Signal angle and signal frequency estimation method, apparatus and device and storage medium
A signal angle and signal frequency estimation method, apparatus, device and storage medium are provided. The signal angle and signal frequency estimation method comprises the steps: collecting initial data of a satellite signal by means of an antenna array element; substituting initial data into a signal function, and finding a solution to obtain the satellite signal; and obtaining the angel and frequency of the satellite signal according to the satellite signal. According to the method, in consideration of the non-Gaussian noise environment as well as spatial domain sparse feature and frequency domain sparse feature of the satellite signal, the angle and the frequency of the satellite signal are estimated jointly, thereby facilitating subsequent obtaining and tracking the satellite signal by a satellite navigation receiver.
1. A signal angle and signal frequency estimation method, comprising:
collecting, by antenna elements of an antenna array in a satellite navigation receiver, a plurality of primary satellite signals and carrying out a time domain sampling on each primary satellite signal, to obtain initial data of satellite signals;
substituting, by a processor in the satellite navigation receiver, the initial data into a signal function to solve the satellite signals, wherein an expression of the signal function is:
X
=
arg
min
X
{
Y
-
AX
2
,
1
+
λ
1
X
2
,
1
+
λ
2
XF
2
,
1
}
wherein X is a matrix representing the satellite signals, Y is a matrix representing the initial data, A represents a steering vector matrix, λ 1 and λ 2 represent regularization factors, and F represents a Fourier transform matrix, ∥·∥ 2,1 represents a norm 2,1 ;
wherein the substituting, by the processor in the satellite navigation receiver, the initial data into a signal function to solve the satellite signals comprises: re-weighting, by the processor, the signal function to obtain an objective function;
and substituting, by the processor, the initial data into the objective function to solve the satellite signals, wherein an expression of the objective function is:
X
=
arg
min
X
{
Y
-
AX
2
,
1
+
λ
1
∑
i
=
1
J
ρ
i
X
i
2
+
λ
2
∑
i
=
1
J
κ
i
(
XF
)
i
2
}
wherein X i represents an i-th row data of X, (X F) i represents an i-th row data of a matrix (X F), and ∥·∥ 2 represents a norm 2 , ρ i and κ i are respectively an i-th element in a weighted vector ρ and κ, i=1,2, . . . , J, ρ and κ are both J×1 dimensional weighted vector, and J is a number of columns of A;
acquiring, by the processor, an angle and a frequency of each satellite signal according to solved satellite signals;
forming, by the antenna array in the satellite navigation receiver, beams in a direction of the satellite signal according to the angle of the satellite signal; and
tracking, by a frequency locked loop in the satellite navigation receiver, the satellite signal according to the frequency of the satellite signal.
2. The signal angle and signal frequency estimation method according to claim 1 , wherein the substituting, by the processor, the initial data into the objective function to solve the satellite signal comprises:
substituting, by the processor, the initial data into the objective function, and
solving, by the processor, the objective function by using a complex-valued conjugate gradient descent method to obtain the satellite signals.
3. The signal angle and signal frequency estimation method according to claim 1 , wherein a sampling value of each satellite signal represents an incident angle of the satellite signal, and wherein the acquiring, by the processor, an angle and a frequency of each satellite signal according to solved satellite signals comprises:
performing, by the processor, Fourier transform on the satellite signals to obtain the frequency of each satellite signal.
4. A signal angle and signal frequency estimation device, comprising:
a memory, configured to store computer-executable programs;
a processor, configured to execute the computer-executable programs for:
receiving initial data of satellite signals, which are obtained through collecting, by antenna elements of an antenna array in a satellite navigation receiver, a plurality of primary satellite signals and carrying out a time domain sampling on each primary satellite signal;
substituting the initial data into a signal function to solve the satellite signals, wherein an expression of the signal function is:
X
=
arg
min
X
{
Y
-
AX
2
,
1
+
λ
1
X
2
,
1
+
λ
2
XF
2
,
1
}
wherein X is a matrix representing the satellite signals, Y is a matrix representing the initial data, A represents a steering vector matrix, λ 1 and λ 2 represent regularization factors, and F represents a Fourier transform matrix, ∥·∥ 2,1 represents a norm 2,1 ; and
wherein substituting the initial data into a signal function to solve the satellite signals comprises: re-weighting the signal function to obtain an objective function; and substituting the initial data into the objective function to solve the satellite signals, wherein an expression of the objective function is:
X
=
arg
min
X
{
Y
-
AX
2
,
1
+
λ
1
∑
i
=
1
J
ρ
i
X
i
2
+
λ
2
∑
i
=
1
J
κ
i
(
XF
)
i
2
}
wherein X i represents an i-th row data of X, (X F) i represents an i-th row data of a matrix (X F), and ∥·∥ 2 represents a norm 2 , ρ i and κ i are respectively an i-th element in a weighted vector ρ and κ, i=1,2, . . . , J, ρ and κ are both J×1 dimensional weighted vector, and J is a number of columns of A;
acquiring an angle and a frequency of each satellite signal according to solved satellite signals;
wherein, the antenna array is configured for forming beams in a direction of the satellite signal according to the angle of the satellite signal; the satellite navigation receiver further comprises a frequency locked loop configured for tracking the satellite signal according to the frequency of the satellite signal.
5. A signal angle and signal frequency estimation device, wherein the signal angle and signal frequency estimation device comprises a storage, a processor, and a signal angle and signal frequency estimation program stored on the storage and operated on the processor, and the signal angle and signal frequency estimation program, when executed by the processor, implements steps of the signal angle and signal frequency estimation method according to claim 1 .
6. A storage medium, wherein the storage medium is a computer-readable storage medium on which a signal angle and signal frequency estimation program is stored, and the signal angle and signal frequency estimation program, when executed by a processor, implements steps of the signal angle and signal frequency estimation method according to claim 1 .