duty ratio of 10% or less are collectively referred to as short pulse signals, and the pulsed interference signals with a duty ratio of more than 50% are collectively referred to as long pulse signals.
From the aspect of frequency domain characteristic analysis, because the frequency spectrum of the pulse signal is related to the pulse width, the pulse repetition frequency and the rising edge and the falling edge of the pulse signal, theoretical analysis can know that the frequency spectrum of the pulse signal has infinite bandwidth characteristics, and therefore, the pulse signal can be regarded as a special broadband interference signal for the satellite navigation signal. In addition, the pulse interference is bursty and is a non-steady signal, and the influence on the satellite navigation receiver caused by the sudden occurrence of the interference is bursty and discontinuous, so that the characteristics of good and bad navigation signal capturing, tracking and positioning of the satellite navigation receiver are realized, the application of navigation positioning is caused to be bursty and unpredictable, and the influence on the positioning and application of the user by adopting satellite navigation is larger.
In practical application environments, unintentional or intentional impulsive interference sources exist in large quantities, and specifically include civil aviation radio navigation dme (distance Measuring equipment) signals, military aviation radio short-range navigation System tacan (practical Air navigation) signals, Air traffic Collision Avoidance System tcas (traffic Collision and arrival System), joint Tactical Information Distribution System ids (joint Tactical Information Distribution System), partial military or civil radar signals, and Broadcast Automatic Dependent Surveillance System ADS-B (Automatic Dependent Surveillance-Broadcast System), and so on. In a special application environment with pulse interference, by monitoring and parameter estimation of pulse interference signals, a support can be provided for signal tracking of a receiver, an early warning signal is sent out, a reference is provided for a navigation positioning result of the receiver, correctness judgment is provided for the navigation positioning result, and a basis can be provided for data using a satellite navigation receiver.
The Chinese patent 'a pulse interference identification and elimination method based on maximum-minimum filtering', which is characterized in that an absolute value sequence is obtained by taking an absolute value of an intermediate frequency AD sampling sequence of a receiver, N sampling points are continuously taken in the absolute value sequence and are evenly divided into M intervals, L is equal to N/M in each interval, the maximum value of the L sampling points in each interval is obtained, a maximum value sequence max with the length of M is obtained, the maximum value and the minimum value of the maximum value sequence max are obtained, the maximum value sequence max and the minimum value are respectively max _ min and max _ min, and pulse interference identification and pulse interference elimination are carried out according to the data, wherein the patent authorization number is ZL 201218008001.2. The Chinese patent 'a Turbo decoding method for resisting strong pulse interference', which adopts a Turbo coding and decoding method, overcomes the defects of the Turbo traditional decoding method, preprocesses the pulse interference on the basis of simplifying the traditional decoding method as much as possible, reduces the dependence on the length and the random performance of an interleaver in Turbo coding, and greatly improves the pulse interference resistance, and the patent No. ZL 201418008112.2. Chinese patent "a method for monitoring and suppressing pulse interference signal" proposes to monitor whether there is a pulse interference signal, suppress interference in the presence of interference, and provide an early warning at the same time, and patent application No. 201711467830.5, publication No. CN 102346255A. The chinese patent "pulse interference resisting method for BPSK spread spectrum system", which proposes a correlation peak output method through pulse interference monitoring, provides the capability of BPSK system to resist pulse interference, and has patent publication No. CN 1063573008.
However, the above patents are not considered from the data processing perspective of pulse interference monitoring and parameter estimation, and the invention accurately estimates the key parameters of the pulse interference signals, provides warning information for navigation data, and improves the availability of receiver positioning data.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problems that the satellite navigation receiver has general usability under the pulse interference environment and is not considered from the data processing angle of pulse interference monitoring and parameter estimation in the prior art, a pulse interference monitoring and suppressing method of the satellite navigation receiver is provided.
The technical scheme for solving the technical problems is as follows:
a method for monitoring and suppressing pulse interference of a satellite navigation receiver comprises the following steps:
(1) carrying out centralized analysis on the navigation signals, and dividing the navigation signals into two frequency bands;
(2) respectively carrying out analog filtering processing on the divided two frequency band navigation signals obtained in the step (1);
(3) carrying out broadband sampling according to the analog navigation signal obtained in the step (2), and carrying out digital processing on the signal after broadband sampling;
(4) dividing the digital satellite navigation signal obtained in the step (3) into two paths, wherein one path is subjected to pulse interference suppression processing, signal tracking processing and navigation positioning resolving, and the other path is directly subjected to pulse interference processing;
(5) And (4) calculating an interference threshold, a pulse interference pulse width and a duty ratio according to the observation data obtained by navigation positioning calculation and pulse interference processing in the step (4), and monitoring signal interference through the interference threshold, the interference parameters and the interference alarm signal.
In the step (4), the method for performing the pulse interference processing on the one-path digital satellite navigation signal specifically includes:
and performing power detection and incoherent accumulation processing on the digital satellite navigation signals.
The calculation formula of the power detection processing is specifically as follows:
wherein f (-) is a digital satellite navigation signal containing noise and interference after sampling and quantization, Ts is a sampling period, and n is a sampling time.
Grouping the digital satellite navigation signals after the power detection processing and carrying out incoherent accumulation, wherein the grouping length is determined according to incoherent accumulation calculation capacity, the grouping length is p sampling data points, q groups of sampling data are obtained through incoherent accumulation calculation, and the calculation formula specifically comprises the following steps:
wherein F (-) is the observation data accumulated for each corresponding data point in the q groups of data, and the length is p; f. ofi(nTs) is data at the nth sampling time in the stored group 0 to (q-1) data; f. ofm[(n-1)Ts)]Is thatStoring the data of the (n-1) th sampling time in the groups 0 to (q-1), and so on; f. of k[(n-p)Ts)]Is stored data at the (n-p + 1) th sampling time in the groups 0 to (q-1). In the invention, the length of the packets is selected as p and 16384, and the number of the packets q is selected as 100.
In the step (5), the specific steps of signal detection are as follows:
(5-1) averaging the original observation data, and calculating a monitoring threshold, wherein the calculation formula specifically comprises:
in the formula, F [ (n-j) Ts ] is data obtained by calculation in the step (4) at the nth-j sampling time;
(5-2) judging the digital satellite navigation signal, if the digital satellite navigation signal data exceeds a monitoring threshold value T, setting the digital satellite navigation signal data to be 0, otherwise, keeping the data unchanged, and performing interference suppression calculation, wherein the calculation formula specifically comprises:
in the formula, f (-) is a satellite navigation digital signal containing noise and interference after sampling and quantization, Ts is a sampling period, and n is a sampling time;
(5-3) setting a search boundary value, searching the original digital satellite navigation signal data from the left boundary, if the selected signal data value is larger than a monitoring threshold value, then the selected signal has pulse interference, recording an interference starting point, generating an interference existence identifier, continuing to monitor the selected digital satellite navigation signal data, if the rest part is smaller than the monitoring threshold value, determining that the pulse interference is finished, and recording an interference termination point;
And (5-4) calculating pulse interference width and duty ratio parameters through the interference starting point and the interference ending point obtained in the step (5-3), and outputting the interference parameters to complete a signal interference monitoring task.
The whole process of pulse signal interference monitoring of the satellite navigation receiver is realized by a set of monitoring system, and mainly comprises 2 filters, an interference monitoring and inhibiting module, a signal tracking processing and navigation positioning settlement module and a pulse interference processing module; the 2 filters respectively process the divided frequency band signals, the interference monitoring and suppression module is used for performing signal interference suppression processing, and the signal tracking processing and navigation positioning resolving module performs navigation positioning resolving on observation data and performs software resolving, interference monitoring and suppression after acquiring all original observation data.
Compared with the prior art, the invention has the advantages that:
(1) according to the method for monitoring and inhibiting the pulse interference of the satellite navigation receiver, the method for processing the navigation signals by frequency band change is adopted, the processing capacity of all civil navigation signals is improved, all civil signals of global satellite navigation can be covered, and the pulse interference monitoring function of all navigation signals can be conveniently processed in a unified manner; meanwhile, the two sections of navigation signals are subjected to filtering processing, so that other interference input from the outside is subjected to preliminary processing, and the influence of interference signals outside a frequency band on pulse interference monitoring and processing is reduced;
(2) The invention adopts the analog-to-digital conversion method of broadband sampling to digitize two sections of navigation signals completely, thereby improving the flexibility and the parameterization capability of the subsequent pulse interference monitoring, and adopts the method of power detection and incoherent accumulation to improve the pulse interference monitoring capability, thereby improving the monitoring sensitivity of the pulse interference signals, monitoring smaller weak pulse interference signals, providing conditions for acquiring the pulse interference monitoring threshold value, improving the convenience of the interference parameterization, flexibly calculating the parameters of the pulse period and the duty ratio of the pulse interference, having high accuracy, being convenient for realizing and upgrading the algorithm, and improving the subsequent upgrading capability of the interference parameter monitoring and inhibition.
Drawings
FIG. 1 is a schematic diagram of the band division and filter selection characteristics of a satellite navigation receiver according to the present invention;
FIG. 2 is a schematic diagram of the amplitude-frequency characteristics of a two-band filter of a satellite navigation receiver according to the present invention;
FIG. 3 is a schematic circuit diagram of a 1.2G band LC passive filter of a satellite navigation receiver provided by the invention;
FIG. 4 is a schematic circuit diagram of a 1.5G band LC passive filter of a satellite navigation receiver provided by the invention;
FIG. 5 is a schematic diagram of a process for implementing pulse interference monitoring and alarm of a satellite navigation receiver according to the present invention;
FIG. 6 is a schematic flow chart of an impulse interference monitoring algorithm provided by the present invention;
FIG. 7 is a schematic diagram of the envelope detection and non-coherent accumulated pulse interference monitoring suppression results provided by the present invention;
Detailed Description
A satellite navigation receiver pulse interference monitoring and inhibiting method adopts a method of carrying out frequency band conversion processing on navigation signals, carries out filtering processing on two sections of navigation signals, simultaneously adopts an analog-to-digital conversion method of broadband sampling, carries out total digitization on the two sections of navigation signals, improves the pulse interference monitoring capability by utilizing power detection and incoherent accumulation, can realize pulse interference signal monitoring, and has the following specific flow:
(1) carrying out centralized analysis on the navigation signals, and dividing the navigation signals into two frequency bands;
(2) respectively carrying out analog filtering processing on the divided two frequency band navigation signals obtained in the step (1);
(3) carrying out broadband sampling according to the analog navigation signal obtained in the step (2), and carrying out digital processing on the signal after broadband sampling;
(4) dividing the digital satellite navigation signal obtained in the step (3) into two paths, wherein one path is subjected to pulse interference suppression processing, signal tracking processing and navigation positioning resolving, and the other path is directly subjected to pulse interference processing;
The method for processing the pulse interference of the digital satellite navigation signal comprises the following specific steps:
performing power detection and incoherent accumulation processing on the digital satellite navigation signals;
the calculation formula of the power detection processing is specifically as follows:
in the formula, f (-) is a digital satellite navigation signal containing noise and interference after sampling and quantization, Ts is a sampling period, and n is a sampling time;
grouping the digital satellite navigation signals after the power detection processing and carrying out incoherent accumulation, wherein the grouping length is determined according to incoherent accumulation calculation capacity, the grouping length is p sampling data points, q groups of sampling data are obtained through incoherent accumulation calculation, and the calculation formula specifically comprises the following steps:
wherein F (-) is the observation data accumulated for each corresponding data point in the q groups of data, and the length is p; f. ofi(nTs) is data at the nth sampling time in the stored group 0 to (q-1) data; f. ofm[(n-1)Ts)]Storing the data of the (n-1) th sampling time in the groups 0 to (q-1), and so on; f. ofk[(n-p)Ts)]Is stored data at the (n-p + 1) th sampling time in the groups 0 to (q-1). In the invention, the packet length is selected as p and is 16384, and the number q of packets is 100;
(5) and (4) calculating an interference threshold, a pulse interference pulse width and a duty ratio according to the observation data obtained by navigation positioning calculation and pulse interference processing in the step (4), and monitoring signal interference through the interference threshold, the interference parameters and the interference alarm signal.
The specific steps for signal detection are as follows:
(5-1) averaging the original observation data, and calculating a monitoring threshold, wherein the calculation formula specifically comprises:
in the formula, F [ (n-j) Ts ] is data obtained by calculation in the step (4) at the nth-j sampling time;
(5-2) judging the digital satellite navigation signal, if the digital satellite navigation signal data exceeds a monitoring threshold value, setting the digital satellite navigation signal data to be 0, otherwise, keeping the data unchanged, and performing interference suppression calculation, wherein the calculation formula specifically comprises:
in the formula, f (-) is a satellite navigation digital signal containing noise and interference after sampling and quantization, Ts is a sampling period, and n is a sampling time;
(5-3) setting a search boundary value, searching the original digital satellite navigation signal data from the left boundary, if the selected signal data value is larger than a monitoring threshold value, then the selected signal has pulse interference, recording an interference starting point, generating an interference existence identifier, continuing to monitor the selected digital satellite navigation signal data, if the rest part is smaller than the monitoring threshold value, determining that the pulse interference is finished, and recording an interference termination point;
and (5-4) calculating pulse interference width and duty ratio parameters through the interference starting point and the interference ending point obtained in the step (5-3), and outputting the interference parameters to complete a signal interference monitoring and inhibiting task.
The following is further illustrated with reference to specific examples:
in this embodiment, a specific process for monitoring and suppressing the interference of the pulse signal of the satellite navigation receiver is as follows:
(1) centralized analysis is carried out on civil navigation signals and the signals are divided into two frequency bands
According to all navigation signal frequency points and a modulation mode of a civil navigation signal frequency table of the existing satellite navigation system, the existing satellite navigation system occupies 449.95MHz of bandwidth in the L frequency band, in order to facilitate the subsequent signal processing part of the navigation receiver, the navigation signal frequency bands of the navigation receiver are classified and sorted, adjacent navigation signals are divided into one frequency band as much as possible, and all the navigation signals are distributed in 2 frequency bands which are relatively concentrated, as shown in fig. 1, the specific division mode is as follows:
the first section is a navigation signal with 1.2G as the center, specifically covers 1155.99MHz to 1288.75MHz, has the bandwidth of about 133MHz, and comprises various signals such as B2a, B2B, B3C, B3A, B3I, B3Q, L2C, L5, E5 and the like;
the second section is a navigation signal with 1.5G as the center, specifically covers 1557.006MH to 1605.9375MH, has a bandwidth of about 49MHz, and specifically comprises signals such as B1C, B1A, B1I, L1CA, G G1C/A, G2C/A, E1B/C and the like;
Detailed frequency parameters for the two bands and specific data for the band center frequencies are shown in table 2.
TABLE 1 civil navigation signal frequency table for existing satellite navigation system
TABLE 2 present satellite navigation system civil navigation signal frequency band division table
(2) Respectively carrying out analog filtering processing on two frequency bands in the navigation signal set
Aiming at the two frequency bands in the step (1), in order to filter out interference signals outside the navigation signal band and reduce the influence of signals of other frequency bands on the navigation signal and pulse interference monitoring, the center frequency filters of the two frequency bands are required to be designed to be centered, the required whole frequency band is covered, and filtering processing is carried out on signals outside the band, the center frequency points of the two frequency bands recommended in practical application are 1222MHz and 1581MHz respectively, the 3dB pass band widths of the two frequency bands are 133MHz and 49MHz respectively, the stopband attenuation is 30dB, wherein the transition band of the filter of the 1.2G frequency band is 200MHz, but the transition band of the filter of the 1.5G frequency band is 50 MHz.
Considering the system performance requirement, realizability and circuit design comprehensively, the detailed transfer functions of the 2 filters designed in the patent are as follows:
in the navigation receiver, the two filters are respectively proposed to carry out filtering processing to obtain two sections of pure satellite navigation signals and the like, the amplitude-frequency characteristic diagram of the filter is shown in figure 2, and the filter structure is completed in an LC passive filter mode;
Wherein, the left and right graphs in fig. 2 represent the amplitude-frequency characteristics of the two frequency bands divided in step (1) respectively;
(3) analog navigation signals are subjected to broadband sampling and then are subjected to digital processing
As shown in fig. 3 and 4, for the two paths of analog signals of 1.2G and 1.5G after being subjected to the filtering wave processing in step 2, the two paths of analog signals are analog-to-digital converted for convenience and flexibility in subsequent impulse interference monitoring and parameter estimation. Because the bandwidth of the useful navigation signal of the 1.2G frequency band reaches 134MHz, and the navigation signal of the 1.5G frequency band also reaches 49MHz, need to adopt the sampling technology of the broadband when carrying on the digital-to-analog conversion, the sampling clock in the invention is 500MHz, and the sampling clock is obtained through the clock source of the high stability, the discrete signal after the broadband sampling is through the quantization process, quantize the analog signal to the digital signal of 14bit, and adopt 1 AD chip to include 2 AD devices that transform to finish the circuit design in the circuit design;
(4) pulse interference monitoring capability improvement by adopting power detection and incoherent accumulation technology
The digital satellite navigation signal after mode conversion in step 3 contains various signal components such as noise and interference. As shown in fig. 5, after the satellite navigation signal enters the interference monitoring and suppression module, the signal is divided into 2 paths, one path is sent to the pulse interference suppression link, and after the pulse interference suppression processing, the signal is sent to the signal tracking processing and navigation positioning settlement module, and the other path is sent to the pulse interference monitoring module.
The pulse interference processing and parameter estimation module completes power detection, threshold estimation and incoherent accumulation of signals, and because when pulse interference exists in actual signals, the signal power is obviously larger than the situation without pulse interference, in order to carry out monitoring and parameter estimation of pulse interference, signal power detection is firstly carried out, the essence is that the absolute value of input signals is calculated, and the mathematical expression of the algorithm is as follows:
wherein f (-) is the satellite navigation digital signal containing noise and interference after sampling and quantization, Ts is the sampling period, and n is the sampling time.
The interference signals received by single sampling are low in dry-to-noise ratio, and in order to further improve the capability of pulse interference monitoring and obtain clear pulse envelopes, signals after power detection need to be grouped and are not subjected to coherent accumulation. The grouping length depends on the storage capacity in the actual calculation process, the generality is not lost, the grouping length is selected as p sampling data points, and after the storage is finished, the data are sent to a program processing unit through a data interface to carry out the accumulation calculation of corresponding points in the data group. The program processing part of the invention accumulates and calculates q groups of data, and the calculation formula is as follows:
Wherein, F (-) is the sampling data accumulated for each corresponding data point in the q groups of data, and the length is p; f. ofi(nTs) are stored group data of 0 to (q-1)The data of the middle nth sampling moment; f. ofm[(n-1)Ts)]Storing the data of the (n-1) th sampling time in the groups 0 to (q-1), and so on; f. ofk[(n-p)Ts)]Is stored data at the (n-p + 1) th sampling time in the groups 0 to (q-1). In the invention, the packet length is selected as p and is 16384, and the number q of packets is 100;
(5) interference monitoring, parameter estimation and interference suppression are completed by adopting a software processing mode
Calculating the interference threshold, the pulse interference pulse width and the duty ratio by software aiming at the original observation data obtained in the step 4, and simultaneously sending out the interference threshold, the interference parameter and the interference alarm signal, wherein the detailed program calculation flow is shown in fig. 6 and comprises the following steps:
firstly, averaging the original observation data F (-) obtained in the step 4 to obtain a monitoring threshold, wherein a threshold calculation formula is as follows:
wherein F [ (n-j) Ts ] is the monitoring data calculated by the step 4) at the nth-j sampling time.
Meanwhile, the calculated interference monitoring threshold is sent to an interference suppression unit, the satellite navigation signal exceeding the interference threshold is set to be 0, otherwise, the data is kept unchanged, and a specific interference suppression calculation formula is as follows:
Wherein f (-) is the satellite navigation digital signal containing noise and interference after sampling and quantization, Ts is the sampling period, and n is the sampling time.
And secondly, setting a search boundary value for the original observation data F (-) in the step 4, gradually searching and judging the relation between the data and the threshold from the left boundary of the data, if the relation is larger than the threshold, determining that impulse interference exists, recording an interference starting point, outputting an interference existence mark, and accumulating the number of interference points, otherwise, determining that the impulse interference does not exist. And after judging that the interference exists, continuing to monitor the original observation data F (-) and determining the relation between the data F (-) and the threshold value T, if the relation is smaller than the threshold value T, determining that the pulse interference is finished, and recording an interference termination point.
And finally, calculating pulse interference width and duty ratio parameters by using the interference starting point and the interference ending point. The pulse interference width is the accumulated interference points, the duty ratio is the accumulated interference points divided by the accumulated search points, the interference parameters are output, and the interference monitoring task of the current round is completed.
Through the non-coherent accumulation smoothing process, the comparison result before and after the satellite navigation signal accumulation with impulse interference and the effect after the interference suppression process are shown in fig. 7. After incoherent accumulation, the noise signal is effectively inhibited, the amplitude of the pulse interference signal is greatly improved, the ratio of the pulse interference signal to the noise is greatly increased, so that the monitoring, parameter estimation and threshold calculation of the pulse interference signal are easier, and simultaneously, after the pulse interference inhibition, the amplitude of the interference signal is greatly reduced, and the pulse interference signal is inhibited. Fig. 7(a), 7(b), and 7(c) represent waveforms of the impulse interference signal, the waveform after incoherent integration and smoothing, and the waveform after impulse interference removal, respectively.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (5)
1. A method for monitoring and suppressing pulse interference of a satellite navigation receiver is characterized by comprising the following steps:
(1) carrying out centralized analysis on the navigation signals, and dividing the navigation signals into two frequency bands;
(2) respectively carrying out analog filtering processing on the divided two frequency band navigation signals obtained in the step (1);
(3) carrying out broadband sampling according to the analog navigation signal obtained in the step (2), and carrying out digital processing on the signal after broadband sampling;
(4) dividing the digital satellite navigation signal obtained in the step (3) into two paths, wherein one path is subjected to pulse interference suppression processing, signal tracking processing and navigation positioning resolving, and the other path is directly subjected to pulse interference processing;
(5) and (4) calculating an interference threshold, a pulse interference pulse width and a duty ratio according to the observation data obtained by navigation positioning calculation and pulse interference processing in the step (4), and monitoring signal interference through the interference threshold, the interference parameters and the interference alarm signal.
2. The method of claim 1, wherein the method for monitoring and suppressing the impulse interference of the satellite navigation receiver comprises:
in the step (4), the method for performing the pulse interference processing on the one-path digital satellite navigation signal specifically includes:
and performing power detection and incoherent accumulation processing on the digital satellite navigation signals.
3. The method of claim 2, wherein the method for monitoring and suppressing the impulse interference of the satellite navigation receiver comprises:
the calculation formula of the power detection processing is specifically as follows:
wherein f (-) is a digital satellite navigation signal containing noise and interference after sampling and quantization, Ts is a sampling period, and n is a sampling time.
4. The method of claim 2, wherein the method for monitoring and suppressing the impulse interference of the satellite navigation receiver comprises:
grouping the digital satellite navigation signals after the power detection processing and carrying out incoherent accumulation, wherein the grouping length is determined according to incoherent accumulation calculation capacity, the grouping length is p sampling data points, q groups of sampling data are obtained through incoherent accumulation calculation, and the calculation formula specifically comprises the following steps:
wherein F (-) is the observation data accumulated for each corresponding data point in the q groups of data, and the length is p; f. of i(nTs) is data at the nth sampling time in the stored group 0 to (q-1) data; f. ofm[(n-1)Ts)]Storing the data of the (n-1) th sampling time in the groups 0 to (q-1), and so on; f. ofk[(n-p)Ts)]Is stored data at the (n-p + 1) th sampling time in the groups 0 to (q-1). In the invention, the length of the packets is selected as p and 16384, and the number of the packets q is selected as 100.
5. The method of claim 2, wherein the method for monitoring and suppressing the impulse interference of the satellite navigation receiver comprises:
in the step (5), the specific steps of signal detection are as follows:
(5-1) averaging the original observation data, and calculating a monitoring threshold, wherein the calculation formula specifically comprises:
in the formula, F [ (n-j) Ts ] is data obtained by calculation in the step (4) at the nth-j sampling time;
(5-2) judging the digital satellite navigation signal, if the digital satellite navigation signal data exceeds a monitoring threshold value, setting the digital satellite navigation signal data to be 0, otherwise, keeping the data unchanged, and performing interference suppression calculation, wherein the calculation formula specifically comprises:
in the formula, f (-) is a satellite navigation digital signal containing noise and interference after sampling and quantization, Ts is a sampling period, and n is a sampling time;
(5-3) setting a search boundary value, searching digital satellite navigation signal data after interference suppression calculation from a left boundary, if the data value of the selected signal is greater than a monitoring threshold value, recording an interference starting point and generating an interference existence identifier, continuing to monitor the digital satellite navigation signal data, and if the rest part is less than the monitoring threshold value, determining that the pulse interference is finished, and recording an interference termination point;
And (5-4) calculating pulse interference width and duty ratio parameters through the interference starting point and the interference ending point obtained in the step (5-3), and outputting the interference parameters to complete a signal interference monitoring task.
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