CN109901200A - Satellite navigation signals cheating interference detection method, processing equipment and system - Google Patents
Satellite navigation signals cheating interference detection method, processing equipment and system Download PDFInfo
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- CN109901200A CN109901200A CN201910373725.8A CN201910373725A CN109901200A CN 109901200 A CN109901200 A CN 109901200A CN 201910373725 A CN201910373725 A CN 201910373725A CN 109901200 A CN109901200 A CN 109901200A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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Abstract
This application involves field of satellite navigation, a kind of satellite navigation signals cheating interference detection method, satellite navigation signals processing system, satellite navigation signals processing equipment, electronic equipment and computer readable storage medium are disclosed, and the method for one embodiment includes: at least two GNSS satellite navigation signals obtained through more than two navigation signal receiving antenna real-time receptions；Each GNSS satellite navigation signal is handled, corresponding each navigation signal relevant information is obtained；Difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, difference is obtained and handles equation；The difference processing equation is solved, difference solving result is obtained；Based on the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.The embodiment of the present application can effective, reliable identification satellite navigation signal cheating interference presence.
Description
Technical field
This application involves radionavigation and field of satellite navigation more particularly to a kind of satellite navigation signals cheating interference to examine
Survey method, satellite navigation signals processing system, satellite navigation signals processing equipment, electronic equipment and computer-readable storage medium
Matter.
Background technique
Satellite navigation system is an important breakthrough of 20th century mankind's science and technology, by laying on up to ten thousand kilometers of track
Navigation satellite simultaneously emits navigation signal, solves the problems, such as efficiently and at low cost positioning and time service, currently, satellite navigation system is
Through become national basis facility, be deep into the every aspect of popular life, especially into the intelligent epoch since, be based on satellite
The location-based service of navigation is even more indispensable.But since the power that the navigation signal of satellite launch reaches ground is very faint,
And civil navigation signal structure discloses, and is easy disturbed and deception, wherein curve is more hidden, and harm is even more serious, often
Rule radio detection means can not find the presence of curve.At present common cheat detecting method mainly include multimodal detection,
Signal quality detection etc., but not can guarantee reliable detection curve.
Therefore, the safe and reliable and controllable cost technological means of one kind is needed to solve problem above.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of satellite navigation signals cheating interference detection method, satellite is led
Navigate signal processing system, satellite navigation signals processing equipment, electronic equipment and computer readable storage medium.
Satellite navigation signals cheating interference detection method in one embodiment, comprising the following steps:
Obtain at least two GNSS satellite navigation signals by more than two navigation signal receiving antenna real-time receptions；
Each GNSS satellite navigation signal is handled, corresponding each navigation signal relevant information is obtained；
Difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains difference processing side
Journey；The difference processing equation is solved, difference solving result is obtained；And it is based on the difference solving result, it is determined whether exist
Satellite navigation signals cheating interference；The difference processing equation includes at carrier phase difference processing equation or the difference
Reason equation includes carrier phase difference processing equation and pseudorange difference processing equation.
Further, in some embodiments, to each navigation signal relevant information of each navigation signal receiving antenna
Difference processing is carried out, difference is obtained and handles equation；The difference processing equation is solved, difference solving result is obtained；And based on institute
State difference solving result, it is determined whether there are satellite navigation signals cheating interferences, comprising:
Each navigation signal relevant information is sent to processing equipment, so that the processing equipment receives each navigation signal
Each navigation signal relevant information of antenna carries out difference processing, obtains difference and handles equation；Solve the difference processing side
Journey obtains difference solving result；Based on the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
Satellite navigation signals cheating interference detection method in one embodiment, comprising the following steps:
Each navigation signal relevant information is obtained, each navigation signal relevant information includes: to receive to more than two navigation signals
After the GNSS satellite navigation signal of antenna real-time reception is handled, the corresponding navigation signal relevant information of acquisition；
Difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains difference processing side
Journey；The difference processing equation includes carrier phase difference processing equation or difference processing equation includes carrier phase
Difference handles equation and pseudorange difference handles equation；The difference processing equation is solved, difference solving result is obtained；Based on described
Difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
It further, may be dry comprising deception in received GNSS satellite navigation signal in the scheme of above-described embodiment
Disturb signal.
Further, in the scheme of above-described embodiment, the navigation signal relevant information include: navigation message, the time,
Pseudorange, carrier phase, Doppler, positioning result and at least one of the result that tests the speed.
Further, in the scheme of above-described embodiment, the corresponding navigation signal reception of each navigation signal receiving antenna is set
Standby time synchronization carries out difference processing to each navigation signal relevant information of each navigation signal receiving antenna, obtains difference
Handle equation, comprising:
Single poor processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains single poor processing side
Journey, the difference processing equation includes the poor processing equation of the list.
Further, in the scheme of above-described embodiment, the carrier phase difference processing equation includes single poor carrier wave phase
Azimuth equation group, the pseudorange difference processing equation include single poor pseudorange equation group.
Further, in the scheme of above-described embodiment, to each navigation signal phase of each navigation signal receiving antenna
It closes information and carries out single poor processing, obtain single poor processing equation, comprising:
According to the corresponding navigation signal relevant information of each navigation signal receiving antenna, determine that each navigation signal receiving antenna connects
The observational equation of the navigation signal relevant information for each satellite received, the observational equation includes carrier phase observational equation, or
The observational equation includes carrier phase observational equation and pseudorange observation equation；
Poor is asked to the observational equation of the navigation signal relevant information of the received each satellite of each navigation signal receiving antenna, it is single poor to obtain
Handle equation group.
Further, in the scheme of above-described embodiment, the corresponding navigation signal reception of each navigation signal receiving antenna is set
Standby time synchronization or time irreversibility carry out difference to each navigation signal relevant information of each navigation signal receiving antenna
Processing obtains difference and handles equation, comprising:
Double difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains double difference processing side
Journey, the difference processing equation include the double difference processing equation.
Further, in the scheme of above-described embodiment, the carrier phase difference processing equation includes double difference carrier wave phase
Azimuth equation group, the pseudorange difference processing equation includes double difference pseudorange equation group.
Further, in the scheme of above-described embodiment, to each navigation signal phase of each navigation signal receiving antenna
It closes information and carries out double difference processing, obtain double difference and handle equation, comprising:
According to the corresponding navigation signal relevant information of each navigation signal receiving antenna, determine that each navigation signal receiving antenna connects
The observational equation of the navigation signal relevant information for each satellite received, the observational equation includes carrier phase observational equation, or
The observational equation includes carrier phase observational equation and pseudorange observation equation；
Poor is asked to the observational equation of the navigation signal relevant information of the received each satellite of each navigation signal receiving antenna, it is single poor to obtain
Equation group；
According to single eikonal equation group, single eikonal equation of the corresponding navigation signal relevant information of each satellite is carried out asking poor, is obtained
To double-difference equation group.
Further, in the scheme of above-described embodiment, the difference processing equation is solved, difference solving result is obtained,
Include: to solve the difference processing equation, obtains the first baseline vector between navigation signal receiving antenna, the difference solves
It as a result include first baseline vector.
Further, in the scheme of above-described embodiment, the difference processing equation is solved, difference solving result is obtained,
Include: that baseline vector to be solved is set as setting value, substitutes into the difference processing equation, solve integer ambiguity, the difference
Value solving result includes Fast integer Ambiguity Resolution result.
Further, in the scheme of above-described embodiment, the difference processing equation is solved, difference solving result is obtained,
It include: when baseline physical length is much larger than the positioning accuracy of navigation signal receiving apparatus, the difference processing equation includes puppet
Equation is handled away from difference, solves the pseudorange difference processing equation, obtains the second baseline arrow between navigation signal receiving antenna
Amount, the difference solving result includes second baseline vector.
Further, in the scheme of above-described embodiment, when the length of first baseline vector is close to preset value,
Determine that there are satellite navigation signals cheating interferences.
Further, in the scheme of above-described embodiment, when the Fast integer Ambiguity Resolution result is to solve successfully, sentence
Surely there is satellite navigation signals cheating interference.
Further, close to 0 and real much smaller than baseline in second baseline vector in the scheme of above-described embodiment
When the length of border, determine that there are satellite navigation signals cheating interferences.
Further, it further comprises the steps of: and is analyzed and processed when based on each navigation signal relevant information, determination is not deposited
In satellite navigation signals cheating interference, carries out direction finding, surveys appearance, high-precision relative positioning, at any one in absolute fix
Reason.
Satellite navigation signals processing system in one embodiment, comprising: more than two spaced apart navigation signals connect
Receive antenna and navigation signal receiving apparatus；Each navigation signal receiving antenna is connect with the navigation signal receiving apparatus,
The navigation signal receiving apparatus is connect with processing equipment；
The navigation signal receiving antenna real-time reception GNSS satellite navigation signal；
The navigation signal receiving apparatus handles the GNSS satellite navigation signal, and it is related to obtain corresponding navigation signal
Information, and each navigation signal relevant information is sent to the processing equipment, so that the processing equipment is to each navigation
Each navigation signal relevant information of signal receiving antenna carries out difference processing, obtains difference and handles equation；At the difference
Reason equation include carrier phase difference processing equation or the difference processing equation include carrier phase difference processing equation and
Pseudorange difference handles equation；The difference processing equation is solved, difference solving result is obtained；Based on the difference solving result,
Determine whether there is satellite navigation signals cheating interference.
Further, the spaced apart distance value is constant or variable.
Further, the navigation signal receiving apparatus include one, each navigation signal receiving antenna with
The navigation signal receiving apparatus connection.
Further, the navigation signal receiving apparatus include two or more, each navigation signal receiving apparatus with
The connection of at least one navigation signal receiving antenna.
Further, the navigation signal receiving antenna and navigation signal receiving apparatus are integral type or split type；It is described
Navigation signal receiving apparatus and processing equipment are integral type or split type.
Further, the navigation signal receiving apparatus is connected by wired connection or wireless connection and the processing equipment
It connects.
Further, the navigation signal receiving apparatus includes more than two, between each navigation signal receiving apparatus
Time synchronization is asynchronous.
Further, the satellite navigation signals processing system in some embodiments further includes the processing equipment.
Satellite navigation signals processing equipment in one embodiment, comprising: more than two spaced apart navigation signals connect
It receives antenna and navigation signal receiving apparatus, each navigation signal receiving antenna is connect with the navigation signal receiving apparatus；
The navigation signal receiving antenna real-time reception GNSS satellite navigation signal；
The navigation signal receiving apparatus handles the GNSS satellite navigation signal, and it is related to obtain corresponding navigation signal
Information, and difference processing is carried out based on each navigation signal relevant information to each navigation signal receiving antenna, obtain difference
Handle equation；The difference processing equation includes carrier phase difference processing equation or difference processing equation includes carrying
Wave phase difference handles equation and pseudorange difference handles equation；The difference processing equation is solved, difference solving result is obtained；Base
In the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
A kind of electronic equipment, including memory and processor, the memory are stored with computer program, wherein described
When processor executes the computer program, the step of realizing method as described above.
A kind of computer readable storage medium, is stored thereon with computer program, wherein the computer program is processed
When device executes, the step of realizing method as described above.
Based on the scheme of embodiment as described above, the GNSS based on more than two navigation signal receiving antenna real-time receptions
The corresponding navigation signal relevant information of satellite navigation signals carries out difference processing, obtains difference and handles equation, and is poor by solving
The obtained difference solving result of value processing equation determines whether there is satellite navigation signals cheating interference, due to be utilized two with
The upper corresponding navigation signal relevant information of GNSS satellite navigation signal for receiving body antenna real-time reception, and pass through difference processing side
Cheng Jinhang is solved, so as to the presence of effectively and reliably identification satellite navigation signal cheating interference, without executing complicated calculation
Method, it is motor-driven without carrying out specific carrier.And the satellite navigation signals processing system provided, simple installation can be using fission
Formula or integrated equipment, the requirement of no special mounting, not only static state can be used, equally applicable in a dynamic condition, can be with
It further realizes direction finding, survey the functions such as appearance, high-precision relative positioning, absolute fix.
Detailed description of the invention
Fig. 1 is the flow diagram of the satellite navigation signals cheating interference detection method of one embodiment.
Fig. 2 is the flow diagram of the satellite navigation signals cheating interference detection method of another embodiment.
Fig. 3 is the flow diagram of the satellite navigation signals cheating interference detection method of another embodiment.
Fig. 4 is the structural schematic diagram of the satellite navigation signals processing system in one embodiment.
Fig. 5 is the structural schematic diagram of the satellite navigation signals processing system in another embodiment.
Fig. 6 is the structural schematic diagram of the satellite navigation signals processing system in an application example.
Fig. 7 is the structural schematic diagram of the satellite navigation signals processing system in an application example.
Fig. 8 is the schematic diagram of internal structure of the electronic equipment in one embodiment.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution of the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is this
Invention a part of the embodiment, rather than whole embodiments.Based on the embodiment of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
The present invention is described in further details below with reference to Figure of description and specific embodiment.
As shown in Figure 1, the satellite navigation signals cheating interference detection method in one embodiment, includes the following steps S11
To step S15.
S11: it obtains to navigate by least two GNSS satellites of more than two navigation signal receiving antenna real-time receptions and believe
Number.
More than two navigation signal receiving antenna real-time reception GNSS Global Navigation can be passed through
Satellite System, Global Navigation Satellite System) satellite navigation signals (hereinafter referred to as: GNSS signal).
S12: handling each GNSS satellite navigation signal, obtains corresponding each navigation signal relevant information.
In some embodiments, above-mentioned navigation signal relevant information may include navigation message, time, pseudorange, carrier wave phase
At least one of in position, Doppler, positioning result and the result that tests the speed.GNSS satellite can be led using any possible mode
Boat signal is handled, to obtain above-mentioned navigation signal relevant information.In some embodiments, it can be received and be set by navigation signal
It is standby that GNSS satellite navigation signal is handled, obtain above-mentioned navigation signal relevant information.
S13: difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains difference
Handle equation；The difference processing equation includes carrier phase difference processing equation or difference processing equation includes carrying
Wave phase difference handles equation and pseudorange difference handles equation.
Difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains difference processing
When equation, based on different consideration factors, there can be different difference processing modes.
In some embodiments, right when the corresponding navigation signal receiving apparatus time synchronization of each navigation signal receiving antenna
Each navigation signal relevant information of each navigation signal receiving antenna carries out difference processing, obtains difference and handles equation, comprising:
Single poor processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains single poor processing side
Journey, the difference processing equation includes the poor processing equation of the list.
At this point, above-mentioned carrier phase difference processing equation includes single poor carrier phase equation group, the pseudorange difference processing
Equation includes single poor pseudorange equation group.That is, single poor processing equation, may include single poor carrier phase equation group, it is either, single poor
Handling equation includes single poor carrier phase equation group and single poor pseudorange equation group.
Wherein, single poor processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtained single
Difference processing equation, comprising:
According to the corresponding navigation signal relevant information of each navigation signal receiving antenna, determine that each navigation signal receiving antenna connects
The observational equation of the navigation signal relevant information for each satellite received, the observational equation includes carrier phase observational equation, or
The observational equation includes carrier phase observational equation and pseudorange observation equation；
Poor is asked to the observational equation of the navigation signal relevant information of the received each satellite of each navigation signal receiving antenna, it is single poor to obtain
Handle equation group.
In some embodiments, the corresponding navigation signal receiving apparatus time synchronization of each navigation signal receiving antenna or time
When asynchronous, difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, is obtained at difference
Manage equation, comprising:
Double difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains double difference processing side
Journey, the difference processing equation include the double difference processing equation.
At this point, above-mentioned carrier phase difference processing equation includes double difference carrier phase equation group, the pseudorange difference processing
Equation includes double difference pseudorange equation group.That is, double difference processing equation includes double difference carrier phase equation group, and either, double difference processing
Equation includes double difference carrier phase equation group and double difference pseudorange equation group.
In some embodiments, each navigation signal relevant information of each navigation signal receiving antenna is carried out at double difference
Reason obtains double difference and handles equation, comprising:
According to the corresponding navigation signal relevant information of each navigation signal receiving antenna, determine that each navigation signal receiving antenna connects
The observational equation of the navigation signal relevant information for each satellite received, the observational equation includes carrier phase observational equation, or
The observational equation includes carrier phase observational equation and pseudorange observation equation；
Poor is asked to the observational equation of the navigation signal relevant information of the received each satellite of each navigation signal receiving antenna, it is single poor to obtain
Equation group；
According to single eikonal equation group, single eikonal equation of the corresponding navigation signal relevant information of each satellite is carried out asking poor, is obtained
To double-difference equation group.
Step S14: the difference processing equation is solved, difference solving result is obtained.
Based on different consideration factors, above-mentioned difference processing equation can be solved in different ways, such as
It can be solved by ambiguity resolution, relative position, absolute position solves etc., and modes be solved, just wherein several ways below
It is illustrated.
In some embodiments, equation can be handled by solving the difference, obtained between navigation signal receiving antenna
The baseline vector (baseline that acquires when positioning accuracy in order to be much larger than navigation signal receiving apparatus with following baseline physical lengths
Vector is mutually distinguished, and the first baseline vector is denoted as in the embodiment of the present application), at this point, difference solving result described above includes described
First baseline vector.
In some embodiments, baseline vector to be solved can be set as setting value (such as being set as 0), substitute into the difference
Value processing equation, solves integer ambiguity, the difference solving result includes Fast integer Ambiguity Resolution result.
In some embodiments, (it can be managed when baseline physical length is much larger than the positioning accuracy of navigation signal receiving apparatus
Solution, much larger than being a relative concept, generally it can be thought that be difference between baseline physical length and positioning accuracy be greater than or
Person is equal to setting difference threshold, and setting difference threshold needs are sufficiently large, and those skilled in the art can be needed with combination technology,
Set and be considered to be much larger than in the case of which type of and the setting difference threshold needs that degree arrived greatly), at the difference
Reason equation includes pseudorange difference processing equation, solves the pseudorange difference processing equation, obtains between navigation signal receiving antenna
The second baseline vector, at this point, the difference solving result includes second baseline vector.
It is appreciated that being only illustrated in above-described embodiment with wherein example, it will be understood by those skilled in the art that in reality
In the technical application of border, any combination can also be carried out to the above-mentioned each example shown.
Step S15: it is based on the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
In some embodiments, can by by the difference solving result of acquisition compared with corresponding preset threshold, according to
Comparison result determines whether there is satellite navigation signals cheating interference.
It in some embodiments can be in first baseline vector with reference to exemplary difference solving result as described above
Length close to preset value when (it is appreciated that a relative concept is close to, generally it can be thought that being the first baseline vector
Length and preset value between difference be less than or equal to setting length threshold, and the setting length threshold is smaller, ability
Field technique personnel can be needed with combination technology.Set the length of baseline vector and difference meeting in the range of what of preset value
Be considered as close to and the setting length threshold need it is small to what degree), determine that there are satellite navigation signals deception is dry
It disturbs.In some embodiments, it can determine that there are satellite navigation signals when the Fast integer Ambiguity Resolution result is to solve successfully
Cheating interference.In some embodiments, can second baseline vector close to 0 and be much smaller than baseline physical length when (can
To understand, be much larger than, with above-mentioned close to similar, close to, much smaller than being relative concept, those skilled in the art can tie
Conjunction technology need to set the length of baseline vector and the difference of preset value can be considered as in the range of what close to, with
And second the length of baseline vector be less than the value of baseline physical length to reach much values can be considered as being much smaller than), determine exist
Satellite navigation signals cheating interference.
It based on embodiment as described above, is analyzed and processed, is determined not when based on each navigation signal relevant information
There are when satellite navigation signals cheating interference, can with further progress direction finding, survey appearance, high-precision relative positioning, absolute fix
In any one processing.
Based on embodiment as described above, it is illustrated for following two navigation signal receiving antenna.By two
Navigation signal receiving antenna is respectively defined as antennaAnd antenna, then original for antennaAnd antennaPseudorange and carrier wave phase
Position observational equation can be expressed as following formula:
Wherein,,It respectively represents to antennaAnd antennaReceivedAfter the GNSS signal of satellite is handled
Obtained pseudorange,,It respectively represents to antennaAnd antennaReceivedThe GNSS signal of satellite is handled
The carrier phase obtained afterwards,,Respectively represent antennaAnd antennaOpposite theThe geometric distance of satellite,,,,,,() be respectivelyAntenna is with respect toThe ionosphere delay of satellite, connects tropospheric delay
Receiving unit clock deviation, integer ambiguity, pseudo range measurement noise, carrier phase measurement noise,It isThe clock deviation of satellite,,
For the wavelength and frequency of the received GNSS signal of correspondence.
ForSatellite, by antennaAnd antennaAbove-mentioned observational equation carry out asking poor, following puppet can be obtained
Away from single eikonal equation with carrier phase:
Wherein,,,,,,,Respectively it is single it is poor after pseudorange, carrier wave phase
Position, ionosphere delay, tropospheric delay, receiving device clock deviation, integer ambiguity, pseudo range measurement noise, carrier phase measurement are made an uproar
Sound,It is poor for geometric distance list.
When distance between two antennas is not far (such as < 500m), it can ignore in single eikonal equation,
, if receiving deviceAnd receiving deviceBetween time synchronization, can further ignore。
ToSingle eikonal equation of satellite seeks difference to get following double-difference equation is arrived:
Wherein,,,,,,,Pseudorange, carrier wave phase respectively after double difference
Position, ionosphere delay, tropospheric delay, integer ambiguity, pseudo range measurement noise, carrier phase measurement noise.
In view of when carrying out cheating interference detection, the distance between two antennas will not be too far, can ignore,, then following double-difference equation after being simplified:
WhereinFor geometric distance double difference, formula can be expressed as
WhereinFor fromAntenna is directed towardThe unit vector of satellite,For fromAntenna is directed towardThe unit vector of satellite,It serves as reasonsAntenna is directed towardThe baseline vector of antenna.
Specifically, in some embodiments of the present application, by the observation data at one or more moment, double difference load is established
Wave phase equation group or double difference carrier phase/pseudorange equation group obtain high-precision baseline using Fast integer Ambiguity Resolution algorithm
VectorWith(),For visual observation satellite quantity.If obtainedLength
Close to 0, then it is assumed that there are cheating interferences.If receiving deviceAnd receiving deviceTime synchronization, then can be using single poor carrier wave
Phase equation group or single poor carrier phase and pseudorange equation group complete the function.
Specifically, in some embodiments of the present application, by the observation data at one or more moment, double difference puppet is established
Away from carrier wave equation group, enable baseline vector to be solvedIt brings equation group into, solves integer ambiguity().If ambiguity resolution success, then it is assumed that there are cheating interferences.If receiving deviceAnd receiving deviceWhen
Between it is synchronous, then the function can be completed using single poor carrier phase equation group or single poor carrier phase and pseudorange equation group.
Specifically, in some embodiments of the present application, if true baselineLengthIt is connect much larger than navigation signal
When the positioning accuracy of receiving unit, it can directly pass through the double difference pseudorange solving equations baseline vector at one or more moment
IfLengthClose to 0 and it is much smaller than baseline physical length, then it is assumed that there are cheating interferences；Baseline actual (tube) length
DegreeThe positioning result that can be exported by the receiving device of navigation signal determines.If receiving deviceAnd receiving deviceTime is same
Step then can complete the function using single poor pseudorange equation group.
Based on the method for the embodiment of the present application as described above, it can effectively and reliably detect whether that there are satellite navigations
Signal cheating interference, it is motor-driven without carrying out specific carrier without carrying out complicated algorithm.
Wherein, result is being determined there are when satellite navigation signals cheating interference, then can further to believe satellite navigation
Number cheating interference signal is handled, and specific processing mode is unlimited.Determining that result is that there is no satellite navigation signals deceptions
It, then can be with further progress direction finding, survey appearance or high-precision relative positioning, absolute fix, to realize direction finding, survey appearance, height when interference
The functions such as precision relative positioning, absolute fix further expand the compatibility and popularization and application of application scheme.
The method of embodiment as described above, can be and execute on one device, be also possible to point by different equipment
It executes.
Accordingly, refering to what is shown in Fig. 2, satellite navigation signals cheating interference detection method in one embodiment, this method can
To be executed by the navigation signal receiving apparatus referred in each embodiment of the application, include the following steps S21 to step S23.
Step S21: it obtains and is led by least two GNSS satellites of more than two navigation signal receiving antenna real-time receptions
Navigate signal.
Wherein, the specific implementation process of step S21 can be identical with above-mentioned steps S11.
Step S22: handling each GNSS satellite navigation signal, obtains corresponding each navigation signal correlation letter
Breath.
Wherein, the specific implementation process of step S22 can be identical as the realization process of above-mentioned steps S12.
Step S23: each navigation signal relevant information is sent to processing equipment, so that the processing equipment is to each
Each navigation signal relevant information of navigation signal receiving antenna carries out difference processing, obtains difference and handles equation；The difference
Value processing equation includes carrier phase difference processing equation or difference processing equation includes carrier phase difference processing side
Journey and pseudorange difference handle equation；The difference processing equation is solved, difference solving result is obtained；It is solved and is tied based on the difference
Fruit, it is determined whether there are satellite navigation signals cheating interferences.
Wherein it is possible to which each navigation signal relevant information is sent to processing equipment by various possible modes, such as have
Line mode or wireless mode.Here processing equipment can be any be able to carry out based on each navigation signal relevant information
Difference processing as described above is carried out, and based thereon determines whether that there are the equipment of satellite navigation signals cheating interference.Wherein, it is inciting somebody to action
Each navigation signal relevant information is sent to after processing equipment, and it is poor that processing equipment is based on each navigation signal relevant information progress
Value processing obtains difference and handles equation, solves the difference processing equation, obtains difference solving result；It is asked based on the difference
Solve result, it is determined whether there are the modes of satellite navigation signals cheating interference, can be with the mode phase in above-mentioned steps S13-S15
Together.
Refering to what is shown in Fig. 3, the satellite navigation signals cheating interference detection method in one embodiment, this method can be by
Processing equipment as described above executes, and in the case where navigation signal receiving apparatus has processing capacity, is also possible to by navigating
Signal receiver executes, and navigation signal receiving apparatus here can refer to the navigation signal referred in each embodiment of the application
Receiving device.Method in the embodiment includes the following steps S31 to step S32.
Step S31: each navigation signal relevant information is obtained, each navigation signal relevant information includes: to two or more
After the GNSS satellite navigation signal of navigation signal receiving antenna real-time reception is handled, the corresponding navigation signal of acquisition is related
Information.
Wherein it is possible to obtain each navigation signal relevant information by various possible modes.Such as in the method for the present embodiment
It is when being executed by navigation signal receiving apparatus, navigation signal receiving apparatus can be the more than two navigation signal receiving antennas of acquisition
After at least two GNSS satellite navigation signals of real-time reception, each GNSS satellite navigation signal is handled, with acquisition pair
Each navigation signal relevant information answered.Such as when the method for the present embodiment is executed by processing equipment, processing equipment can be from
Navigation signal receiving apparatus obtains each navigation signal relevant information.In some embodiments, processing equipment is also possible to pass through it
His mode obtains each navigation signal relevant information.
Step S32: difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, is obtained
Difference handles equation；The difference processing equation includes carrier phase difference processing equation or difference processing equation packet
Include carrier phase difference processing equation and pseudorange difference processing equation；The difference processing equation is solved, difference is obtained and solves knot
Fruit；Based on the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
Difference processing is carried out based on each navigation signal relevant information, difference is obtained and handles equation, solve the difference
Equation is handled, difference solving result is obtained；Based on the difference solving result, it is determined whether there are satellite navigation signals deception is dry
The mode disturbed, can be identical as the mode in above-mentioned steps S13-S15.
Satellite navigation signals processing system with reference to shown in Fig. 4, Fig. 5, in the application one embodiment, comprising: two with
Upper spaced apart navigation signal receiving antenna and navigation signal receiving apparatus.In some embodiments, which believes
Number processing system can also include processing equipment shown in Fig. 4.Spaced apart distance value is constant or variable.Wherein, respectively
The navigation signal receiving antenna is connect with the navigation signal receiving apparatus, the navigation signal receiving apparatus and the processing
Equipment connection.
The navigation signal receiving antenna real-time reception GNSS satellite navigation signal.
The navigation signal receiving apparatus handles the GNSS satellite navigation signal, obtains corresponding navigation signal
Relevant information.
The processing equipment carries out difference processing to each navigation signal relevant information of each navigation signal receiving antenna,
It obtains difference and handles equation；The difference processing equation includes carrier phase difference processing equation or the difference processing side
Journey includes carrier phase difference processing equation and pseudorange difference processing equation；The difference processing equation is solved, difference is obtained and asks
Solve result；Based on the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
In some embodiments of the present application, navigation signal receiving apparatus handles GNSS satellite navigation signal, obtains
The mode of corresponding navigation signal relevant information is obtained, processing equipment is based on each navigation signal relevant information and carries out at difference
Reason obtains difference and handles equation, solves the difference processing equation, obtains difference solving result；It is solved and is tied based on the difference
Fruit, it is determined whether there are the modes of satellite navigation signals cheating interference, can be identical as in above method embodiment.
Refering to what is shown in Fig. 4, navigation signal receiving apparatus can only have 1, at this point, the navigation signal receiving apparatus with respectively lead
The signal receiving antenna that navigates connects, and navigation signal receiving apparatus completes the letter that navigates to the GNSS satellite of each navigation signal receiving antenna
Number processing, obtain each corresponding navigation signal relevant information.
Refering to what is shown in Fig. 5, navigation signal receiving apparatus can have it is more than two multiple, at this point, each navigation signal
Receiving device is connect at least one navigation signal receiving antenna.In some embodiments, the number of navigation signal receiving apparatus
Can be identical as the number of navigation signal receiving antenna, i.e., navigation signal receiving apparatus k=navigation signal as depicted in fig. 5 receives
Number of antennas n can be a navigation signal receiving apparatus at this time and connect with a navigation signal receiving antenna.Navigation signal connects
Receiving unit can have it is more than two it is multiple be the time synchronization or asynchronous between each navigation signal receiving apparatus.
With reference to shown in Fig. 6, Fig. 7, by there are two for navigation signal receiving antenna, at this point, satellite navigation signals processing system
System includes: navigation signal receiving antennaWith navigation signal receiving antenna(hereinafter referred to as: antenna, antenna), antennaThe day and
LineIt is separately connected navigation signal receiving apparatusAnd navigation signal receiving apparatus(hereinafter referred to as: receiving device, receiving device), and pass through receiving deviceAnd receiving deviceIt is connected to processing equipment.In this embodiment, pass through antenna, antennaIt is first
Satellite navigation signals are first received, receiving device carries out arresting for relevant information, and it is dry that processing equipment carries out satellite navigation signals deception
The detection and judgement disturbed are handled.2 or more antennas similarly, this system simple installation, without special installation requirement.
Wherein, antenna, antennaSpaced apart distance value be constant or variable.When for constant, it can meet
Static fixed setting, also can satisfy at the uniform velocity dynamic environment；If variable, then mainly antenna, antennaIt will be with respective
Carrier carry out speed change dynamic mobile, therefore, this system is dynamically all suitable for static state.
Each navigation signal receiving apparatus is connect at least one navigation signal receiving antenna.According to the needs of carrier, with
And precise requirements, each navigation signal receiving apparatus can connect more than one navigation signal receiving antenna.
Further, navigation signal receiving antenna and navigation signal receiving apparatus are integral type setting or split type setting；
The navigation signal receiving apparatus and processing equipment are integral type setting or split type setting.It is used in combination two-by-two by this, it can
So that the installation of this system is more flexible.
In general, in the present embodiment, according to the wired and wireless actual conditions in place, navigation signal receiving apparatus can pass through
It is wired or wireless to be connect with processing equipment, further facilitate this system to monitor the cheating interference of satellite navigation signals.
It in the present embodiment, can be same with the time if being mounted with multiple navigation signal receiving apparatus, between them
Step is asynchronous.
In some embodiments, refering to what is shown in Fig. 7, the satellite navigation signals processing system can also be set including reference frequency
Standby, which is each navigation signal receiving apparatus (receiving device as shown in Figure 7And receiving device) base is provided
Quasi- frequency makes each navigation signal receiving apparatus keep synchronizing.
A kind of satellite navigation signals processing equipment is also provided in one embodiment, which includes: more than two intervals
The navigation signal receiving antenna and navigation signal receiving apparatus of arrangement, each navigation signal receiving antenna and the navigation
Signal receiver connection.Navigation signal receiving antenna real-time reception GNSS satellite navigation signal.
In some embodiments, in the case where navigation signal receiving apparatus has processing capacity, which is received
Equipment can be with only one, and the function of processing equipment is desirably integrated into navigation signal receiving apparatus at this time, at this point, navigation signal connects
Receiving unit handles the GNSS satellite navigation signal, obtains corresponding navigation signal relevant information, and based on each described
Navigation signal relevant information is analyzed and processed, it is determined whether there are satellite navigation signals cheating interferences.
Other settings of the satellite navigation signals processing equipment and configuration mode, can be handled with above-mentioned satellite navigation signals
It is identical in system.
In one embodiment, a kind of electronic equipment is provided, which can be terminal or server, in
Portion's structure chart can be as shown in Figure 8.The electronic equipment includes processor, the memory, network interface connected by system bus,
It can also include display screen and input unit when electronic equipment is terminal.Wherein, the processor of the electronic equipment is for providing
Calculating and control ability.The memory of the electronic equipment includes non-volatile memory medium, built-in storage.The non-volatile memories
Media storage has operating system and computer program.The built-in storage is the operating system and calculating in non-volatile memory medium
The operation of machine program provides environment.The network interface of the electronic equipment is used to communicate with external terminal by network connection.It should
Method when computer program is executed by processor to realize embodiment as described above.The display screen of the electronic equipment can be liquid
Crystal display screen or electric ink display screen, the input unit of the electronic equipment can be the touch layer covered on display screen,
It can be the key being arranged on computer equipment shell, trace ball or Trackpad, can also be external keyboard, Trackpad or mouse
Mark etc..
It will be understood by those skilled in the art that structure shown in Fig. 8, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
Accordingly, in one embodiment, a kind of electronic equipment, including memory and processor are provided, is deposited in memory
Computer program is contained, which realizes any one satellite navigation signals deception as described above when executing computer program
Interference detection method.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM(EPROM), electrically erasable ROM(EEPROM) or flash memory.Volatile memory may include
Random-access memory (ram) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM(SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM(ESDRAM), synchronization link (Synchlink) DRAM(SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Any one satellite navigation signals cheating interference detection method as described above is realized when machine program is executed by processor.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (12)
1. a kind of satellite navigation signals cheating interference detection method, it is characterised in that: the following steps are included:
Obtain at least two GNSS satellite navigation signals by more than two navigation signal receiving antenna real-time receptions；
Each GNSS satellite navigation signal is handled, corresponding each navigation signal relevant information is obtained；
Difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains difference processing side
Journey；The difference processing equation is solved, difference solving result is obtained；And it is based on the difference solving result, it is determined whether exist
Satellite navigation signals cheating interference；The difference processing equation includes at carrier phase difference processing equation or the difference
Reason equation includes carrier phase difference processing equation and pseudorange difference processing equation.
2. satellite navigation signals cheating interference detection method according to claim 1, which is characterized in that each navigation signal connects
Receive the corresponding navigation signal receiving apparatus time synchronization of antenna；It is related to each navigation signal of each navigation signal receiving antenna
Information carries out difference processing, obtains difference and handles equation, comprising:
Single poor processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains single poor processing side
Journey, the difference processing equation includes the poor processing equation of the list.
3. satellite navigation signals cheating interference detection method according to claim 2, which is characterized in that including following two
At least one of in:
First item:
The carrier phase difference processing equation includes single poor carrier phase equation group, and the pseudorange difference processing equation includes single
Poor pseudorange equation group；
Section 2:
Single poor processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains single poor processing side
Journey, comprising:
According to the corresponding navigation signal relevant information of each navigation signal receiving antenna, determine that each navigation signal receiving antenna connects
The observational equation of the navigation signal relevant information for each satellite received, the observational equation includes carrier phase observational equation, or
The observational equation includes carrier phase observational equation and pseudorange observation equation；
Poor is asked to the observational equation of the navigation signal relevant information of the received each satellite of each navigation signal receiving antenna, it is single poor to obtain
Handle equation group.
4. satellite navigation signals cheating interference detection method according to claim 1, which is characterized in that each navigation signal connects
The corresponding navigation signal receiving apparatus time synchronization of antenna or time irreversibility are received, to each institute of each navigation signal receiving antenna
It states navigation signal relevant information and carries out difference processing, obtain difference and handle equation, comprising:
Double difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains double difference processing side
Journey, the difference processing equation include the double difference processing equation.
5. satellite navigation signals cheating interference detection method according to claim 4, which is characterized in that including following two
At least one of in:
First item:
The carrier phase difference processing equation includes double difference carrier phase equation group, and the pseudorange difference processing equation includes double
Poor pseudorange equation group；
Section 2:
Double difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains double difference processing side
Journey, comprising:
According to the corresponding navigation signal relevant information of each navigation signal receiving antenna, determine that each navigation signal receiving antenna connects
The observational equation of the navigation signal relevant information for each satellite received, the observational equation includes carrier phase observational equation, or
The observational equation includes carrier phase observational equation and pseudorange observation equation；
Poor is asked to the observational equation of the navigation signal relevant information of the received each satellite of each navigation signal receiving antenna, it is single poor to obtain
Equation group；
According to single eikonal equation group, single eikonal equation of the corresponding navigation signal relevant information of each satellite is carried out asking poor, is obtained
Double-difference equation group.
6. according to satellite navigation signals cheating interference detection method described in claim 2 to 5 any one, which is characterized in that
Solve difference processing equation, obtain difference solving result, include following items at least one of:
First item:
The difference processing equation is solved, the first baseline vector between navigation signal receiving antenna is obtained, the difference solves
It as a result include first baseline vector；
Section 2:
Baseline vector to be solved is set as setting value, the difference processing equation is substituted into, solves integer ambiguity, the difference
Solving result includes Fast integer Ambiguity Resolution result；
Section 3:
When baseline physical length is much larger than the positioning accuracy of navigation signal receiving apparatus, the difference processing equation includes pseudorange
Difference handles equation, solves the pseudorange difference processing equation, obtains the second baseline vector between navigation signal receiving antenna,
The difference solving result includes second baseline vector.
7. satellite navigation signals cheating interference detection method according to claim 6, which is characterized in that be based on the difference
Solving result, it is determined whether there are satellite navigation signals cheating interference, include following items at least one of:
First item: when the length of first baseline vector is close to preset value, determine that there are satellite navigation signals deception is dry
It disturbs；
Section 2: when the Fast integer Ambiguity Resolution result is to solve successfully, determine that there are satellite navigation signals cheating interferences；
Section 3: when second baseline vector is close to 0 and is much smaller than baseline physical length, determine that there are satellite navigation letters
Number cheating interference.
8. according to claim 1 to satellite navigation signals cheating interference detection method described in 5 any one, it is characterised in that:
Difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, difference is obtained and handles equation；It asks
The difference processing equation is solved, difference solving result is obtained；And it is based on the difference solving result, it is determined whether there are satellites to lead
Boat signal cheating interference, comprising:
Each navigation signal relevant information is sent to processing equipment, so that the processing equipment receives each navigation signal
Each navigation signal relevant information of antenna carries out difference processing, obtains difference and handles equation；Solve the difference processing side
Journey obtains difference solving result；And it is based on the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
9. a kind of satellite navigation signals cheating interference detection method, which is characterized in that comprising steps of
Each navigation signal relevant information is obtained, each navigation signal relevant information includes: to receive to more than two navigation signals
After the GNSS satellite navigation signal of antenna real-time reception is handled, the corresponding navigation signal relevant information of acquisition；
Difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, obtains difference processing side
Journey；The difference processing equation includes carrier phase difference processing equation or difference processing equation includes carrier phase
Difference handles equation and pseudorange difference handles equation；The difference processing equation is solved, difference solving result is obtained；Based on described
Difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
10. a kind of satellite navigation signals processing system, which is characterized in that the system comprises: two or more is spaced apart to be led
Navigate signal receiving antenna and navigation signal receiving apparatus；Each navigation signal receiving antenna and the navigation signal receive
Equipment connection, the navigation signal receiving apparatus are connect with processing equipment；
The navigation signal receiving antenna real-time reception GNSS satellite navigation signal；
The navigation signal receiving apparatus handles the GNSS satellite navigation signal, and it is related to obtain corresponding navigation signal
Information, and each navigation signal relevant information is sent to the processing equipment, so that the processing equipment is to each navigation
Each navigation signal relevant information of signal receiving antenna carries out difference processing, obtains difference and handles equation；At the difference
Reason equation include carrier phase difference processing equation or the difference processing equation include carrier phase difference processing equation and
Pseudorange difference handles equation；The difference processing equation is solved, difference solving result is obtained；Based on the difference solving result,
Determine whether there is satellite navigation signals cheating interference.
At least one of 11. system according to claim 10, which is characterized in that in including following items:
First item: the spaced apart distance value is constant or variable；
Section 2: the navigation signal receiving apparatus includes one, and each navigation signal receiving antenna is led with described
The signal receiver that navigates connects；
Section 3: the navigation signal receiving apparatus includes two or more, each navigation signal receiving apparatus and at least one
A navigation signal receiving antenna connection；
Section 4: the navigation signal receiving antenna and navigation signal receiving apparatus are integral type or split type；The navigation letter
Number receiving device with processing equipment is integral type or split type；
Section 5: the navigation signal receiving apparatus is connect by wired connection or wireless connection with the processing equipment；
Section 6: the navigation signal receiving apparatus includes two or more, and the time is same between each navigation signal receiving apparatus
Step is asynchronous；
Section 7: the navigation signal receiving apparatus includes two or more, and the system also includes connect for each navigation signal
The reference frequency equipment of receiving unit offer reference frequency.
12. a kind of satellite navigation signals processing equipment, which is characterized in that the equipment, which includes: that two or more is spaced apart, to be led
Navigate signal receiving antenna and navigation signal receiving apparatus, and each navigation signal receiving antenna and the navigation signal receive
Equipment connection；The navigation signal receiving antenna real-time reception GNSS satellite navigation signal；
The navigation signal receiving apparatus handles the GNSS satellite navigation signal, and it is related to obtain corresponding navigation signal
Information, and difference processing is carried out based on each navigation signal relevant information to each navigation signal receiving antenna, obtain difference
Handle equation；The difference processing equation includes carrier phase difference processing equation or difference processing equation includes carrying
Wave phase difference handles equation and pseudorange difference handles equation；The difference processing equation is solved, difference solving result is obtained；Base
In the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.
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| CN201910373725.8A CN109901200B (en) | 2019-05-07 | 2019-05-07 | Satellite navigation signals cheating interference detection method, processing equipment and system |
| PCT/CN2020/086138 WO2020224438A1 (en) | 2019-05-07 | 2020-04-22 | Satellite navigation signal spoofing detection method, processing device, and system |
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| CN201910373725.8A CN109901200B (en) | 2019-05-07 | 2019-05-07 | Satellite navigation signals cheating interference detection method, processing equipment and system |
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| WO2020224438A1 (en) | 2020-11-12 |
| CN109901200B (en) | 2019-09-06 |
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