CN-122017898-A - Rotation compensation method for missile-borne navigation receiver

CN122017898ACN 122017898 ACN122017898 ACN 122017898ACN-122017898-A

Abstract

The invention discloses a rotation compensation method of a missile-borne navigation receiver, and relates to the technical field of rotation compensation. The method comprises the steps of obtaining a complex intermediate frequency satellite signal sequence of a missile-borne navigation receiver, extracting an instantaneous total power sequence through short-time Fourier transform, identifying a rotation period, dividing an availability window and a sensitive window according to the instantaneous total power sequence, constructing a double-layer rotation frequency spectrum model based on the divided window, carrying out online calibration on the double-layer rotation frequency spectrum model, quantifying a monitored abnormal signal into rotation consistency and interference possibility scores based on the calibrated model, determining a judging result of the abnormal signal, and carrying out rotation compensation on the receiver according to the judging result to generate continuous navigation measurement information. The invention realizes the rotation compensation of the missile-borne navigation receiver based on the continuous navigation measurement information.

Inventors

LI LI
ZHANG WENQIANG
WANG HUANHUAN
LI WEIJUN
DANG JINCHAO
NIU QINGPO
GUO HONGCHENG

Assignees

陕西凌云恒创科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. The rotation compensation method of the missile-borne navigation receiver is characterized by comprising the following steps of: Step S1, acquiring a complex intermediate frequency satellite signal sequence of a missile-borne navigation receiver, analyzing the complex intermediate frequency satellite signal sequence through a short-time Fourier transform method, calculating to obtain an instantaneous total power sequence, identifying a rotation period of the missile-borne navigation receiver based on the instantaneous total power sequence, and dividing an availability window and a sensitive window; Step S2, a double-layer rotating spectrum model is built based on the availability window and the sensitive window, and the double-layer rotating spectrum model is calibrated to obtain a calibrated double-layer rotating spectrum model; s3, converting an abnormal signal monitored by the missile-borne navigation receiver into an observation vector by taking the calibrated rotation spectrum model as a reference, and calculating to obtain a rotation consistency score and an interference probability score; and S4, performing rotation compensation on the missile-borne navigation receiver according to the judging result of the abnormal signal to generate continuous navigation measurement information.
2. The method for compensating for rotation of an airborne navigation receiver according to claim 1, wherein obtaining a complex intermediate frequency satellite signal sequence of the airborne navigation receiver comprises: after the missile-borne navigation receiver enters a working state, satellite signals are collected, the missile-borne navigation receiver performs down-conversion and analog-to-digital conversion on radio frequency satellite signals received by an antenna, and outputs a complex intermediate frequency satellite signal sequence which is characterized in mathematics as Wherein, the characters Representing complex intermediate frequency signal, character n represents discrete time index, and its value range is N, N is the total number of discrete time points of the complex intermediate frequency satellite signal sequence, and is character Is an index that is used to distinguish between different signal processing channels.
3. The method for compensating rotation of an missile-borne navigation receiver according to claim 2, wherein the analysis of the complex intermediate frequency satellite signal sequence by a short-time fourier transform method, the calculation of the instantaneous total power sequence, comprises: for complex intermediate frequency satellite signal sequence Performing time-frequency analysis by dividing long time sequence into overlapped short time periods, windowing each time frame, performing discrete Fourier transform, and processing by short time Fourier transform method A plurality of time frames corresponding to the complex frequency spectrum Obtained by calculation by the following formula: ; Wherein, the Representation channel The character m identifies the sequence number of the time frame, k identifies the sequence number of the frequency unit, k=0, 1, & gt, N-1; Representing the summation operation of L time points in the window; Is a channel The character H is the frame shift length, namely the time interval of the starting point of the adjacent time frame; is a window function of length L, characters Is a kernel function of the discrete Fourier transform, j is an imaginary unit, and the character N is the length of the discrete Fourier transform; Then, a time-frequency energy distribution matrix representing the distribution of the signal power in the time-frequency two-dimensional plane is obtained by calculating the square of the modulus of each complex spectral value The elements are ; Matrix the time-frequency energy distribution of each channel Summing over a frequency dimension k to produce a one-dimensional instantaneous total power sequence 。
4. A method of compensating for rotation of a missile-borne navigation receiver in accordance with claim 3 wherein identifying a period of rotation of the missile-borne navigation receiver based on the instantaneous total power sequence and dividing an availability window and a sensitivity window includes: in the generated instantaneous total power sequence In the method, the basic rotation period of the regular fluctuation of the energy distribution is identified by carrying out periodical spectrum analysis or autocorrelation function peak detection on the sequence The unit is the number of time frames; Upon identification of a rotation period On the basis of (a) for a complete rotation period, for the main channel power sequence To divide the characteristic window for ensuring the robustness of the analysis The periodic samples should satisfy the periodicity of the power fluctuations and the identified fundamental rotation period Is coincident with and has no obvious burst distortion, thereby dividing two subintervals with different characteristics according to a fixed power threshold The threshold is determined by experimental statistics; Availability window Corresponding to The value is continuously higher than the threshold value The fluctuation is small, and the carrier phase continuity can be reliably maintained in the window; Sensitive window Corresponding to The value drops to the threshold value Below or during periods of severe fluctuations, the signal is subject to significant attenuation and phase abrupt changes within this window.
5. The method of claim 4, wherein constructing a dual-layer rotation spectrum model based on the availability window and the sensitivity window comprises: Constructing a basic part of a dual-layer rotational spectrum model-a period layer intended to describe a stable, predictable repetitive modulation structure of signal energy over one period of rotation with a set of core parameters, initializing the parameter vector of the period layer based on the output of step S1 ; Secondly, constructing a dynamic part of the double-layer rotating spectrum model, namely a disturbance layer, wherein the disturbance layer passes through a state vector At discrete moments Characterization is performed: ; Wherein, the Is shown at the moment Is a disturbance layer state vector of (1); is shown at the moment The actual start phase of the sensitive window relative to the reference phase of the periodic layer Is determined by the instantaneous offset of (1); is shown at the moment Measured power average value in availability window relative to periodic layer reference average value Is determined by the instantaneous offset of (1); is shown at the moment Measured attenuation slope in sensitive window relative to reference parameter of periodic layer Is used to determine the instantaneous offset of the (c).
6. The method for compensating rotation of an missile-borne navigation receiver according to claim 5, wherein calibrating the dual-layer rotation spectrum model to obtain a calibrated dual-layer rotation spectrum model includes: Disturbance layer state detection by Kalman filtering algorithm Performing online recursive estimation, and calibrating at each processing time The method is implemented by constructing and solving a state prediction equation and an observation equation; The Kalman filtering recursively executes the prediction and updating steps to finally output the optimal unbiased estimation of the disturbance layer state at the current moment And its estimation error covariance matrix.
7. The method for compensating rotation of an missile-borne navigation receiver according to claim 6, wherein converting the anomaly signal detected by the missile-borne navigation receiver into an observation vector based on the calibrated rotation spectrum model, comprises: Missile-borne navigation receiver compares instantaneous total power in real time And the reference power of the periodic layer in the step S2 Continuously monitoring signal quality when the condition is satisfied When it is determined that "significant degradation" has occurred and an exception handling procedure is triggered, wherein, Is a preset power drop threshold; subsequently, an anomaly time window is determined and an observation vector is constructed, the anomaly duration being defined as the decrease from power below a threshold value Starting until the power is restored to the threshold The above continuous time period is kept stable, and in the time window, the receiver calculates and extracts five key parameters in parallel to form a structured observation vector The vector is calculated within an abnormal event time window in the following specific form: ; Wherein O represents an observation vector; representing the current instantaneous total power Relative to periodic layer reference power The magnitude of the drop in (2); representing instantaneous total power change over an abnormal event time window Is a variance of (2); Representing the actual starting phase of the current sensitive window estimated from real-time signal analysis and the current phase estimate predicted by the dual-layer rotational spectrum model A difference between them; Representing the mean value of the signal power in the availability window measured at the current moment and the current power reference value given by the double-layer rotating spectrum model A difference between them; Representing the relative entropy between the measured spectral energy distribution during the anomaly signal and the undisturbed ideal spectral energy distribution predicted by the dual-layer rotational spectral model at the current phase, T being the transposed symbol.
8. The method of claim 7, wherein calculating a rotation consistency score and a disturbance likelihood score comprises: calculating rotation consistency scores : ; Wherein, the Representing a rotation consistency score with a value range of ; Representing a natural exponential function; is a phase tolerance, and is set according to 3 times of standard deviation of the position estimation error of the historical window; Is the expected power attenuation value; is a tolerance parameter for power matching; Is a saturation threshold of relative entropy; then, the interference probability scores are calculated in parallel : ; Wherein, the Representing an interference likelihood score having a value range of ; Representing a hyperbolic tangent function; is a normalized reference of the power fluctuation variance, and is determined according to a typical fluctuation level experiment under rotation modulation; Is a normalized reference for power mean shift.
9. The method of claim 8, wherein determining a discrimination result of an anomaly signal based on the rotation consistency score and the interference likelihood score comprises: Based on the calculated rotation consistency score And interference likelihood score The score is subjected to cooperative judgment according to a preset judgment rule, and a determined class result R is output: ; Wherein, the Representing the judgment result of the abnormal signal; Is a preset decision threshold that maps continuous fractional space to a discrete, explicit decision category.
10. The method for compensating rotation of a missile-borne navigation receiver according to claim 9, wherein the method for compensating rotation of the missile-borne navigation receiver according to the determination result of the abnormal signal to generate continuous navigation measurement information comprises the steps of: According to the output abnormal signal discrimination result R, adopting a corresponding signal processing strategy for the missile-borne navigation receiver to compensate the rotation modulation effect and inhibit interference, and finally generating continuous navigation measurement information, wherein the method comprises the following steps: Carrier phase observance The tracking loop after strategy adjustment is directly output, and the quantity is kept continuous and is free from interruption in the whole rotation period; Pseudo-range observables Calculated from the following formula: ; Wherein, the In order to achieve the light velocity, the light beam is, For the local time of the missile-borne navigation receiver, Satellite transmission time calculated from the navigation message; measurement status identification For attaching a metadata index to each output observed quantity indicating the processing state at the time of its generation.

Description

Rotation compensation method for missile-borne navigation receiver Technical Field The invention relates to the technical field of rotation compensation, in particular to a rotation compensation method of a missile-borne navigation receiver. Background In the field of missile-borne precision guidance, a navigation receiver needs to work stably in an extreme environment where a missile rotates at a high speed. Due to the spin of the projectile body, the pointing direction of the navigation antenna carried by the projectile body continuously changes, so that the received satellite navigation signal presents periodic depth attenuation and quick recovery. The signal amplitude modulation with a determined period, which is caused by the rotation physical law, is very easy to be misjudged as random and malignant external electromagnetic interference or channel fading in the receiver, thereby triggering unnecessary anti-interference inhibition or link recapture flow, directly destroying the continuity of navigation measurement and being a key bottleneck for restricting the high-precision navigation of the rotation projectile body. Currently, a typical processing method in the industry is simple gain compensation based on preset parameters. The method firstly estimates the approximate attenuation rule of the signal in the rotation period through experiments or priori knowledge, and accordingly, a fixed gain compensation curve is arranged in a digital signal processing link of the receiver and is used for improving the signal amplitude when the signal is weak. However, according to the simple gain compensation method based on the preset parameters, the fixed gain compensation curve cannot track and model dynamic changes such as rotation rate, attitude coupling and the like caused by environment and load changes in actual flight of the projectile body in real time, so that when the actual rotation state deviates from a preset rule, the fixed gain compensation curve is rapidly mismatched, insufficient compensation or excessive compensation is caused, signals cannot be stabilized, and additional distortion is introduced, so that the performance of the receiver in a complex dynamic flight profile is obviously reduced, and the navigation reliability is difficult to ensure. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a rotation compensation method of a missile-borne navigation receiver, which solves the problems of the background technology. In order to achieve the purpose, the invention is realized by the following technical scheme that the rotation compensation method of the missile-borne navigation receiver comprises the following steps: Step S1, acquiring a complex intermediate frequency satellite signal sequence of a missile-borne navigation receiver, analyzing the complex intermediate frequency satellite signal sequence through a short-time Fourier transform method, calculating to obtain an instantaneous total power sequence, identifying a rotation period of the missile-borne navigation receiver based on the instantaneous total power sequence, and dividing an availability window and a sensitive window; Step S2, a double-layer rotating spectrum model is built based on the availability window and the sensitive window, and the double-layer rotating spectrum model is calibrated to obtain a calibrated double-layer rotating spectrum model; s3, converting an abnormal signal monitored by the missile-borne navigation receiver into an observation vector by taking the calibrated rotation spectrum model as a reference, and calculating to obtain a rotation consistency score and an interference probability score; and S4, performing rotation compensation on the missile-borne navigation receiver according to the judging result of the abnormal signal to generate continuous navigation measurement information. Preferably, acquiring the complex intermediate frequency satellite signal sequence of the missile-borne navigation receiver includes: after the missile-borne navigation receiver enters a working state, satellite signals are collected, the missile-borne navigation receiver performs down-conversion and analog-to-digital conversion on radio frequency satellite signals received by an antenna, and outputs a complex intermediate frequency satellite signal sequence which is characterized in mathematics as Wherein, the charactersRepresenting complex intermediate frequency signal, character n represents discrete time index, and its value range isN, N is the total number of discrete time points of the complex intermediate frequency satellite signal sequence, and is characterIs an index that is used to distinguish between different signal processing channels. Preferably, the analyzing the complex intermediate frequency satellite signal sequence by a short-time fourier transform method, and calculating to obtain the instantaneous total power sequence includes: for complex intermediate frequency sate