KR102089295B1 - Apparatus of eliminating spoofing singnal for satellite navigation signal and method thereof - Google Patents

Abstract

Disclosed is an apparatus for removing satellite deception signals and a method therefor. The satellite navigation-based signal removal device combines the signals received through the first and second antennas, and the first antenna and the second antenna, which are spaced apart from each other by a predetermined distance and are rotatable based on the center of the separation distance. An RF signal processing unit outputting a combined signal, a satellite navigation signal receiving unit processing the combined signal to generate measurement data and navigation data, and detecting a deception signal based on at least one of the measurement data and navigation data When detected, a deception signal detection unit providing an antenna control command signal and an antenna control unit rotating the first and second antennas in response to the provided antenna control command signal. Therefore, the direction of the deception signal transmission source can be accurately detected, and the deception signal can be easily removed.

Description

A device for removing satellite deception signals and a method therefor {APPARATUS OF ELIMINATING SPOOFING SINGNAL FOR SATELLITE NAVIGATION SIGNAL AND METHOD THEREOF}

The present invention relates to a deception signal processing technology, and more particularly, to a satellite navigation deception signal removal apparatus and method for detecting a direction to a transmission source that transmits a deception signal for a satellite navigation signal and removing the deception signal It is about.

The Global Navigation System (GNSS), such as the Global Positioning System (GPS) in the United States and the Global Navigation Satellite System (GLONASS) in Russia, receives information about the satellite's position, time, and other error correction factors from the satellite. It is a system to measure accurate visual information and location.

Recently, satellite navigation systems have been used in various industries in the military and civilian sectors, and the use of satellite navigation systems in the military aspect occupies a more important position than those in the private sector. The satellite navigation system must be able to receive signals transmitted from at least four satellites to obtain accurate time and location information.

Meanwhile, as the use of the satellite navigation system increases, malicious attacks for disturbing the satellite navigation system are also increasing. For example, there are increasing cases of disturbing the satellite navigation system by generating and transmitting satellite navigation deception signals (or interference sources) for the purpose of interfering with military training within a specific country or causing social confusion during international events.

In order to determine the source of the satellite navigation deception signal as described above, it is necessary to accurately detect the direction of the source of the satellite navigation deception signal. In addition, even in the presence of a satellite navigation deception signal, it is necessary to efficiently remove the deception signal mixed with the normal satellite navigation signal in order to operate the satellite navigation system normally.

An object of the present invention for solving the above-described problem is to provide a satellite navigation deception signal removal apparatus capable of accurately detecting a direction of a satellite navigation deception signal and efficiently removing a satellite navigation deception signal.

Another object of the present invention is to provide a satellite navigation deception signal removal method capable of accurately detecting the direction of the satellite navigation deception signal and efficiently removing the satellite navigation deception signal.

The satellite navigation deception signal removal device according to an aspect of the present invention for achieving the above object of the present invention is spaced apart from each other by a predetermined distance and installed to be rotatable based on the center of the separation distance and the first antenna A second antenna, an RF signal processor for combining the signals received through the first and second antennas, and outputting a combined signal; and a satellite navigation signal receiver for processing the combined signal to generate measurement data and navigation data, and The deception signal detection unit detects a deception signal based on at least one of measurement data and navigation data, and provides an antenna control command signal when a deception signal is detected, and the first and first determinants corresponding to the provided antenna control command signal. 2 Includes an antenna control unit that rotates the antenna.

Here, the deception signal detection unit is the measurement data or navigation data received at a first time point from the satellite navigation signal receiver, and the measurement data or navigation data received from the satellite navigation signal receiver at a second time point before the first time point And comparing the result, the deception signal can be detected.

Here, the deception signal detection unit compares the measurement data or navigation data received at the first time point with the measurement data or navigation data received at the second time point, and confirms the existence of the deception signal according to the comparison result, and then deceives it. An antenna control command generation module that generates a deception signal detection module that provides a deception signal existence indication signal when a signal is present, and an antenna control command signal for generating the antenna control command signal for controlling antenna rotation in response to the provided deception signal existence indication signal. It may include a storage unit for storing the measurement data and navigation data received at the first time point and the second time point, respectively.

Here, the deception signal detection module, the amount of change in the measurement data received at the first time point and the second time point exceeds a preset reference value, or the amount of change in navigation data received at the first time point and the second time point, respectively. When the preset reference value is exceeded, the deception signal existence indication signal may be provided.

Here, the antenna control command signal may include at least one of rotation information, rotation angle, and rotation time information of the first and second antennas.

Here, when the spoofing signal detector detects a spoofing signal, the antenna control command signal for rotating the first and second antennas in the first direction is provided until no spoofing signal is detected, and the spoofing signal is not detected. The antenna control command signal may be provided to store first location information, which is the positions of the first and second antennas, and to stop rotation of the first and second antennas. In addition, the deception signal detection unit provides a control signal for rotating the first and second antennas in the first position in the first direction until the deception signal is detected again, and when the deception signal is detected again An antenna control command signal for storing rotation information of the first and second antennas immediately before the deception signal is detected again and stopping rotation of the first and second antennas may be provided. In addition, the deception signal detection unit determines the direction of the deception signal transmission source based on the first location information and the second location information, and an extension line of an imaginary straight line connecting the first antenna and the second antenna is determined. An antenna control command signal for rotating the first and second antennas to be directed in the direction of the signal transmission source may be provided.

Here, the antenna control unit is mechanically coupled to the rotation control module and the first and second antennas to provide an antenna rotation control signal for controlling rotation of the first and second antennas according to the provided antenna control command signal, An antenna driving module for rotating the first and second antennas according to the provided antenna rotation control signal may be included.

Here, the RF signal processing unit includes a frequency combiner for combining signals received through the first and second antennas, and a low noise amplifier for amplifying a signal output from the frequency combiner to a predetermined signal level and outputting the combined signal. can do.

In addition, the satellite navigation deception signal removal method according to an aspect of the present invention for achieving another object of the present invention is a step of determining whether a deception signal is present, and when the deception signal is present, until the deception signal is not detected And rotating the first antenna and the second antenna in the first direction to cancel the deception signal.

Here, in the method for removing the deception signal, after the step of rotating the first antenna and the second antenna in the first direction until the deception signal is not detected, the first antenna and the second in which the deception signal is not detected Estimating a position range of the antenna, determining a direction of a deception signal transmission source based on the estimated position range, and rotating the first antenna and the second antenna in the direction of the determined deception signal transmission source. It may further include.

Here, the step of estimating the position ranges of the first antenna and the second antenna in which the deception signal is not detected includes: a first position that is the position of the first antenna and the second antenna when the deception signal is not detected. Storing a position; rotating the first antenna and the second antenna in the first direction until a deception signal is detected again; and when the deception signal is detected again, the first antenna and the second antenna Stopping, storing the first antenna and the second location which is the location of the second antenna immediately before the deception signal is detected again, and the deception signal based on the intermediate position between the first location and the second location. And determining the direction of the source.

Here, determining the direction of the deception signal transmission source based on the estimated position range includes: an intermediate position between the first position of the first antenna and the second position of the first antenna, and the second position of the second antenna. The direction of the extension line of the straight line that virtually connects the intermediate position between the first position and the second position of the second antenna may be determined as the direction of the deception signal transmission source.

Here, the step of rotating the first antenna and the second antenna in the direction of the determined deception signal transmission source, the direction of the extension line of the straight line connecting the first antenna and the second antenna virtually of the determined deception signal transmission source The first antenna and the second antenna may be rotated in a direction opposite to the first direction to face the direction.

Here, the method for removing the deception signal is performed by rotating the first antenna and the second antenna in the first direction until the deception signal is not detected, thereby canceling the deception signal before the deception signal is present. When synthesizing the deception signal received through the antenna and the deception signal received through the second antenna, the first antenna and the second antenna so that the deception signal received through the first and second antennas may be canceled. It may further include the step of separating.

According to the satellite navigation deception signal removal apparatus and method, the two antennas are spaced apart by a predetermined distance on a straight line, and when a deception signal is present, the two antennas are based on the center between the two antennas. By rotating the antennas in the direction of a predetermined deception signal search rotation angle unit and positioning the deception signal in the direction of the source, the deception signal is canceled according to the phase difference between the deception signals received through each of the two antennas.

In addition, the positions of the two antennas at the time when the deception signal is removed, and the positions of the two antennas immediately before the deception signal starts to exist again, and the intermediate position between the two determined positions is the direction of the deception signal transmission source. Decide.

Therefore, it is possible to accurately detect the location of the satellite navigation deception signal transmission source and easily remove the satellite navigation deception signal.

In addition, since the direction of the deception signal can be detected and removed using the physical distances and positions of the two antennas, the deception signal removal device is simple to implement and the manufacturing cost can be reduced.

1 is a conceptual diagram illustrating the principle of detecting and removing the direction of a satellite navigation deception signal according to an embodiment of the present invention.
2 is a conceptual diagram for explaining a principle for improving the accuracy of detecting the direction of a satellite navigation deception signal according to an embodiment of the present invention.
3 is a block diagram showing the configuration of a satellite navigation deception device according to an embodiment of the present invention.
4 is a block diagram showing a more detailed configuration of the deception signal detection unit among the configurations of the satellite navigation deception signal removal apparatus illustrated in FIG. 3.
FIG. 5 is a block diagram showing a more detailed configuration of the antenna control unit among the configurations of the satellite navigation deception signal removal apparatus illustrated in FIG. 3.
FIG. 6 is a conceptual diagram showing a configuration example of the antenna driving module shown in FIG. 5.
7 is a flowchart illustrating a method of detecting and removing a direction of a satellite navigation deception signal according to an embodiment of the present invention.

The present invention can be applied to various changes and can have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

The terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "include" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described herein, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms such as those defined in a commonly used dictionary should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. Does not.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the overall understanding in describing the present invention, the same reference numerals are used for the same components in the drawings, and duplicate descriptions for the same components are omitted.

1 is a conceptual diagram illustrating the principle of detecting and removing the direction of a satellite navigation deception signal according to an embodiment of the present invention.

Two antennas 101 and 103 are used in the process of detecting and removing the satellite navigation deception signal according to an embodiment of the present invention. In addition, the two antennas 101 and 103 are installed spaced apart by a predetermined distance (eg, half-wavelength, λ / 2), and the center (or central axis) of the straight distances of the two antennas 101 and 103 It is configured to be rotatable based on (105).

The direction of the satellite navigation deception signal is determined by first determining whether a satellite navigation deception signal is generated, and if it is determined that the deception signal has occurred, the two antennas 101 and 103 are referenced to the central axis 105 to remove the deception signal. Rotate in a preset direction.

For example, as shown in FIG. 1, when two antennas 101 and 103 are located at the X-X 'point, it is assumed that a deception signal is received, and accordingly, the GPS receiver generates an incorrect navigation solution. In order to detect the direction of the transmission source 150 that transmits a signal, the two antennas 101 and 103 are rotated in a preset direction to extend the line connecting the first antenna 101 and the second antenna 103 virtually. The direction of one extension line 107 is directed toward the source 150 of the deception signal. Here, the two antennas 101 and 103 may rotate in units of a preset rotation angle for detecting the direction of the deception signal.

As described above, when the positions of the two antennas 101 and 103 are Y-Y 'by rotating the two antennas 101 and 103, the virtual connecting the first antenna 101 and the second antenna 103 is virtual. The source 150 of the deception signal is located on the extension line 107 of the straight line.

At this time, the waveform of the signal received through the first antenna 101 is as shown in (a) of FIG. 1. In addition, since the separation distance between the first antenna 101 and the second antenna 103 is half wavelength (λ / 2), the waveform of the signal received through the second antenna 103 is shown in FIG. 1 (a). It has a phase difference between a waveform and a half wavelength (λ / 2). That is, the signal received through the second antenna 103 is as shown in (b) of FIG. 1.

Meanwhile, when signals (a) and (b) received through the first antenna 101 and the second antenna 103 are combined through the frequency combiner 140, as shown in FIG. 1 (c), Likewise, two waveforms are canceled out, and a waveform from which the deception signal is removed is output.

By removing the waveform of the deception signal in the manner described above, the GPS receiver can generate a normal navigation solution by processing only the normal satellite navigation signal.

2 is a conceptual diagram for explaining a principle for improving the accuracy of detecting the direction of a satellite navigation deception signal according to an embodiment of the present invention.

A-A 'among the positions of the first antenna 201 and the second antenna 203 shown in FIG. 2 corresponds to the position of the antenna from which the deception signal is initially removed (ie, the Y-Y' position in FIG. 1). ).

First, in order to detect the correct direction of the spoofing signal source, the predetermined direction (i) until the spoofing signal is not removed from the two antennas 201 and 203 at A-A ', the position of the antenna from which the spoofing signal was initially removed. Rotates. Here, the rotation of the two antennas 201 and 203 may be configured to rotate in units of a preset rotation angle to detect the direction of the deception signal transmission source.

That is, while the two antennas 201 and 203 are rotated clockwise (i) relative to the central axis 205 at positions A-A 'where the deception signal is initially removed, the presence or absence of the deception signal is determined and the two are determined. There is no effect of the deception signal until the positions of the antennas 201 and 203 reach the B-B 'point, and if the positions of the two antennas 201 and 203 deviate from the B-B' point, the deception signal is affected again. In the case of giving, stop the rotation of the two antennas 201 and 203 at the B-B 'point and the B-B' and the point where the positions of the two antennas are A-A 'on the rotation path of the two antennas 201 and 203 The two antennas 201 and 203 are rotated counterclockwise (ii) to the point C-C ', which is the intermediate position of the in point.

Then, the position of the transmission source that transmits the deception signal is determined in the direction of the extension line 207 of a straight line that virtually connects the positions C-C 'of two antennas.

The satellite navigation deception signal removal apparatus according to an embodiment of the present invention can simply and accurately determine the direction of the deception signal transmission source through the principle described with reference to FIG. 2.

3 is a block diagram showing the configuration of a satellite navigation deception device according to an embodiment of the present invention.

Referring to FIG. 3, the satellite navigation deception signal removal apparatus according to an embodiment of the present invention includes a first antenna 310, a second antenna 320, an RF signal processing unit 330, a GPS receiving unit 340, and a deception signal. It may include a detection unit 350, the antenna control unit 360.

The first antenna 310 and the second antenna 320 respectively receive satellite navigation signals transmitted from the plurality of navigation satellites 301 and provide the received signals to the RF signal processing unit 330. Here, the first antenna 310 and the second antenna 320 may receive only a normal satellite navigation signal from a plurality of satellites, and simultaneously receive the deception signal transmitted from the deception signal transmission source 303 together with the satellite navigation signal. It might be.

In addition, when the spoofing signal occurs, the first antenna 310 and the second antenna 320 detect the direction of the spoofing signal transmission source 303 using the principle as shown in FIGS. 1 and 2 and detect the spoofing signal. Used to remove. That is, in the present invention, in order to detect the direction of the deception signal transmission source 303 and remove the deception signal, the phase difference of the signal received through the first antenna 310 and the second antenna 320 using the characteristics of the RF frequency. The first antenna 310 and the second antenna 320 are used to remove the deception signal by causing the deception signal to be canceled through.

To this end, the first antenna 310 and the second antenna 320 may be arranged to have a predetermined separation distance. The separation distance between the first antenna 310 and the second antenna 320 may be set according to the center frequency (or wavelength) of the received signal, for example, separated by half (λ / 2) of the wavelength of the received signal Distance can be set.

A straight line direction extending the first antenna 310 and the second antenna 320 at a distance corresponding to a half wavelength of the received signal, and connecting the first antenna 310 and the second antenna 320 virtually When adjusting the positions (that is, rotation) of the first antenna 310 and the second antenna 320 so that the deception signal transmission source 303 is located, through the first antenna 310 and the second antenna 320 The received deception signals are canceled each other so that it cannot affect the processing of the GPS receiver 340.

For example, when receiving the L1 signal of the GPS as a satellite navigation signal, since the center frequency of L1 is 1575.42MHz, the wavelength (λ) is about 19 cm and the half wavelength (λ / 2) of the L1 signal is about 9.514 cm. Accordingly, the first antenna 310 and the second antenna 320 may be spaced apart from each other so that the separation distance between the first antenna 310 and the second antenna 320 is 9.514 cm.

In addition, the first antenna 310 and the second antenna 320 may be installed to be rotatable in the same direction at the same time corresponding to the antenna control signal provided from the antenna control unit 360. That is, the first antenna 310 and the second antenna 320 may be installed to be rotatable in a clockwise or counterclockwise direction with the center of the center of a straight line connecting the two antennas as a central axis.

The RF signal processing unit 330 combines the signals received from the first antenna 310 and the second antenna 320, amplifies the combined signal with low noise, and provides it to the GPS receiver 340.

In order to process the above-described functions, the RF signal processing unit 330 may include a frequency combiner 331 and a low noise amplifier 333. The frequency combiner 331 combines the signals received from the first antenna 310 and the second antenna 320, respectively, and provides the combined signal to the low noise amplifier 333. Here, after the direction of the deception signal transmission source 303 is detected, the signals received through the first antenna 310 and the second antenna 320 spaced by a half wavelength are removed only through the combination of the frequency combiner and , The satellite navigation signal is synthesized and provided to the low noise amplifier 333.

The low noise amplifier 333 amplifies the signal provided from the frequency combiner 331 and provides it to the GPS receiver 340. Since the satellite navigation signal received through the first antenna 310 and the second antenna 320 has a signal level lower than the noise level, the low noise amplifier 333 processes the signal of the low level in the GPS receiver 340 After amplifying to a signal level as much as possible, it is provided to the GPS receiver 340. Here, the signal provided to the GPS receiver 340 from the low-noise amplifier 333 may consist of only a satellite navigation signal, or a signal including a deception signal transmitted from the deception signal transmission source 303 in the satellite navigation signal may be provided. have.

The GPS receiver 340 receives a signal provided from the low-noise amplifier 333, acquires satellite navigation information based on the received signal, and tracks the satellite navigation signal to generate a navigation solution.

In the process of tracking the satellite navigation signal, the GPS receiver 340 generates measurement data and navigation data such as pseudo-distance by each satellite, carrier to noise ratio (C / No), code phase, and carrier phase. One measurement data and navigation data are provided to the deception signal detection unit 350.

The deception signal detection unit 350 determines whether a deception signal is present based on measurement data and navigation data provided from the GPS reception unit 340. When it is determined that the deception signal exists in the received signal, the deception signal detection unit 350 provides an antenna control command to instruct the antenna control unit 360 to control the antenna. Here, the antenna control command may include rotation angle, rotation direction, or rotation time information of the first antenna 310 and the second antenna 320.

Specifically, the deception signal detection unit 350 determines whether a deception signal is present based on measurement data and navigation data provided at predetermined time intervals from the GPS reception unit 340, and an antenna indicating this when the deception signal is present. Provide control commands.

The deception signal detection unit 350 may provide an antenna control command until no deception signal is present, and correspondingly, the first antenna 310 and the second antenna 320 have a specific direction in units of the rotation angle of the deception signal search. Is rotated.

Subsequently, if it is determined that the deception signal does not exist, the deception signal detection unit 350 does not provide an antenna control command or provides an antenna control command instructing the antenna to stop. Accordingly, the first antenna 310 and the first 2 The antenna 320 is stationary. Here, the deception signal detection unit 350 stores the positions of the first antenna 310 and the second antenna (first position).

Thereafter, the deception signal detection unit 350 determines whether a deception signal is present while providing an antenna control command for rotating the first antenna 310 and the second antenna 320 in the specific direction, and the deception signal is again Provides an antenna control command to stop rotation of the first antenna 310 and the second antenna 320 at the time of existence, and the first antenna 310 and the second antenna 320 just before the deception signal is present again ) 'S location (second location).

Here, the deception signal detection unit 350 determines the direction of the extension line between the first position and the second position as the direction of the deception signal transmission source, and the first antenna 310 and the second antenna 320 again in the specific direction By providing an antenna control signal for rotating in the opposite direction, the positions of the first antenna 310 and the second antenna 320 are positioned between the first position and the second position.

When the antenna control command is provided from the deception signal detection unit 350, the antenna control unit 360 detects the first antenna during the predetermined deception signal search time in order to detect the deception signal direction (or the deception signal transmission source 303). 310) and the second antenna 320 to perform a control to rotate the preset deception signal search rotation angle. Here, the deception signal search time refers to a time for determining whether the deception signal has been removed by the deception signal detection unit 350 by processing the signal received through the first antenna 310 and the second antenna 320. In addition, the deception signal search rotation angle means a minimum rotation angle for rotating the first antenna 310 and the second antenna 320 when the deception signal is not removed and the deception signal is provided to the GPS receiver 340.

When an antenna control command is provided from the deception signal detection unit 350, the antenna control unit 360 first antenna 310 in the above deception signal search rotation angle unit until the direction of the deception signal transmission source 303 is accurately detected. And rotating the second antenna 320 clockwise (or counterclockwise).

4 is a block diagram showing a more detailed configuration of the deception signal detection unit 350 among the components of the satellite navigation deception signal removal apparatus illustrated in FIG. 3.

4, the deception signal detection unit 350 according to an embodiment of the present invention includes a data reception module 351, a deception signal detection module 353, a storage unit 355, and an antenna control command generation module 357. It may include.

The data receiving module 351 receives measurement data and navigation data for a satellite navigation signal from the GPS receiver 340, stores the received measurement data and navigation data in the storage unit 355, and deceives the signal detection module 353. To provide. Here, the data receiving module 351 may be configured to receive measurement data and navigation data at preset time intervals from the GPS receiver 340.

The measurement data provided to the data receiving module 351 may include a pseudo-distance for each satellite and a received signal strength (or carrier-to-noise ratio) generated based on the satellite navigation signal received by the GPS receiver 340, and the navigation data May include orbital data and position and velocity data of a receiving device equipped with a GPS receiver or a deception device. The data receiving module 351 may receive measurement data and navigation data at preset time intervals, and provide the received measurement data and navigation data to the deception signal detection module 353 at the predetermined time interval.

The deception signal detection module 353 compares the measurement data and navigation data provided from the data receiving module 351 with the measurement data and navigation data previously provided from the data receiving module 351 and stored in the storage unit 355, thereby deceiving the signal. It is determined whether the existence of the deception signal, and if it is determined that the deception signal exists, provides a signal indicating that the deception signal exists to the antenna control command generation module 357.

Describing the operation of the deception signal detection module 353 in more detail, the deception signal detection module 353 compares measurement data and navigation data provided at the present time with measurement data and navigation data previously stored in the storage unit 355. By checking the amount of change in measurement data or the position change amount of the deception signal removal device (or the device in which the GPS receiver 340 is installed), it is determined whether the deception signal is present based on the confirmation result.

The position of the measurement data and / or the device measured in the satellite navigation system does not change rapidly with time. Therefore, it can be determined that the deception signal exists when the measured data and / or the position change amount of the device changes rapidly. Therefore, the deception signal detection module 353 compares the amount of change in the measurement data and / or the amount of change in navigation data with a preset reference value, and determines that a deception signal exists when the amount of change in measurement data and / or the amount of change in navigation data is greater than the reference value. .

The antenna control command generation module 357 controls the rotation of the first antenna 310 and the second antenna 320 in response to receiving a signal indicating that the deception signal exists from the deception signal detection module 353. An antenna control command signal for generating the antenna control command signal is generated, and the generated antenna control command signal is provided to the antenna control unit 360. Here, the antenna control command generation module 357 determines the rotation direction, rotation angle, and rotation time of the first antenna 310 and the second antenna 320 as an antenna control command, and then an antenna control command signal including the determined information. Can be provided to the antenna control command generation module 357.

The storage unit 355 may be configured as a non-volatile memory, and stores measurement data and navigation data provided from the data receiving module 351.

5 is a block diagram showing a more detailed configuration of the antenna control unit 360 among the configurations of the satellite navigation deception signal removal apparatus illustrated in FIG. 3. 6 is a conceptual diagram showing a configuration example of the antenna driving module 365 shown in FIG. 5.

5 and 6, the antenna control unit 360 may include an antenna control command receiving module 361, an antenna rotation control module 363, and an antenna driving module 365.

The antenna control command receiving module 361 receives the antenna control command signal provided from the deception signal detection unit 350 and provides the received antenna control command signal to the antenna rotation control module 363. Here, the antenna rotation control command may include rotation direction, rotation angle and / or rotation time information of the first antenna 310 and the second antenna 320. The antenna rotation direction information may indicate a clockwise or counterclockwise direction, and the rotation angle information of the antenna may be determined according to a preset deception signal search rotation angle.

The antenna rotation control module 363 provides an antenna rotation control signal for controlling antenna rotation according to the antenna control command signal received from the antenna control command reception module 361. Here, the antenna rotation control signal includes, for example, electrical signals corresponding to rotation angle information and rotation directions of the first antenna 310 and the second antenna 320, and electrical signals for controlling the rotation time of the antenna. Can be.

The antenna driving module 365 rotates the first antenna 310 and the second antenna 320 according to the antenna rotation control signal provided from the antenna rotation control module 363.

As illustrated in FIG. 6, the antenna driving module 365 includes the first antenna 310 and the second antenna so that the first antenna 310 and the second antenna 320 are spaced apart by a predetermined separation distance. The first antenna 310 corresponding to a rotation control signal provided from the antenna rotation control module 363, which is mechanically connected to the antenna support means 365-1 supporting the 320 and the antenna support means 365-1. And driving means 365-2 for rotating the antenna support means 365-1 on which the second antenna 320 is installed. Here, the driving means 365-2 may be composed of, for example, a motor.

When the driving means (365-2) is composed of a motor, the driving means (365-2) corresponds to the phase, magnitude of the electrical signal provided from the antenna rotation control module 363 and the duration (duration) of the electrical signal By rotating a predetermined angle in the clockwise or clockwise direction, the first antenna 310 and the second antenna 320 can be rotated as a result of rotating the supporting means combined with the rotation axis of the motor by the same angle in the same direction. .

7 is a flowchart illustrating a method of detecting and removing a direction of a satellite navigation deception signal according to an embodiment of the present invention, and may be performed by the deception signal removal apparatus illustrated in FIG. 3, and includes a first antenna ( 310) and the second antenna 320 are assumed to have a predetermined separation distance.

Referring to FIG. 7, first, the deception signal removal apparatus detects a deception signal from the received signal (S701). Here, the deception signal removing device compares the measurement data and navigation data generated based on the signal currently received by the GPS receiver 340 and the measurement data and navigation data generated based on the previously received signal, and compares the comparison result. The deception signal can be detected by comparing with a preset reference value. That is, when the rate of change of measurement data and / or the rate of change of navigation data exceeds a preset reference value, the deception signal removal device may determine that the deception signal exists.

Subsequently, the deception signal removal apparatus determines whether a deception signal exists based on the result confirmed through the execution of step S701 (S703), and when the deception signal exists, the first antenna 310 and the second antenna 320 Rotate (S705). Here, the deception signal removal apparatus may rotate the first antenna 310 and the second antenna 320 by a preset deception signal search rotation angle. For example, if the rotation angle of the deception signal search is set to 5 degrees, the deception signal removal device is first by 5 degrees clockwise (or counterclockwise) from the current positions of the first antenna 310 and the second antenna 320. The antenna 310 and the second antenna 320 may be rotated.

Thereafter, the deception signal removal device executes steps S701 and S703 again to determine whether or not the deception signal is detected. Here, when the deception signal is present, the deception signal removal device further rotates the first antenna 310 and the second antenna 320 by a preset deception signal search rotation angle (for example, 5 degrees).

The deception signal removal apparatus repeats steps S701 to S705 until the deception signal is no longer detected.

That is, when the deception signal is detected, the deception signal removal apparatus searches for the deception signal search rotation angle unit preset in the predetermined direction (for example, clockwise or counterclockwise) of the first antenna 310 and the second antenna 320. Rotation step by step, the first antenna 310 and the second antenna 320 rotates according to the above operation, and the moment when it is located at a specific point, the deception signal is canceled according to the principle as shown in FIG. The removal device can no longer detect deception signals.

Meanwhile, if it is determined in step S703 that the deception signal does not exist, the deception signal removal apparatus stores the current location information (eg, azimuth information) of the first antenna 310 and the second antenna 320 (355). ) (S707). Then, the deception signal removing device rotates the first antenna 310 and the second antenna 320 in the same direction as the direction rotated in step S705 (S709). Here, the deception signal removal apparatus may rotate the first antenna 310 and the second antenna 320 by a preset deception signal search rotation angle.

Subsequently, the deception signal removal device checks the existence of the deception signal in the state in which the first and second antennas 320 are rotated as described above (S711), and determines whether the deception signal exists according to the check result ( S713).

The deception signal removal apparatus determines whether the deception signal exists through execution of step S713, and when the deception signal does not exist, the process returns to step S709 to execute the subsequent process again. That is, the deception signal removal device rotates the first antenna 310 and the second antenna 320 by a preset deception signal search rotation angle, then checks whether the deception signal is present, and whether there is a deception signal according to the confirmation result. Judge. Here, the deception signal removal apparatus repeats steps S709 to S713 until the deception signal is detected.

On the other hand, if it is determined that the deception signal exists again through the execution of step S713, the deception signal removal device stores the positions of the first antenna 310 and the second antenna 320 immediately before the deception signal is generated (355). Save it in (S715).

Thereafter, the deception signal removal apparatus is based on the positions of the first antenna 310 and the second antenna 320 stored in step S707 and the positions of the first antenna 310 and the second antenna 320 stored in step S715. Then, the position of the deception signal transmission source 303 is finally determined (S717). Here, the deception signal removal apparatus may determine the direction of the deception signal transmission source 303 through the method as described above with reference to FIG. 2. For example, the deception signal removing device calculates an intermediate position between the position of the first antenna 310 stored in step S707 and the position of the first antenna 310 stored in step S715, and the second stored in step S707. After calculating the intermediate position between the position of the antenna 320 and the position of the second antenna 320 stored in step S715, the deceptive signal transmission source 303 indicates a direction of an extension line of a straight line that virtually connects the calculated two intermediate positions. You can decide in the direction of.

Subsequently, the deception signal removing device rotates the first antenna 310 and the second antenna 320 in the direction of the finally determined deception signal transmission source 303 to simulate the first antenna 310 and the second antenna 320. The extension line of the straight line to be connected to match the direction of the deception signal transmission source 303 (S719).

Although described with reference to the above embodiments, those skilled in the art understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. Will be able to.

101: first antenna 103: second antenna
105: central axis 107: extension line
140: frequency combiner 150: deception signal transmission source
201: first antenna 203: second antenna
205: center axis 301: navigation phase
303: deception signal transmission source 310: first antenna
320: second antenna 330: RF signal processing unit
331: frequency combiner 333: low-noise amplifier
340: GPS receiver 350: deception signal detection unit
351: data receiving module 353: deception signal detection module
355: storage unit 357: antenna control command generation module
360: antenna control unit 361: antenna control command receiving module
363: antenna rotation control module 365: antenna drive module
365-1: antenna support means 365-2: driving means

Claims (16)

A first antenna and a second antenna spaced apart from each other by a predetermined distance and installed to be rotatable based on a center of the separation distance;
An RF signal processor which combines signals received through the first and second antennas and outputs a combined signal;
A satellite navigation signal receiver which processes the combined signal to generate measurement data and navigation data;
A deception signal detection unit detecting a deception signal based on at least one of the measured data and navigation data, and providing an antenna control command signal when the deception signal is detected; And
And an antenna control unit for rotating the first and second antennas in response to the provided antenna control command signal.
The deception signal detection unit
When a deception signal is detected, an antenna control command signal for rotating the first and second antennas in a first direction is provided until no deception signal is detected, and when the deception signal is not detected, the first and It stores the first position information that is the position of the second antenna, and provides an antenna control command signal for stopping the rotation of the first and second antennas,
An antenna control command signal for rotating the first and second antennas in the first position in the first direction is provided until a deception signal is detected again, and when the deception signal is detected again, the deception signal is detected again A deception signal removal apparatus characterized by further providing an antenna control command signal for storing second position information, which is the positions of the first and second antennas immediately before becoming, and stopping rotation of the first and second antennas. . The method according to claim 1,
The deception signal detection unit,
A result of comparing and comparing the measurement data or navigation data received at the first time point from the satellite navigation signal receiver and the measurement data or navigation data received from the satellite navigation signal receiver at a second time point before the first time point A deception signal removing device, characterized in that for detecting the deception signal based on. The method according to claim 2,
The deception signal detection unit
After comparing the measurement data or the navigation data received at the first time point with the measurement data or the navigation data received at the second time point, and confirming the existence of a deception signal according to the comparison result, if there is a deception signal A deception signal detection module providing a presence indication signal;
An antenna control command generation module for generating the antenna control command signal for controlling antenna rotation in response to the provided deception signal presence indication signal; And
And a storage unit storing measurement data and navigation data received at the first time point and the second time point, respectively. The method according to claim 3,
The deception signal detection module,
When the amount of change of the measurement data received at the first time point and the second time point exceeds a preset reference value, or the amount of change of the navigation data received at the first time point and the second time point respectively exceeds the preset reference value, the A deception signal removal device, characterized in that for providing a deceptive signal presence indication signal. The method according to claim 3,
The antenna control command signal is deception signal removal apparatus comprising at least one of the rotation direction, rotation angle and rotation time information of the first and second antenna. delete delete The method according to claim 1,
The deception signal detection unit
The direction of the deception signal transmission source is determined based on the first location information and the second location information, and an extension line of an imaginary straight line connecting the first antenna and the second antenna is directed in the direction of the determined deception signal transmission source. Deception signal removal apparatus characterized in that it provides an antenna control command signal for rotating the first and second antennas. The method according to claim 1,
The antenna control unit,
A rotation control module providing an antenna rotation control signal for controlling rotation of the first and second antennas according to the provided antenna control command signal; And
And an antenna driving module mechanically coupled to the first and second antennas and rotating the first and second antennas according to the provided antenna rotation control signal. The method according to claim 1,
The RF signal processing unit
A frequency combiner that combines signals received through the first and second antennas; And
And a low-noise amplifier that amplifies the signal output from the frequency combiner to a predetermined signal level and outputs the combined signal.
In the deception signal removal method performed in the deception signal removal device for removing the deception signal included in the satellite navigation signal,
Determining whether a deception signal exists;
Canceling the deception signal by rotating the first antenna and the second antenna in the first direction until no deception signal is detected when the deception signal is present;
Estimating a position range of the first antenna and the second antenna in which the deception signal is not detected;
Determining a direction of a deception signal transmission source based on the estimated position range; And
And rotating the first antenna and the second antenna in the direction of the determined deception signal transmission source. delete The method according to claim 11,
Estimating the position range of the first antenna and the second antenna, the deception signal is not detected,
Storing a first position that is a position of the first antenna and the second antenna when the deception signal is not detected;
Rotating the first antenna and the second antenna in the first direction until a deception signal is detected again;
When the deception signal is detected again, stopping the first antenna and the second antenna, and storing a second position that is the position of the first antenna and the second antenna immediately before the deception signal is detected again; And
And determining a direction of a deception signal transmission source based on an intermediate position between the first position and the second position. The method according to claim 13,
Determining the direction of the deception signal transmission source based on the estimated position range,
A straight line virtually connecting an intermediate position between the first position of the first antenna and the second position of the first antenna, and an intermediate position between the first position of the second antenna and the second position of the second antenna Determination of the deception signal, characterized in that determining the direction of the extension line in the direction of the deception signal transmission source. The method according to claim 11,
Rotating the first antenna and the second antenna in the direction of the determined deception signal transmission source,
Rotating the first antenna and the second antenna in the opposite direction to the first direction so that the direction of the extension line of the straight line connecting the first antenna and the second antenna to the direction of the determined deception signal transmission source Characterized by the deception signal removal method. The method according to claim 11,
The deception signal removal method,
If the deception signal is present, before the deception signal is detected, rotating the first antenna and the second antenna in the first direction to cancel the deception signal,
When synthesizing the deception signal received through the first antenna and the deception signal received through the second antenna, the first antenna and the first so that the deception signal received through the first and second antennas may be canceled. The method of claim 2, further comprising separating the second antenna.

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