CN109765574A - A kind of list base station GNSS relay type deception source localization method and device - Google Patents
A kind of list base station GNSS relay type deception source localization method and device Download PDFInfo
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Abstract
The embodiment of the present invention provides a kind of single base station GNSS relay type deception source localization method and device, this method comprises: curve information is obtained, to obtain the first satellite launch temporal information according to the curve；Double difference observation model handles the first satellite launch temporal information when passing through sky, double difference measurement vector information when obtaining sky；Double difference measurement vector information is handled when by maximum Likelihood to the sky, to obtain finally cheating source location information.Double difference observation model carries out time difference and space difference to the launch time of different satellites respectively when passing through sky, to obtain double difference measurement vector when sky, then carries out maximal possibility estimation, to position to deception source；Positioning can be completed by single base station in the embodiment of the present invention, and positioning accuracy is not influenced by base station location, and does not need known base station location information, and common receiver is also easily achieved this method.
Description
Technical field
The present embodiments relate to satellite navigation positioning technical field more particularly to a kind of single base station GNSS relay type deceptions
Source localization method and device.
Background technique
With gradually increasing for GNSS facility, GNSS has played the effect to become more and more important in human society, such as communication,
The fields such as agricultural, finance, traffic, military affairs and electric power.However, the safety issue of GNSS is also increasingly serious.
Since GNSS signal power is weaker, it is highly prone to the interference of external electromagnetic wave, interferes and cheats including compacting
Interference.Compacting interference is come by emitting the electromagnetic wave signal near high-power GNSS frequency point so that receiver can not normal work
Make.But compacting interference is easily received machine discovery；And threatening bigger is cheating interference, is lured by transmitting curve
Lead the receiver position of output error and temporal information without knowing it.To cope with cheating interference, need us can
It detects and identifies curve, while deception source is positioned.Deception source position is found by cheating source location technology, it can be with
Deception is solved from source to threaten.
The prior art is concentrated mainly in fraud detection and identification, less to deception source Study of location.Current takes advantage of
Deceive source location technology, such as reaching time-difference (Time Difference Of Arrival；TDOA) technology generally requires multiple
The synchronous base station of clock, and need known base station position；Based on received signal strength (Received Signal
Strength；RSS technology) needs accurate channel fading model, and general error is larger, is affected by channel circumstance.And
And in these techniques, limitation of the deception source position estimated accuracy by base station geometric layout opposite with deception source.Therefore how
The problem of positioning has become industry urgent need to resolve effectively is carried out to deception source.
Summary of the invention
The embodiment of the present invention provides a kind of single base station GNSS relay type deception source localization method and device, above-mentioned to solve
The technical issues of being proposed in background technique, or at least partly solve technical problem mentioned above in the background art.
In a first aspect, the embodiment of the present invention provides a kind of single base station GNSS relay type deception source localization method, comprising:
Curve information is obtained, to obtain the first satellite launch temporal information according to the curve；
Double difference observation model handles the first satellite launch temporal information when passing through sky, double difference when obtaining sky
Measurement vector information；
Double difference measurement vector information is handled when by maximum Likelihood to the sky, finally to be cheated
Source location information.
Second aspect, the embodiment of the present invention provide a kind of single base station GNSS relay type deception source positioning device, comprising:
Module is obtained, for obtaining curve information, to obtain for the first satellite launch time according to the curve
Information；
Processing module, double difference observation model handles the first satellite launch temporal information when for passing through sky,
Double difference measurement vector information when obtaining sky；
Locating module, double difference measurement vector information is handled when for by maximum Likelihood to the sky,
To obtain finally cheating source location information.
The third aspect, the embodiment of the present invention provides a kind of electronic equipment, including memory, processor and is stored in memory
Computer program that is upper and can running on a processor.The processor is realized single as described in relation to the first aspect when executing described program
Base station GNSS relay type cheats the step of source localization method.
Fourth aspect, the embodiment of the present invention provide a kind of non-transient computer readable storage medium, are stored thereon with calculating
Machine program.Single base station GNSS relay type deception source positioning as described in relation to the first aspect is realized when the computer program is executed by processor
The step of method.
The embodiment of the present invention provides a kind of single base station GNSS relay type deception source localization method and device.It is cheated by processing
Signal obtains the first satellite launch temporal information, then double difference observation model distinguishes the first satellite launch temporal information when passing through sky
Time difference and space difference are carried out, to obtain double difference measurement vector when sky, double difference measurement vector information is come when further according to sky
Maximal possibility estimation is carried out to deception source location information；Positioning can be completed by single base station in the embodiment of the present invention, and positions
Precision is not influenced by base station location, does not need known base station position, and common receiver is also easily achieved this method.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of single base station GNSS relay type deception source localization method flow chart described in one embodiment of the invention；
Fig. 2 is figure of changing of the maximal possibility estimation error described in one embodiment of the invention with observation duration；
Fig. 3 is another situation of change of the maximal possibility estimation error described in one embodiment of the invention with observation duration
Figure；
Fig. 4 is figure of changing of the evaluated error described in one embodiment of the invention with observation duration；
Fig. 5 is another figure of changing of the evaluated error described in one embodiment of the invention with observation duration；
Fig. 6 is that list base station GNSS relay type described in one embodiment of the invention cheats source positioning device structure schematic diagram；
Fig. 7 is electronic devices structure schematic diagram provided by one embodiment of the invention.
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, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of single base station GNSS relay type deception source localization method flow chart described in one embodiment of the invention,
As shown in Figure 1, comprising:
Step 110, curve information is obtained, to obtain the first satellite launch temporal information according to the curve；
Step 120, double difference observation model handles the first satellite launch temporal information when passing through sky, to obtain
Double difference measurement vector information when empty；
Step 130, double difference measurement vector information is handled when by maximum Likelihood to the sky, to obtain
Final deception source location information.
Step 110 is specifically, curve information described in the embodiment of the present invention should include that at least two satellites are believed
Number and different satellite-signal Forwarding Delay Information invariability, or the Forwarding Delay information change amount of different satellite-signals is identical.
Can by curve information into extraction process, to obtain satellite clock correction parameter information.Pass through satellite clock
Poor parameter information is corrected satellite-signal launch time, thus the first satellite launch temporal information T after being correctedm
(n)。
Step 120 is specifically, calculate signal propagation time and root according to local zone time and the first satellite launch time respectively
It is believed that number from satellite by deception source reach receiver propagation path calculate signal propagation time, to obtain:
Tr(n)+ΔTr(n)-Tm(n)=τm(n)+Dm+D0(n)；Formula one
Wherein, Tr(n)+ΔTrIt (n) is local time information, TmIt (n) is the first satellite launch temporal information, τmIt (n) is letter
Number from satellite to deception source propagation time information；DmFor Forwarding Delay information, D0It (n) is signal from deception source to receiver
Propagation delay information；
And the Forwarding Delay information D in formula onemIt will not change over time and change, therefore can be by time difference side
Method eliminates to get arriving:
Wherein, Tr(n)+ΔTrIt (n) is local time information, TmIt (n) is the first satellite launch temporal information, τmIt (n) is letter
Number propagation time information, (Tr(N)+ΔTr(N)-Tm(N)-D0It (N)) is the signal propagation time of n-hour, τmIt (N) is n-hour
Signal propagation time information；DmFor Forwarding Delay information, D0It (n) is propagation delay information, n=1 ..., N-1.
Due to local zone time, local clock deviation and propagation delay D0(n) unrelated with satellite number, therefore space parallax can be passed through
The method divided is eliminated, and is obtained
Wherein, m=1 ..., M-1, n=1 ..., N-1；(τM(n)-τMIt (N)) is M satellite time difference distance.
It is hereby achieved that Q=(M-1) (N-1) a double difference observation equation, is denoted as y ∈ R for double difference measurement vector when skyQ×1,
I.e.Wherein ym=(ym(1), ym(2) ..., ym(N-1))T∈R(N-1)×1；And the satellite launch time
Measurement noise qm(n) independent Gaussian Profile is obeyed, i.e.,Mean value vectorμm=(μm(1), μm(2) ..., μm(N-1))T∈R(N-1)×1, wherein
μm(n)=τm(n)-τm(N)-(τM(n)-τM(N))；Formula four
Matrix C ∈ RQ×QThe covariance matrix of double difference measurement vector when being sky:
Wherein, IN-1Indicate the unit matrix of N-1 rank, EN-1Indicate complete 1 square matrix of N-1 rank, C is the side of (M-1) (N-1) rank
Battle array；R is set of real numbers.
Double difference measurement vector obeys Joint Gaussian distribution when this space-time
It is in measurement vector noiseWhen, then double difference observation model when available empty:
Y=μ+w；Formula six
Step 130 is specifically, double difference measurement vector information and according to maximal possibility estimation (Maximum when passing through sky
Likelihood Estimation, MLE) method estimate to cheat source position, wherein likelihood probability are as follows:
Then cheat the MLE estimator of source location information are as follows:
Enable objective function to be optimized are as follows:
f(ps)=(y- μ (ps))TC-1(y-μ(ps))；Formula eight
Enable objective function about deception source location information vector gradient be zero, obtain:
I.e.
(μ(ps)-y)TC-1J(ps)=0T；Formula ten
It can be obtained by the MLE estimation of deception source location information vector by resolving above-mentioned vector equation.But μ in equation
(ps) about psIt is nonlinear, therefore can not directly acquires, needs to it in initial value p0Place carries out Taylor series expansion, obtains
It arrives:
μ(ps)≈μ(p0)+J(p0)(ps-p0)；Formula 11
I.e.
The iteration variable quantity of source location information is then cheated at this time are as follows:
In an iterative process, source location information is cheated are as follows:
ps=p0+Δps；Formula 14
Wherein, C is the square matrix of (M-1) (N-1) rank；μ is mean value vector；Double difference measurement vector when y is empty；p0To cheat source
Initial position message.
If cheating the iteration variable quantity of source location information | | Δ ps| | it is greater than or equal to pre-determined threshold information, then repeatedly step
130, until | | Δ ps| | it is less than pre-determined threshold information, algorithmic statement, obtains finally cheating source location information at this time.
The embodiment of the present invention extracts the first satellite launch temporal information after correction by curve, then passes through double when sky
Poor observation model carries out time difference and space difference to the first satellite launch temporal information respectively, sees to obtain double difference when sky
Vector is surveyed, double difference measurement vector information to carry out maximal possibility estimation to deception source location information when further according to sky；The present invention is real
It applies example and positioning can be completed by single base station, and positioning accuracy is not influenced by base station location, do not need known base station position,
Common receiver is easily achieved this method.
On the basis of the above embodiments, it is described by maximum Likelihood to it is described empty when double difference measurement vector believe
Breath is handled, and is obtained the step of finally cheating source location information, is specifically included:
Double difference measurement vector information when obtaining deception source initial position message and the sky；
According to double difference measurement vector information when the sky and its mean value vector information, measurement vector change information is obtained；
Deception source location information, the observation after being updated according to deception source initial position message or last iteration
Vector change information and maximum Likelihood, to obtain deception source position variable quantity information, and according to the deception source position
It sets variable quantity and update is iterated to deception source location information；
If deception source position variable quantity information is less than pre-determined threshold information, stops iteration and update deception source position letter
Breath, to obtain finally cheating source location information.
Specifically, the deception source initial position message of the embodiment of the present invention is to can according to need to preset.Due to taking advantage of
Deceiving source location information is to constantly update in the iterative process of maximum- likelihood estimation until convergent, therefore in algorithmic statement
In the case where, which not will have a direct impact on the determination of final deception source location information.
Deception source position variable quantity information described in the embodiment of the present invention refers to changing in maximum- likelihood estimation
Deception source position generated variable quantity information during generation.In an iterative process, at the beginning of first time iteration uses deception source
Beginning location information, the deception source location information after using last iteration to update later；When deception source position variable quantity letter
When breath is greater than or equal to pre-determined threshold, it will not still terminate iterative process, until it is less than pre-determined threshold, then iteration stopping, and
Deception source location information when using iteration stopping is as final deception source location information.
Observation mean value vector information μ (p is obtained according to formula fours), according to double difference measurement vector information y and observation when sky
Mean value vector information μ (ps), obtain measurement vector change information Δ y；
At this time according to formula 13 obtain deception source position variable quantity information, if deception source position variable quantity information be greater than or
When equal to pre-determined threshold, then continue iteration, until deception source position variable quantity information is less than pre-determined threshold, then obtains final
Cheat source location information；Pre-determined threshold described herein, which can according to need, to be preset.
During the embodiment of the present invention estimates deception source location information by maximum likelihood estimate, by it
Taylor series expansion is carried out in deception source initial position message to obtain finally cheating source location information by iterative algorithm.
On the basis of the above embodiments, double difference observation model when passing through sky believes the first satellite launch time
Breath is handled, and when obtaining sky the step of double difference measurement vector information, is specifically included:
The first satellite launch temporal information is handled, is obtained:
Tr(n)+ΔTr(n)-Tm(n)=τm(n)+Dm+D0(n)；Formula one
Wherein, Tr(n)+ΔTrIt (n) is local time information, TmIt (n) is the first satellite launch temporal information, τmIt (n) is letter
Number from satellite to deception source propagation time information；DmFor Forwarding Delay information, D0It (n) is signal from deception source to receiver
Propagation delay information；
The formula one is subjected to time difference processing by time differencing method, to obtain time difference result information, and
It is handled by time difference result information described in the differential pair of space, double difference result information when obtaining sky；
Double difference result information carries out opposite number calculating, double difference measurement vector when obtaining sky when to the sky of the launch time
Information.
Specifically, obtaining signal propagation time according to local time information and the first satellite launch time；Simultaneously according to letter
Number propagation time information, Forwarding Delay information and propagation delay information obtain signal propagation time, to obtain formula one.Herein
The first satellite launch time refer to correction after the satellite launch time.
When deception source is static, and Forwarding Delay information DmIt is constant, then it can be obtained according to formula one:
τm(n)=Tr(n)+ΔTr(n)-Tm(n)-Dm-D0(n)；Formula 15
It, can be by the D in the formula 15 obtained according to formula one if carrying out time differencemIt eliminates, thus when obtaining
Between difference result information, i.e. formula two:
Since this method does not need to receive actual signal, when without output actual position and with the local of satellite synchronization
Between, therefore local zone time T herer(n) and its clock deviation parameter information Δ TrIt (n) is unknown, and local zone time, clock deviation parameter are believed
Breath and propagation delay information D0(n) unrelated with satellite number, therefore can be eliminated by space difference, i.e., by curve
The time difference distance τ of m satellite in informationm(n)-τm(N), the time difference distance of M satellite is individually subtracted, it is final to obtain
To formula three.
When deception source is static, and Forwarding Delay information change amount Δ D (n) is identical, then formula 15 becomes:
τm(n)=Tr(n)+ΔTr(n)-Tm(n)-Dm-ΔD(n)-D0(n)；Formula 16
Time difference and space difference are carried out further according to formula 16, obtains result identical with formula three；Wherein, pass through
Space difference is carried out, we can eliminate Δ D (n).
Therefore, under Forwarding Delay Information invariability or the identical situation of Forwarding Delay information change amount, double difference is observed when empty
Model is feasible.
According to formula three, Q=(M-1) (N-1) a double difference observation equation is finally obtained, double difference measurement vector when sky is denoted as
y∈RQ×1, i.e.,Wherein ym=(ym(1),ym(2),...,ym(N-1))T∈R(N-1)×1。
Double difference observation model handled for the first satellite launch time when the embodiment of the present invention passes through sky, was cheating it
Under the Forwarding Delay that source is applied is constant or the identical situation of variable quantity, double difference measurement vector information when sky can be obtained, is had
Conducive to the progress of subsequent step.
On the basis of the above embodiments, before the step of acquisition curve information, the method also includes:
Signal message is obtained, wherein the signal message includes curve information and actual signal information；
The curve information and the actual signal information are distinguished by default detection method, taken advantage of with identification
Deceive signal message.
Specifically, it may include that signal power detects, is how general that the present invention, which sends out default detection method described in embodiment,
It strangles detection, carrier wave consistency detection and signal and reaches angle detecting etc.；Wherein, signal message is radio-frequency information, we are passed through
Low-converter handles to obtain intermediate frequency information, digital medium-frequency signal is obtained using sample devices, in digital medium-frequency signal at this time
It include curve information and actual signal information.Since the present invention does not need to track actual signal information,
When curve power is higher than actual signal, unimodal capture can be carried out to curve information, to obtain curve letter
Breath.
The embodiment of the present invention is detected by signal power, is effectively identified curve information, is conducive to subsequent step
It carries out.
On the basis of the above embodiments, described that the step of first satellite launch temporal information is obtained according to the curve
Suddenly, it specifically includes:
Processing is extracted to the curve information, to obtain satellite clock correction parameter information；
The second satellite launch temporal information is corrected according to the satellite clock correction parameter information, to obtain the first satellite
Launch time information.
Specifically, the second satellite emission signal information described in the embodiment of the present invention refers to defending without clock deviation correction
Star launch time information；Local clock deviation parameter information described in the embodiment of the present invention, size can not in different moments
Together.
First satellite launch temporal information described in the embodiment of the present invention is conducive to double difference observation model when subsequent sky
Processing.
On the basis of the above embodiments it is described according to deception source position variable quantity information to deception source location information
The step of being iterated update specifically includes: deception source initial position message and the deception source position variable quantity are believed
Breath carries out addition processing, to be iterated update to deception source location information
When meeting preset condition, iteration convergence obtains finally cheating source location information.
The embodiment of the present invention has finally been determined most according to double difference measurement vector information when sky, using maximum Likelihood
Deception source location information eventually.
On the basis of the above embodiments, the different periods on the day of on October 29th, 2018 have recorded four groups of GPS observation numbers
According to collection, every group data set duration 30 minutes, 10.1 milliseconds of data point interval.It is specific as follows:
1 data set explanation of table
In table 1, one shares four group data sets, and the azimuth and the elevation angle of Satellite are the actual positions in deception source
It is calculated under visual angle.First three data collection has the observed quantity of the curve of 4 satellites in table.Fourth data is concentrated
There is the observed quantity of 6 satellites.If the number of satellites for estimation is M, choose that the preceding M satellite in data set is corresponding to take advantage of
The observation data for deceiving signal are used to estimate to cheat source position.
Fig. 2 is figure of changing of the maximal possibility estimation error described in one embodiment of the invention with observation duration, such as
Shown in Fig. 2, it makes use of first three data collection in table 1, is realized based on the forward signal of 4 satellites and deception source is determined
Position, wherein observation interval is 1.01 seconds.In order to carry out repeatedly estimating with assessment algorithm performance, we are from 10.1 milliseconds of 30 minutes
The data at multiple groups 1.01 seconds intervals are extracted in the data at interval.It can be seen that with the increase of observation duration, in three groups of tests
Evaluated error under collection is gradually reduced.Wherein minute decline is obvious from 1.01 minutes to 2.02, and slippage reaches 600 meters.
As data duration increases, evaluated error decline gradually eases up, and at 3.03 minutes, evaluated error reached 200 meters, at 5.05 points
Clock is observed under duration, and evaluated error is down to 90 meters.When observing duration between 8.08 to 10.1 minutes, evaluated error is about 20
Rice or so.As it can be seen that algorithm proposed by the present invention can effectively realize the estimation to deception source position.Simultaneously as algorithm for estimating
Precision is unrelated with receiver location, therefore when receiver is away from or approaching deception source, still available identical estimation essence
Degree.
In order to assess the required most short observation duration of algorithm for estimating positioning, another experiment is tested in the observation shorter situation of duration
Under evaluated error.
Fig. 3 is another situation of change of the maximal possibility estimation error described in one embodiment of the invention with observation duration
Figure, as shown in figure 3, with the increase of data duration, evaluated error is gradually decreased, from 5.05 when observation interval is 1.01 seconds
Second reduced by 10.1 seconds than more significant.When observation a length of 5 seconds, algorithm for estimating can still be positioned, and only estimation misses at this time
Difference is in 16 kms between 35 kms.When observation duration reaches 10 seconds, evaluated error is in 5 kms between 10 kms.When observation
Long when reaching 20 seconds, for evaluated error in 2 kms between 6 kms, 40 seconds whens, reach 1.5 kms or so.It can be seen that shorter
It is larger to observe evaluated error under duration.But the present invention provide algorithm for estimating output deception source position be located at GPS coordinate
Under system, i.e. the relative position of positioning result not instead of receiver, absolute position.When receiver range gate deception source farther out, than
When such as up to a hundred kilometers, if can receive curve, 10 seconds observation durations is utilized, can also substantially judge deception source
Orientation.When receiver is near deception source, if it is desired to obtain accurate relative position, then need longer sight
Survey duration.It is remain stationary since algorithm proposed in this paper does not need receiver, so the athletic posture to receiver is not special
It is required that therefore can be with flexible arrangement.Since the estimated accuracy of inventive algorithm is not influenced by receiver location, to reception
The position of machine is also without particular/special requirement, as long as can receive curve realizes that deception source positions.
Fig. 4 is figure of changing of the evaluated error described in one embodiment of the invention with observation duration.As shown in figure 4,
It is that deception source only forwards situation under 2 or 3 signals, based on the first three data collection in table 1.Due in the experimental ring
Under border, algorithm evaluated error is changed over time comparatively fast, therefore depicts evaluated error in logarithmic coordinates system and change with time
Situation." Data set 1-2 " is marked in figure indicates the observation data that the forward signal of preceding two satellites is chosen from data set 1,
Other marks are similar.Three lines indicate the estimated result under 2 signals of forwarding above in figure, below 3 lines indicate 3 letters of forwarding
Estimated result under number.The previous section data point of some broken lines is not present in figure, this is because observation duration is compared with short-time estimation
Caused by algorithm is not restrained.From the figure, it can be seen that when the forwarding of deception source is less than 4 satellite-signals, to its positioning performance
Sharply decline, but lesser position error can be obtained by extending observation time.Wherein, to reach the estimation of 4 kms
Precision needs to reach 25 minutes to the observation duration of 2 forward signals, needs to reach 5 points to the observation duration of 3 forward signals
Clock.According to fig. 2 and Fig. 4, to reach 100 meters of estimated accuracy, the observation duration to 4 forward signals is needed to reach 5 minutes, it is right
The observation duration of 3 forward signals reaches 21 minutes.
Fig. 5 is another figure of changing of the evaluated error described in one embodiment of the invention with observation duration, such as Fig. 5 institute
Show, estimation performance when which show more than 4 satellites, experimental result is based on the data set 4 in table 1.The PRN of 6 satellites
It number is respectively 10,20,24,15,12 and 32, from wherein preceding 4,5,6 forward signals being selected to be used to cheat estimating for source position respectively
Meter.From the figure, it can be seen that evaluated error can be obviously improved by increasing number of satellite when observation duration is shorter.This is because
Observation duration is shorter, and position error is larger, and estimated accuracy can be significantly improved by increasing number of satellite.When observation time is longer,
After increasing number of satellite, evaluated error improves without more apparent.This is because under longer observation time, evaluated error compared with
It is small, so that the increase of number of satellite is smaller on the improvement of estimated accuracy influence.
Fig. 6 is that list base station GNSS relay type described in one embodiment of the invention cheats source positioning device structure schematic diagram,
As shown in Figure 6, comprising: obtain module 610, processing module 620 and locating module 630；
Wherein, module 610 is obtained for obtaining curve information, to obtain the first satellite hair according to the curve
Penetrate temporal information；
Wherein, processing module 620 for pass through sky when double difference observation model to the first satellite launch temporal information into
Row processing, double difference measurement vector information when obtaining sky；
Wherein, locating module 630 be used for by maximum Likelihood to it is described empty when double difference measurement vector information into
Row processing, to obtain finally cheating source location information.
Device provided in an embodiment of the present invention is for executing above-mentioned each method embodiment, detailed process and detailed content
Above-described embodiment is please referred to, details are not described herein again.
The embodiment of the present invention is according to the first satellite launch temporal information, and double difference observation model respectively carries out it when passing through sky
Time difference and space difference, to obtain double difference measurement vector when sky, double difference measurement vector information is when further according to sky come to taking advantage of
It deceives source location information and carries out maximal possibility estimation；Positioning, and positioning accuracy can be completed by single base station in the embodiment of the present invention
It is not influenced by base station location, is not needed known base station position, common receiver is also easily achieved this method.
Fig. 7 is electronic devices structure schematic diagram provided by one embodiment of the invention.As shown in fig. 7, the electronic equipment can
To include: processor (processor) 701,702, memory communication interface (Communications Interface)
(memory) 703 and communication bus 704, wherein processor 701, communication interface 702, memory 703 pass through communication bus 704
Complete mutual communication.Processor 701 can call the logical order in memory 703, and to execute following method: acquisition is taken advantage of
Signal message is deceived, to obtain the first satellite launch temporal information according to the curve；Double difference observation model pair when passing through sky
The first satellite launch temporal information is handled, double difference measurement vector information when obtaining sky；Pass through maximal possibility estimation
Double difference measurement vector information is handled when method is to the sky, to obtain finally cheating source location information.
In addition, the logical order in above-mentioned memory 703 is in the realization by way of SFU software functional unit and as only
Vertical product when selling or using, can store in a computer readable storage medium.Based on this understanding, this hair
Substantially the part of the part that contributes to existing technology or the technical solution can be with soft in other words for bright technical solution
The form of part product embodies, which is stored in a storage medium, including some instructions are to make
It obtains a computer equipment (can be personal computer, server or the network equipment etc.) and executes each embodiment of the present invention
The all or part of the steps of the method.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. it is various
It can store the medium of program code.
The embodiment of the present invention discloses a kind of computer program product, and the computer program product is non-transient including being stored in
Computer program on computer readable storage medium, the computer program include program instruction.When described program instructs quilt
When computer executes, computer is able to carry out method provided by above-mentioned each method embodiment, for example, obtains curve
Information, to obtain the first satellite launch temporal information according to the curve；Double difference observation model is to described when passing through sky
One satellite launch temporal information is handled, double difference measurement vector information when obtaining sky；Pass through maximum Likelihood pair
Double difference measurement vector information is handled when described empty, to obtain finally cheating source location information.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium
The instruction of matter storage server, the computer instruction make computer execute each method provided by above-described embodiment, for example, obtain
Curve information is taken, to obtain the first satellite launch temporal information according to the curve；Double difference observes mould when passing through sky
Type handles the first satellite launch temporal information, double difference measurement vector information when obtaining sky；Pass through maximum likelihood
Double difference measurement vector information is handled when estimation method is to the sky, to obtain finally cheating source location information.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (9)
1. a kind of list base station GNSS relay type cheats source localization method characterized by comprising
Curve information is obtained, to obtain the first satellite launch temporal information according to the curve；
Double difference observation model handles the first satellite launch temporal information when passing through sky, and double difference is observed when obtaining sky
Vector Message；
Double difference measurement vector information is handled when by maximum Likelihood to the sky, to obtain final deception source position
Confidence breath.
2. method according to claim 1, which is characterized in that it is described by maximum Likelihood to it is described empty when double difference
Measurement vector information is handled, and to obtain the step of finally cheating source location information, is specifically included:
Double difference measurement vector information when obtaining deception source initial position message and the sky；
According to double difference measurement vector information when the sky and its mean value vector information, measurement vector change information is obtained；
According to deception source initial position message, the measurement vector change information and maximum Likelihood, to obtain
Source position variable quantity information is cheated, and deception source location information is iterated more according to deception source position variable quantity information
Newly；
If deception source position variable quantity information is less than pre-determined threshold information, stops iteration and updates deception source location information,
To obtain finally cheating source location information.
3. method according to claim 1, which is characterized in that double difference observation model when passing through sky is to first satellite
Launch time information is handled, and when obtaining sky the step of double difference measurement vector information, is specifically included:
The first satellite launch temporal information is handled, is obtained:
Tr(n)+ΔTr(n)-Tm(n)=τm(n)+Dm+D0(n)；Formula one
Wherein, Tr(n)+ΔTrIt (n) is local time information, TmIt (n) is the first satellite launch temporal information, τm(n) for signal from
Propagation time information of the satellite to deception source, DmFor Forwarding Delay information, D0(n) propagation for signal from deception source to receiver
Delay；
The formula one is subjected to time difference processing by time differencing method, to obtain time difference result information, and is passed through
Time difference result information described in the differential pair of space is handled, double difference result information when obtaining sky；
Double difference result information carries out opposite number calculating when to the sky of the launch time, and double difference measurement vector is believed when obtaining sky
Breath.
4. method according to claim 1, which is characterized in that before the step of the acquisition curve information, the side
Method further include:
Signal message is obtained, wherein the signal message includes curve information and actual signal information；
The curve information and the actual signal information are distinguished by default detection method, with identification deception letter
Number information.
5. method according to claim 1, which is characterized in that described when obtaining the first satellite launch according to the curve
Between information the step of, specifically include:
Processing is extracted to the curve information, to obtain satellite clock correction parameter information and the second satellite launch time letter
Breath；
The second satellite launch temporal information is corrected according to the clock deviation parameter information, to obtain for the first satellite launch time
Information.
6. method according to claim 2, which is characterized in that it is described according to deception source position variable quantity information to deception
Source location information is iterated the step of update, specifically includes:
Deception source initial position message is carried out being added processing with deception source position variable quantity information, to deception source
Location information is iterated update；
When meeting preset condition, iteration convergence, to obtain finally cheating source location information.
7. a kind of list base station GNSS relay type cheats source positioning device characterized by comprising
Module is obtained, for obtaining curve information, to obtain the first satellite launch temporal information according to the curve；
Processing module, double difference observation model handles the first satellite launch temporal information when for passing through sky, with
Double difference measurement vector information when to sky；
Locating module, double difference measurement vector information is handled when for by maximum Likelihood to the sky, with
To final deception source location information.
8. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor realizes single base station as described in any one of claim 1 to 6 when executing described program
GNSS relay type cheats the step of source localization method.
9. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer journey
Realizing single base station GNSS relay type deception source localization method as described in any one of claim 1 to 6 when sequence is executed by processor
Step.
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