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Lecture Notes in Electrical Engineering 498
China Satellite
Navigation
Conference (CSNC)
2018 Proceedings
Volume II
Lecture Notes in Electrical Engineering
Volume 498
The audience for the books in LNEE consists of advanced level students, researchers, and industry
professionals working at the forefront of their fields. Much like Springer’s other Lecture Notes
series, LNEE will be distributed through Springer’s print and electronic publishing channels.
For general information about this series, comments or suggestions, please use the contact
address under “service for this series”.
To submit a proposal or request further information, please contact the appropriate Springer
Publishing Editors:
Asia:
Shuren Guo
Editors
123
Editors
Jiadong Sun Shuren Guo
China Aerospace Science China Satellite Navigation
and Technology Corporation Engineering Center
Beijing Beijing
China China
Changfeng Yang
China Satellite Navigation
Engineering Center
Beijing
China
This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.
part of Springer Nature
The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,
Singapore
Editorial Board
v
vi Editorial Board
Vice-Chairman
Yanhong Kou, Beihang University, Beijing, China
Zheng Yao, Tsinghua University, Beijing, China
Vice-Chairman
Jinping Chen, Beijing Satellite Navigation Center, Beijing, China
Rui Li, Beihang University, Beijing, China
Shaojun Feng, Imperial College London Qianxun Positioning Network, Co., Ltd.,
Shanghai, China
Dun Wang, Space Star Aerospace Technology Applications Co., Ltd.,
Heilongjiang, China
Conference Topics
S1 Satellite Navigation Technology
S2 Navigation and Location Service
S3 Satellite Navigation Signal and Anti-Jamming Technologies
S4 Satellite Orbit and Satellite Clock Error
S5 Precise Positioning Technology
S6 Time–Space Datum and Temporal Frequency Technologies
S7 Satellite Navigation Augmentation Technology
S8 Test and Assessment Technology
S9 User Terminal Technology
S10 Multi-Source Fusion Navigation Technology
S11 PNT New Concept, New Methods and New Technology
S12 Policies and Regulations, Standards and Intellectual Properties
ix
x Preface
The proceedings have 208 papers in twelve topics of the conference, which were
selected through a strict peer-review process from 588 papers presented at
CSNC2018. In addition, another 274 papers were selected as the electronic pro-
ceedings of CSNC2018, which are also indexed by “China Proceedings of
Conferences Full-text Database (CPCD)” of CNKI and Wan Fang Data.
We thank the contribution of each author and extend our gratitude to 279 ref-
erees and 55 session chairmen who are listed as members of editorial board. The
assistance of CNSC2018’s organizing committees and the Springer editorial office
is highly appreciated.
Chairman
Jiadong Sun, China Aerospace Science and Technology Corporation, Beijing,
China
Vice-Chairman
Rongjun Shen, China Satellite Navigation System Committee, Beijing, China
Jisheng Li, China Satellite Navigation System Committee, Beijing, China
Qisheng Sui, China Satellite Navigation System Committee, Beijing, China
Changfeng Yang, China Satellite Navigation System Committee, Beijing, China
Zuhong Li, China Academy of Space Technology, Beijing, China
Shusen Tan, Beijing Satellite Navigation Center, Beijing, China
Executive Chairman
Jingnan Liu, Wuhan University, Hubei, China
Yuanxi Yang, China National Administration of GNSS and Applications, Beijing,
China
Shiwei Fan, China Satellite Navigation Engineering Center, Beijing, China
Jun Xie, China Academy of Space Technology, Beijing, China
Committee Members: (By Surnames Stroke Order)
Xiancheng Ding, China Electronics Technology Group Corporation, Beijing, China
Qingjun Bu, China National Administration of GNSS and Applications, Beijing,
China
Weixing Wan, Institute of Geology and Geophysics, Chinese Academy of Sciences,
Beijing, China
Liheng Wang, China Aerospace Science and Technology Corporation, Beijing,
China
Yuzhu Wang, Shanghai Institute of Optics and Fine Mechanics, Chinese Academy
of Sciences, Shanghai, China
xi
xii Scientific Committee
Secretary-General
Haitao Wu, Satellite Navigation Headquarters, Chinese Academy of Sciences,
Beijing, China
Executive Deputy Secretary-General
Weina Hao, Navigation Headquarters, Chinese Academy of Sciences, Beijing,
China
Deputy Secretary-General
Wenhai Jiao, China Satellite Navigation Engineering Center, Beijing, China
Wenjun Zhao, Beijing Satellite Navigation Center, Beijing, China
Tonghuang Wang, Space Star Aerospace Technology Applications Co., Ltd.,
Heilongjiang, China
Bo Wang, Academic Exchange Center, China Satellite Navigation Office, Beijing,
China
Committee Members: (By Surnames Stroke Order)
Qun Ding, The 20th Research Institute of China Electronics Technology Group
Corporation, Shaanxi, China
Guang Yu, Harbin Institute of Technology, Heilongjiang, China
Li Wang, International Cooperation Research Center, China Satellite Navigation
Office, Beijing, China
Chunsheng Wang, Haidian Investment Promotion Bureau, Beijing, China
Ying Liu, China Satellite Navigation Engineering Center, Beijing, China
Wanming Yang, Administrative Committee of Nanjing New & High Technology
Industry Development Zone, Jiangsu, China
Jun Shen, Beijing UniStrong Science & Technology Co., Ltd., Beijing, China
Liquan Song, Heilongjiang Institute of Technology, Heilongjiang, China
Mingquan Lu, Tsinghua University, Beijing, China
xv
xvi Organizing Committee
xvii
xviii Contents
Abstract The GNSS is vulnerable so that it often faces the risk of jamming, and
blanket jamming is one of the interference. Power inversion algorithm is a com-
monly method used to solve this problem, however, the receiver will lose lock
when GNSS satellites are close to RFI sources. To improve the receiver’s
anti-jamming performance in this harsh scene, a method of vector tracking loop
(VTL) based on despread-respread (DR) algorithm is present. Firstly, this paper
suppress oppressive interference. Secondly, local reference signal is reconstructed
according to predicted tracking loop parameters. Thirdly, beamforming algorithm is
present. Theoretical analysis and simulation experiments verify that the VTL based
on DR algorithm can reduce phase discriminator output errors, improve receiver’s
positioning performance, and has superior anti-jamming performance in harsh
scene. The method proposed in this paper can be applied to arbitrary array without
prior information of satellites’ directions and is not sensitive to the error of array.
Copared to VTL based on EIG, VTL based on DR algorithm has lower complexity.
1 Introduction
Satellite navigation is widely used in civil and military fields. The Global
Navigation Satellite Systems (GNSS) signals are vulnerable to interference, because
their powers are weak on the earth’s surface. For example, the signal powers of L1
frequency signals are −160 dBw. Therefore, satellite navigation receivers are vul-
nerable to various interference, and blanket jamming is a kind of the common
2 Data Model
Where xðtÞ ¼ ½x1 ðtÞ; x2 ðtÞ; . . .; xM ðtÞT represents M 1 dimensional array data
vector, eðtÞ is noise vector assumed to obey zero-mean gauss distribution, sg ðtÞ is
complex envelope of gth satellite signals, jq ðtÞ is jamming signals, a hq is steering
vector of qth jamming signal, a hg is steering vector of gth satellite signal. And the
a hg can be expressed as:
h j2pd sin hg i
j2pðM1Þd sin hg T
a hg ¼ 1; e k ; . . .; e k ð2Þ
where Ag means the power of gth satellite navigation signal. Dg ðtÞ means the
navigation message. Cg ðtÞ means the C/A code. sg means the code phase. f0 means
carrier frequency. ug means initial carrier phase. Therefore, the received signals can
be expressed as as:
X
G pffiffiffiffiffiffiffiffi
xð t Þ ¼ 2Ag Dg t sg Cg t sg exp j 2pf0 t þ ug a hg
g¼1
ð4Þ
X
Q
þ jq ðtÞa hq þ eðtÞ
q¼1
Existing studies show that Power Invert (PI) algorithm can effectively suppress
oppressive jamming signals when satellite signals direction hg is far from inter-
ference’s direction hq . However, the satellite signals’ direction and jamming sig-
nals’ direction are gradually changing in the actual scene. In the case of satellite
signals are near to RFI sources, PI algorithm will lose efficacy and this will make
receiver lose lock. Because VTL can track attenuated signals, this paper combines
DR algorithm with VTL to design beamforming algorithm, which can further give
gain for satellite signals. This method can achieve the purpose of enhancing satellite
signals while suppressing jamming signals, and it improves the anti-jamming
performance of vector receiver in the harsh scene.
3 Proposed Method
We embed DR algorithm into VTL in this section and take the gth satellite signal as
an example to introduce principle of the proposed method. The principle block
diagram is shown in Fig. 1: Firstly, PI algorithm is used to suppress jamming
signal. Secondly, the reference signal is reconstructed. Tirdly, beamforming algo-
rithm is taken through coherent integration results between reference signal and
6 R. Zhang et al.
Arrary1
Pseudo range error
weight Correlator Accumulation Discriminator
Pseudo range rate error
Array2 Code/Carrier NCO EKF
PI
ArrayM
data without blanket jamming. Lastly, the received data is weighted to complete the
whole tracking process. Interference suppression algorithm and weight vector
calculation are introduced in this section.
Because the interference powers are far higher than the noise powers, R1
x can be
expressed as:
1 1 H
R1
x ¼ I a hj aH hj a hj a hj ð8Þ
rn
2
A New Technique for Improving the Anti-jamming Performance … 7
1 H
where I a hj aH hj a hj a hj means orthogonal projection matrix of
oppressive jamming.
In the practice, we usually use the sample covariance matrix instead of the
theoretical covariance matrix
X
K
^ x¼ 1
R xð k Þ xH ð k Þ ð9Þ
K k¼1
where K means the number of the sampling points. Therefore, the outputs of the
power inversion algorithm can be obtained through the orthogonal projection to the
received signal.
^ 1 xðtÞ
yð t Þ ¼ R ð10Þ
x
Traditional PI algorithm can only suppress interference, but can not give gain to the
satellite signals. In addition, when the satellite signals are close to interference, the
algorithm will fail. This section uses the prediction function of VTL and array
processing technology to solve this problem. We combine the VTL and yðtÞ after
suppressing interference to take beamforming algorithm, which can provide high
gain to satellite signals and make up for the shortcomings of traditional PI algo-
rithm. The calculation of weight vector mainly includes the following three steps:
prediction of parameters, construction of reference signal and development of
beamforming algorithm.
The prediction of receiver parameters mainly includes prediction of state vector
and tracking loop parameters. The state vector can be defined as x ¼
½x; y; z; ctb ; vx ; vy; ; vz; ; ctd T according to receiver’s three dimensional coordinate
T
p ¼ ½x y zT , three dimensional velocity v ¼ vx vy vz , clock error ctb and clock
drift ctd . It is assumed that the receiver moves uniformly when time interval tk;k þ 1
is short enough. Therefore, we can predict ^xk þ 1 according to xk . The prediction
process is as follows:
^pk þ 1 ¼ pk þ tk;k þ 1 vk
ð11Þ
^vk þ 1 ¼ vk
^xk þ 1 ¼ ½^xk þ 1 ; ^yk þ 1 ; ^zk þ 1 ; c^tb;k þ 1 ; ^vx;k þ 1 ; ^vy;k þ 1 ; ^vz;k þ 1 ; c^td;k þ 1 T ð13Þ
^_g;k þ 1
q
^fd;k þ 1 ¼ ^_g;k þ 1 f
¼ q ð15Þ
k c
^_g;k þ 1 fcode
^fcode;k þ 1 ¼ fcode þ ^fd;k þ 1 ¼ fcode q ð16Þ
c
^_g;k þ 1 f0
^f0;k þ 1 ¼ f0 þ ^fd;k þ 1 ¼ f0 q ð17Þ
c
where fcode means C/A code frequency, and code phase in k þ 1 can be expressed as
follows:
fcode
^sk þ 1 ¼ sk þ q^g;k þ 1 qg;k ð18Þ
c
According to code frequency ^fcode;k þ 1 , carrier frequency ^f0;k þ 1 , code phase ^sk þ 1 ,
^ k þ 1 , the reference signal can be obtained as [1]:
and carrier phase u
^sg ðtÞ ¼ Dg ðt ^sk þ 1 ÞCg ðt ^sk þ 1 Þ exp j 2p^f0;k þ 1 t þ u
^k þ 1 ð19Þ
Then prompt coherent integration results of yðtÞ and ^sg ðtÞ are obtained as:
pffiffiffiffiffiffiffiffi
P g ð nÞ ¼ 2Ag Dg RðDsk þ 1 Þ sin cðDf0;k þ 1 Tcoh Þ exp jDuk þ 1 a hg ð20Þ
Where RðDsk þ 1 Þ represents the autocorrelation function of the C/A code, Dsk þ 1
is the time difference between the prompt local code and the received signal,
Df0;k þ 1 is frequency tracking errors, Tcoh is coherent time, Duk þ 1 is carrier phase
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salaisiin piilopaikkoihin, ettei kukaan voisi niitä löytää; kuoltuaankaan
hän ei tahtonut antaa niitä kellekään.
III
"En voi mitään sille, että sydämeni on sääliä täynnä. Säälin kaikkia
ihmisiä ja eläimiä, koko maailmaa, sinua ja eniten itseäni. Toivoisin
voivani heitä jotenkin auttaa, sinuakin. Etkö pelkää iankaikkista
kadotusta?"
Suutaria kammotti.
"Jos vain voin", vastasi suutari, "niin teen mielelläni. Kun ajattelen
tekosiasi minua kohtaan, ovat ne hyvin vähäpätöisiä. Annan ne
sinulle sydämestäni kaikki anteeksi, sillä olet niistä jo saanut
suuremman rangaistuksen kuin olisit ansainnutkaan. Mitä minun
pitäisi tehdä?"
"Kiitos, suutari", vastasi vouti. "Olet aina ollut kunnon mies, ja olen
iloinen, että olet nyt tässä. Näetkös, voisitkohan valvoa kirkossa
kolme yötä sen jälkeen, kun minut on sinne haudattu? Katsos, niin
kauan kuin olen hautaamatta ja pyhät kynttilät palavat pään pohjissa,
ei ole hätää, mutta mitä sitten tapahtuu, kun olen joutunut kirkon
lattian alle, siitä ei ole takeita. Uskaltaisitkohan tehdä tämän hyvän
työn minulle? Kolmen yön perästä ei ole enää vaaraa".
IV
Mutta heti voudin kuoleman jälkeen meni suutari papin luo ja kertoi,
mitä vainaja oli häneltä pyytänyt, sekä kysyi, oliko hänen täytettävä
antamansa lupaus; se tuntui nimittäin hänestä nyt hyvin pelottavalta.
"Tottakai sinun on mentävä", vastasi hurskas pappi, "sillä eipä tiedä,
mitä Jumala on tälläkin asialla tarkoittanut. Mutta älkäämme
uhmailko pahoja voimia, vaan käyttäkäämme turvaksemme niitä
keinoja, joita Jumala on meille pahan vastustamiseksi suonut. Minä
tulen kanssasi kirkkoon varustaakseni sinut kaiken varalle".
Kun vouti sitten oli haudattu kirkon lattian alle, lähelle kuorin
aituusta, ja oli tullut ilta, lähtivät suutari ja pappi kirkkoon. "Mitä sinä
noilla teet?" kysyi pappi ihmeissään nähdessään, että suutarilla oli
kaikki työkalunsa sekä nahkaa mukanansa. "Arvelin vain", selitti
suutari vilpittömästi, "että olisi kenties Jumalalle mieluisinta minun
valvoessani tehdä sitä työtä, jolla olen elämänikäni kunniallisesti ja
rehellisesti elänyt: töillään kukin Herralle kiitosta kantaa ja niinpä
minäkin naskalilla ja vasaralla sekä pikilangalla. Vanhastaan olen
myös tottunut suutaroidessani hyräilemään virrenpätkää, mikä tapa
ei lienekään pahitteeksi tällaisella hetkellä". — "Niinpä vainkin",
hymyili nyt tähän pappi, huomaten suutarin yksinkertaisen
hurskauden, "suutaroi sinä vain, sillä kyllä todella siten palvelet
Jumalaasi parhaalla osaamallasi tavalla. Naskalinpistokin, jos se
vain tehdään Herralle alttiilla mielellä, on hänelle arvokkaampi kuin
kaikki tekopyhän maailman messut". Näin puhellen he saapuivat jo
hämärtyneeseen kirkkoon.
"En anna! Ethän sinä nahkaa tarvitse, vaan minä, joka suutari
olen".
II
Pietari ällistyi kovin tästä puheesta, mutta eihän auttanut muu kuin
myöntyä. Jeesus oli vienyt hänet ensin sinne vaaran kupeeseen,
jossa köyhän miehen töllin piti olla, mutta siitä ei löydettykään muuta
kuin hiukan perustuksia. Silloin ei Jeesus ollut sanonut, minne mies
oli muuttanut, joskin näkyi sen kyllä tienneen. Vaikka siis Pietarin
olisi pitänyt olla iloinen siitä, että luoja oli nähtävästi tarkoin täyttänyt
köyhän miehen rukoukset, ei hän kuitenkaan tuntenut tyytyväisyyttä,
vaan ahdistusta ja pelkoa. Jeesus huomasi sen ja kysyi: