CN109901200A - Satellite navigation signals cheating interference detection method, processing equipment and system - Google Patents
Satellite navigation signals cheating interference detection method, processing equipment and system Download PDFInfo
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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Abstract
This application involves field of satellite navigation, a kind of satellite navigation signals cheating interference detection method, satellite navigation signals processing system, satellite navigation signals processing equipment, electronic equipment and computer readable storage medium are disclosed, and the method for one embodiment includes: at least two GNSS satellite navigation signals obtained through more than two navigation signal receiving antenna real-time receptions；Each GNSS satellite navigation signal is handled, corresponding each navigation signal relevant information is obtained；Difference processing is carried out to each navigation signal relevant information of each navigation signal receiving antenna, difference is obtained and handles equation；The difference processing equation is solved, difference solving result is obtained；Based on the difference solving result, it is determined whether there are satellite navigation signals cheating interferences.The embodiment of the present application can effective, reliable identification satellite navigation signal cheating interference presence.
Description
Technical Field
The present application relates to the field of radio navigation and satellite navigation, and in particular, to a satellite navigation signal spoofing interference detection method, a satellite navigation signal processing system, a satellite navigation signal processing device, an electronic device, and a computer-readable storage medium.
Background
The satellite navigation system is a major breakthrough of human science and technology in the 20 th century, solves the problems of positioning and time service efficiently and at low cost by arranging navigation satellites on tracks of ten thousand kilometers and transmitting navigation signals, becomes a national infrastructure at present, goes deep into the aspects of mass life, and is indispensable to position service based on satellite navigation particularly since the intelligent era. However, the power of the navigation signal transmitted by the satellite to the ground is very weak, and the civil navigation signal structure is public and is easy to be interfered and deceived, wherein the deceived signal is more concealed and more serious in harm, and the existence of the deceived signal cannot be found by the conventional radio detection means. At present, common cheat detection methods mainly comprise multimodal detection, signal quality detection and the like, but reliable detection of cheat signals cannot be guaranteed.
Therefore, a safe, reliable and cost-controlled technical means is needed to solve the above problems.
Disclosure of Invention
In view of the deficiencies of the prior art, the present invention provides a satellite navigation signal spoofing interference detection method, a satellite navigation signal processing system, a satellite navigation signal processing device, an electronic device, and a computer-readable storage medium.
The satellite navigation signal spoofing interference detection method in one embodiment comprises the following steps:
acquiring at least two GNSS satellite navigation signals received by more than two navigation signal receiving antennas in real time;
processing each GNSS satellite navigation signal to obtain corresponding navigation signal related information;
performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; solving the difference processing equation to obtain a difference solving result; determining whether satellite navigation signal deception interference exists or not based on the difference solving result; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudorange difference processing equation.
Further, in some embodiments, difference processing is performed on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result, wherein the determining step comprises the following steps:
sending the relevant information of each navigation signal to processing equipment, so that the processing equipment performs difference processing on the relevant information of each navigation signal receiving antenna to obtain a difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
The satellite navigation signal spoofing interference detection method in one embodiment comprises the following steps:
acquiring relevant information of each navigation signal, wherein the relevant information of each navigation signal comprises: processing GNSS satellite navigation signals received by more than two navigation signal receiving antennas in real time to obtain corresponding navigation signal related information;
performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
Further, in the solution of the above embodiment, the received GNSS satellite navigation signal may include a spoofed interference signal.
Further, in an aspect of the above embodiment, the navigation signal related information includes: navigation messages, time, pseudoranges, carrier phases, doppler, positioning results, and velocity measurements.
Further, in the scheme of the embodiment, the time synchronization of the navigation signal receiving devices corresponding to the navigation signal receiving antennas, and performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation include:
and performing single difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a single difference processing equation, wherein the difference processing equation comprises the single difference processing equation.
Further, in the solution of the above embodiment, the carrier phase difference value processing equation includes a single difference carrier phase equation set, and the pseudorange difference value processing equation includes a single difference pseudorange equation set.
Further, in the solution of the above embodiment, performing single difference processing on each piece of navigation signal related information of each navigation signal receiving antenna to obtain a single difference processing equation includes:
determining an observation equation of the navigation signal related information of each satellite received by each navigation signal receiving antenna according to the navigation signal related information corresponding to each navigation signal receiving antenna, wherein the observation equation comprises a carrier phase observation equation, or the observation equation comprises a carrier phase observation equation and a pseudo-range observation equation;
and solving the difference of the observation equations of the navigation signal related information of each satellite received by each navigation signal receiving antenna to obtain a single difference processing equation set.
Further, in the scheme of the embodiment, the time synchronization or time asynchronization of the navigation signal receiving devices corresponding to the navigation signal receiving antennas, and performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation includes:
and performing double-difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a double-difference processing equation, wherein the difference processing equation comprises the double-difference processing equation.
Further, in the solution of the above embodiment, the carrier phase difference value processing equation includes a double difference carrier phase equation set, and the pseudorange difference value processing equation includes a double difference pseudorange equation set.
Further, in the scheme of the embodiment, performing double difference processing on each piece of navigation signal related information of each navigation signal receiving antenna to obtain a double difference processing equation includes:
determining an observation equation of the navigation signal related information of each satellite received by each navigation signal receiving antenna according to the navigation signal related information corresponding to each navigation signal receiving antenna, wherein the observation equation comprises a carrier phase observation equation, or the observation equation comprises a carrier phase observation equation and a pseudo-range observation equation;
calculating the difference of the observation equations of the navigation signal related information of each satellite received by each navigation signal receiving antenna to obtain a single difference equation set;
and according to the single difference equation set, calculating the difference of the single difference equation of the navigation signal related information corresponding to each satellite to obtain a double difference equation set.
Further, in the solution of the above embodiment, solving the difference processing equation to obtain a difference solution result includes: and solving the difference value processing equation to obtain a first baseline vector between the navigation signal receiving antennas, wherein the difference value solving result comprises the first baseline vector.
Further, in the solution of the above embodiment, solving the difference processing equation to obtain a difference solution result includes: and setting the baseline vector to be solved as a set value, substituting the set value into the difference value processing equation, and solving the integer ambiguity, wherein the difference value solving result comprises an integer ambiguity solving result.
Further, in the solution of the above embodiment, solving the difference processing equation to obtain a difference solution result includes: and when the actual length of the baseline is far larger than the positioning accuracy of the navigation signal receiving equipment, solving the pseudorange difference processing equation to obtain a second baseline vector between the navigation signal receiving antennas, wherein the difference solving result comprises the second baseline vector.
Further, in the solution of the above embodiment, when the length of the first baseline vector is close to a preset value, it is determined that satellite navigation signal spoofing interference exists.
Further, in the solution of the above embodiment, when the integer ambiguity solution result is that the solution is successful, it is determined that satellite navigation signal spoofing interference exists.
Further, in the solution of the above embodiment, when the second baseline vector is close to 0 and much smaller than the actual length of the baseline, it is determined that satellite navigation signal spoofing interference exists.
Further, the method also comprises the following steps: and when the satellite navigation signal deception interference is determined to be absent by analyzing and processing the relevant information of each navigation signal, any one of direction finding, attitude measuring, high-precision relative positioning and absolute positioning is carried out.
A satellite navigation signal processing system in one embodiment, comprising: the navigation signal receiving antenna comprises more than two navigation signal receiving antennas which are arranged at intervals and navigation signal receiving equipment; each navigation signal receiving antenna is connected with the navigation signal receiving equipment, and the navigation signal receiving equipment is connected with processing equipment;
the navigation signal receiving antenna receives GNSS satellite navigation signals in real time;
the navigation signal receiving equipment processes the GNSS satellite navigation signals to obtain corresponding navigation signal related information, and sends the navigation signal related information to the processing equipment, so that the processing equipment performs difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
Further, the distance value of the spaced arrangement is constant or variable.
Further, the navigation signal receiving device comprises one, and each navigation signal receiving antenna is connected with the navigation signal receiving device.
Further, the navigation signal receiving equipment comprises more than two navigation signal receiving equipment, and each navigation signal receiving equipment is connected with at least one navigation signal receiving antenna.
Furthermore, the navigation signal receiving antenna and the navigation signal receiving equipment are integrated or split; the navigation signal receiving equipment and the processing equipment are integrated or split.
Further, the navigation signal receiving device is connected with the processing device through a wired connection or a wireless connection.
Further, the navigation signal receiving devices comprise more than two navigation signal receiving devices, and time between the navigation signal receiving devices is synchronous or asynchronous.
Further, the satellite navigation signal processing system in some embodiments further comprises the processing device.
A satellite navigation signal processing apparatus in one embodiment, comprising: the navigation signal receiving device comprises more than two navigation signal receiving antennas arranged at intervals and navigation signal receiving equipment, wherein each navigation signal receiving antenna is connected with the navigation signal receiving equipment; the navigation signal receiving antenna receives GNSS satellite navigation signals in real time;
the navigation signal receiving equipment processes the GNSS satellite navigation signals to obtain corresponding navigation signal related information, and performs difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor, when executing the computer program, implements the steps of the method as described above.
A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the steps of the method as set forth above.
Based on the scheme of the embodiment, difference processing is carried out on navigation signal related information corresponding to GNSS satellite navigation signals received by more than two navigation signal receiving antennas in real time to obtain a difference processing equation, and whether satellite navigation signal deception interference exists or not is determined by solving a difference solving result obtained by solving the difference processing equation. The satellite navigation signal processing system is simple and convenient to install, can adopt split type or integrated type equipment, has no special installation requirement, can be used statically, is also suitable for use under a dynamic condition, and can further realize functions of direction finding, posture measuring, high-precision relative positioning, absolute positioning and the like.
Drawings
Fig. 1 is a flowchart illustrating a satellite navigation signal spoofing interference detection method according to an embodiment.
Fig. 2 is a flowchart illustrating a satellite navigation signal spoofing interference detection method according to another embodiment.
Fig. 3 is a flowchart illustrating a satellite navigation signal spoofing interference detection method according to another embodiment.
Fig. 4 is a schematic structural diagram of a satellite navigation signal processing system in one embodiment.
Fig. 5 is a schematic structural diagram of a satellite navigation signal processing system in another embodiment.
Fig. 6 is a schematic structural diagram of a satellite navigation signal processing system in an application example.
Fig. 7 is a schematic structural diagram of a satellite navigation signal processing system in an application example.
Fig. 8 is a schematic internal structure diagram of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1, the method for detecting spoofing interference of satellite navigation signals in one embodiment includes the following steps S11 to S15.
S11: and acquiring at least two GNSS satellite navigation signals received by more than two navigation signal receiving antennas in real time.
The GNSS Global Navigation Satellite System (GNSS) satellite navigation signals (hereinafter, simply referred to as "GNSS satellite navigation System") can be received in real time by two or more navigation signal receiving antennas: GNSS signals).
S12: and processing each GNSS satellite navigation signal to obtain corresponding navigation signal related information.
In some embodiments, the navigation signal related information may include at least one of navigation messages, time, pseudoranges, carrier phases, doppler, positioning results, and velocity measurements. The GNSS satellite navigation signals may be processed in any possible manner to obtain the navigation signal related information. In some embodiments, the GNSS satellite navigation signals may be processed by the navigation signal receiving device to obtain the navigation signal related information.
S13: performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudorange difference processing equation.
And performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation, wherein different difference processing modes can be provided based on different consideration factors.
In some embodiments, when the navigation signal receiving devices corresponding to the navigation signal receiving antennas are time-synchronized, performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation, where the difference processing equation includes:
and performing single difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a single difference processing equation, wherein the difference processing equation comprises the single difference processing equation.
At this time, the carrier phase difference value processing equation includes a single difference carrier phase equation set, and the pseudorange difference value processing equation includes a single difference pseudorange equation set. I.e., the single difference processing equations, may comprise a set of single difference carrier phase equations, or alternatively, the single difference processing equations may comprise a set of single difference carrier phase equations and a set of single difference pseudorange equations.
Performing single difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a single difference processing equation, including:
determining an observation equation of the navigation signal related information of each satellite received by each navigation signal receiving antenna according to the navigation signal related information corresponding to each navigation signal receiving antenna, wherein the observation equation comprises a carrier phase observation equation, or the observation equation comprises a carrier phase observation equation and a pseudo-range observation equation;
and solving the difference of the observation equations of the navigation signal related information of each satellite received by each navigation signal receiving antenna to obtain a single difference processing equation set.
In some embodiments, when the navigation signal receiving devices corresponding to the navigation signal receiving antennas are time-synchronized or time-unsynchronized, performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation, including:
and performing double-difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a double-difference processing equation, wherein the difference processing equation comprises the double-difference processing equation.
At this time, the carrier phase difference value processing equation includes a double difference carrier phase equation set, and the pseudorange difference value processing equation includes a double difference pseudorange equation set. That is, the double difference processing equations comprise a double difference set of carrier phase equations, or alternatively, the double difference processing equations comprise a double difference set of carrier phase equations and a double difference set of pseudorange equations.
In some embodiments, performing double difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a double difference processing equation includes:
determining an observation equation of the navigation signal related information of each satellite received by each navigation signal receiving antenna according to the navigation signal related information corresponding to each navigation signal receiving antenna, wherein the observation equation comprises a carrier phase observation equation, or the observation equation comprises a carrier phase observation equation and a pseudo-range observation equation;
calculating the difference of the observation equations of the navigation signal related information of each satellite received by each navigation signal receiving antenna to obtain a single difference equation set;
and according to the single difference equation set, calculating the difference of the single difference equation of the navigation signal related information corresponding to each satellite to obtain a double difference equation set.
Step S14: and solving the difference processing equation to obtain a difference solving result.
Based on different considerations, the difference processing equation may be solved in different manners, for example, the solution may be solved by ambiguity solution, relative position solution, absolute position solution, and the like, which are described below as examples.
In some embodiments, a baseline vector between the navigation signal receiving antennas (referred to as a first baseline vector in this embodiment) may be obtained by solving the difference processing equation, where the difference solution includes the first baseline vector, so as to distinguish the baseline vector from a baseline vector obtained when the actual length of the baseline is much greater than the positioning accuracy of the navigation signal receiving apparatus.
In some embodiments, the baseline vector to be solved may be set to a set value (e.g., set to 0), substituted into the difference processing equation, and the integer ambiguity may be solved, and the difference solution may include the integer ambiguity solution.
In some embodiments, when the actual length of the baseline is much greater than the positioning accuracy of the navigation signal receiving apparatus (it is understood that much is a relative concept, and it can be generally considered that the difference between the actual length of the baseline and the positioning accuracy is greater than or equal to a set difference threshold, and the set difference threshold needs to be large enough, and those skilled in the art can consider what is the case of setting to be much greater than and to what extent the set difference threshold needs to be large in combination with technical needs), the difference processing equation comprises a pseudorange difference processing equation, and the pseudorange difference processing equation is solved to obtain a second baseline vector between the navigation signal receiving antennas, and then the difference solution comprises the second baseline vector.
It should be understood that the foregoing embodiments are only examples, and those skilled in the art will understand that any combination of the above examples may be implemented in practical technical applications.
Step S15: and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
In some embodiments, whether satellite navigation signal spoofing interference exists or not can be determined according to the comparison result by comparing the obtained difference solving result with a corresponding preset threshold value.
With reference to the difference solution results of the examples described above, in some embodiments, it may be determined that satellite navigation signal spoofing interference exists when the length of the first baseline vector is close to a predetermined value (it is understood that close is a relative concept, which may generally be thought of as the difference between the length of the first baseline vector and the predetermined value being less than or equal to a set length threshold, and the set length threshold being relatively small, one skilled in the art may incorporate technical needs. In some embodiments, it may be determined that satellite navigation signal spoofing interference exists when the integer ambiguity solution result is that the solution is successful. In some embodiments, it may be determined that satellite navigation signal spoofing interference exists when the second baseline vector is close to 0 and much smaller than the actual baseline length (it is understood that similar to the above-mentioned being far larger and close, close and far smaller are relative concepts, and those skilled in the art may set a range within which the difference between the length of the baseline vector and the preset value is considered to be close and a value to which the length of the second baseline vector is smaller than the actual baseline length is considered to be far smaller in combination with technical requirements).
Based on the above-mentioned embodiment, when the analysis processing is performed based on the information related to each navigation signal and it is determined that there is no satellite navigation signal spoofing interference, any one of the processing of direction finding, attitude determination, high-precision relative positioning and absolute positioning may be further performed.
Based on the above-described embodiments, the following two navigation signal receiving antennas are exemplified. Defining two navigation signal receiving antennas as antennas respectivelyAnd an antennaThen originally for the antennaAnd an antennaThe pseudorange and carrier phase observation equations of (a) may be expressed as follows:
wherein,，respectively represent a pair of antennasAnd an antennaReceiving the firstThe pseudo-range obtained after processing the GNSS signals of the satellites,，respectively represent a pair of antennasAnd an antennaReceiving the firstCarrier phase obtained after processing GNSS signals of the satellites,，respectively represent antennasAnd an antennaRelative to the firstThe geometric distance of the particle satellite(s),，，，，，（) Are respectively asThe antenna is opposite toIonospheric delay, tropospheric delay, receiver clock error, integer ambiguity, pseudorange measurement noise, carrier phase measurement noise for a particular satellite,is as followsThe clock difference of the particle satellite is calculated,，corresponding to the wavelength and frequency of the received GNSS signals.
To the firstSatellite, general antennaAnd an antennaThe above observation equation is subjected to difference calculation, so that the following single difference equation of the pseudo range and the carrier phase can be obtained:
wherein，，，，，，，Respectively are pseudo range, carrier phase, ionosphere delay, troposphere delay, receiving equipment clock error, integer ambiguity, pseudo range measurement noise and carrier phase measurement noise after single difference,is geometric distance single difference.
When the distance between the two antennas is not long (e.g. the antenna is not far apart from the antenna)<500 m), in the single difference equation can be ignored，Item, if receiving deviceAnd a receiving apparatusCan further omit time synchronization。
To the firstAnd (3) solving the difference of the single difference equation of the satellite to obtain the following double difference equation:
wherein,，，，，，，the pseudo range, the carrier phase, the ionosphere delay, the troposphere delay, the whole-cycle ambiguity, the pseudo range measurement noise and the carrier phase measurement noise after double difference are respectively obtained.
Considering that the distance between the two antennas is not too far when detecting the deception jamming, the distance can be ignored，Then, the simplified double difference equation is obtained as follows:
whereinFor the geometric distance double difference, it can be expressed as the following formula
WhereinTo be driven fromAntenna pointingThe unit vector of the satellite(s),to be driven fromAntenna pointingThe unit vector of the satellite(s),is composed ofAntenna pointingA baseline vector of the antenna.
Specifically, in some embodiments of the present application, a double-difference carrier phase equation set or a double-difference carrier phase/pseudo range equation set is established from observed data at one or more time instants, and a high-precision baseline vector is obtained by using an integer ambiguity solution algorithmAnd（），the number of satellites that are visible. If obtained, ofLength of (2)Close to 0, spoofing interference is considered to be present. If the receiving equipmentAnd a receiving apparatusTime synchronization, the function may be performed using a single difference carrier phase equation set or a single difference carrier phase and pseudorange equation set.
Specifically, in some embodiments of the present application, a double-differenced pseudorange and carrier equation set is established from observed data at one or more time instants, such that a baseline vector is to be solved forSubstituting into equation set, and solving integer ambiguity（). And if the ambiguity is solved successfully, determining that deception jamming exists. If the receiving equipmentAnd a receiving apparatusTime synchronization, the function may be performed using a single difference carrier phase equation set or a single difference carrier phase and pseudorange equation set.
Specifically, in some embodiments of the present application, if the true baseline is presentLength of (2)When the positioning accuracy of the navigation signal receiving equipment is far higher than that of the navigation signal receiving equipment, the base line vector can be directly solved through double difference pseudo range equations at one or more momentsIf, ifLength of (2)Close to 0 and much less than the actual length of the baselineIf so, then the existence of deception jamming is considered; actual length of baselineCan be navigated byAnd determining the positioning result output by the signal receiving equipment. If the receiving equipmentAnd a receiving apparatusTime synchronization, the function may be performed using a set of single differenced pseudorange equations.
Based on the method of the embodiment of the application, whether the satellite navigation signal deception jamming exists can be effectively and reliably detected, a complex algorithm is not needed, and a specific carrier maneuver is not needed.
When the satellite navigation signal deception jamming exists in the determination result, the satellite navigation signal deception jamming signal can be further processed, and the specific processing mode is not limited. When the judgment result shows that satellite navigation signal deception interference does not exist, direction finding, attitude measuring or high-precision relative positioning and absolute positioning can be further carried out so as to realize the functions of direction finding, attitude measuring, high-precision relative positioning, absolute positioning and the like, and the compatibility, popularization and application of the scheme are further expanded.
The method of the above embodiments may be executed on one device, or may be executed by different devices.
Accordingly, referring to fig. 2, a satellite navigation signal spoofing interference detecting method in one embodiment, which may be performed by the navigation signal receiving apparatus mentioned in the embodiments of the present application, includes the following steps S21 to S23.
Step S21: and acquiring at least two GNSS satellite navigation signals received by more than two navigation signal receiving antennas in real time.
The specific implementation process of step S21 may be the same as that of step S11.
Step S22: and processing each GNSS satellite navigation signal to obtain corresponding navigation signal related information.
The specific implementation process of step S22 may be the same as the implementation process of step S12.
Step S23: sending the relevant information of each navigation signal to processing equipment, so that the processing equipment performs difference processing on the relevant information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
Wherein the information related to each navigation signal may be sent to the processing device in various possible manners, such as wired or wireless. The processing device herein may be any device capable of performing the difference processing as described above based on each of the navigation signal related information and determining whether there is satellite navigation signal spoofing interference based thereon. After the relevant information of each navigation signal is sent to the processing equipment, the processing equipment carries out difference processing on the basis of the relevant information of each navigation signal to obtain a difference processing equation, and the difference processing equation is solved to obtain a difference solving result; the manner of determining whether there is satellite navigation signal spoofing interference based on the difference solution result may be the same as that in the above-described steps S13-S15.
Referring to fig. 3, in an embodiment, the method for detecting spoofing interference of satellite navigation signals may be performed by the processing device as described above, or in case that the navigation signal receiving device has processing capability, may be performed by the navigation signal receiving device, where the navigation signal receiving device may refer to the navigation signal receiving device mentioned in the embodiments of the present application. The method in this embodiment includes steps S31 to S32 described below.
Step S31: acquiring relevant information of each navigation signal, wherein the relevant information of each navigation signal comprises: and after the GNSS satellite navigation signals received by more than two navigation signal receiving antennas in real time are processed, the corresponding navigation signal related information is obtained.
Wherein the respective navigation signal related information may be obtained in various possible ways. When the method of this embodiment is executed by the navigation signal receiving apparatus, the navigation signal receiving apparatus may obtain at least two GNSS satellite navigation signals received by two or more navigation signal receiving antennas in real time, and then process each GNSS satellite navigation signal to obtain corresponding information related to each navigation signal. The method as in the present embodiment is performed by a processing device, which may be a device that obtains respective navigation signal related information from a navigation signal receiving device. In some embodiments, the processing device may obtain the navigation signal related information in other manners.
Step S32: performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
Performing difference processing based on the relevant information of each navigation signal to obtain a difference processing equation, and solving the difference processing equation to obtain a difference solving result; the manner of determining whether there is satellite navigation signal spoofing interference based on the difference solution result may be the same as that in the above-described steps S13-S15.
Referring to fig. 4 and 5, a satellite navigation signal processing system in an embodiment of the present application includes: more than two navigation signal receiving antennas which are arranged at intervals, and a navigation signal receiving device. In some embodiments, the satellite navigation signal processing system may further include the processing device shown in fig. 4. The distance values of the spaced arrangements are constant or variable. Each navigation signal receiving antenna is connected with the navigation signal receiving equipment, and the navigation signal receiving equipment is connected with the processing equipment.
And the navigation signal receiving antenna receives the GNSS satellite navigation signal in real time.
And the navigation signal receiving equipment processes the GNSS satellite navigation signals to obtain the relevant information of the corresponding navigation signals.
The processing equipment performs difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
In some embodiments of the present application, the navigation signal receiving device processes GNSS satellite navigation signals to obtain corresponding navigation signal related information, and the processing device performs difference processing based on each piece of the navigation signal related information to obtain a difference processing equation, and solves the difference processing equation to obtain a difference solution result; the method for determining whether satellite navigation signal deception jamming exists based on the difference solution result may be the same as that in the above method embodiment.
Referring to fig. 4, there may be only 1 navigation signal receiving device, and at this time, the navigation signal receiving device is connected to each navigation signal receiving antenna, and the navigation signal receiving device completes processing of the GNSS satellite navigation signals of each navigation signal receiving antenna to obtain information related to each corresponding navigation signal.
Referring to fig. 5, the navigation signal receiving apparatus may have more than two, in which case each navigation signal receiving apparatus is connected to at least one navigation signal receiving antenna. In some embodiments, the number of navigation signal receiving devices may be the same as the number of navigation signal receiving antennas, i.e. navigation signal receiving device k = navigation signal receiving antenna number n as shown in 5, in which case one navigation signal receiving device may be connected to one navigation signal receiving antenna. The navigation signal receiving apparatuses may have more than two such that the time between the navigation signal receiving apparatuses is synchronous or asynchronous.
Referring to fig. 6 and 7, taking two navigation signal receiving antennas as an example, the satellite navigation signal processing system includes: navigation signal receiving antennaAnd navigation signal receiving antenna(hereinafter, referred to as "antenna")Antenna) AntennaAnd an antennaRespectively connected with navigation signal receiving equipmentAnd navigation signal receiving apparatus(hereinafter, simply referred to as "receiving apparatus")Receiving apparatus) And through a receiving deviceAnd a receiving apparatusIs connected to the processing device. In this embodiment, by means of an antennaAntennaFirstly, receiving satellite navigation signals, capturing relevant information by receiving equipment, and detecting and judging satellite navigation signal deception interference by processing equipment. The same principle is adopted by more than 2 antennas, and the system is simple and convenient to install and has no special installation requirement.
Wherein, the antennaAntennaThe distance value of the spaced arrangement of (a) is constant or variable. When the constant value is constant, the static fixed setting can be met, and the constant-speed dynamic environment can also be met; if variable, it is mainly the antennaAntennaThe system can move dynamically with the speed change of the respective carriers, so that the system is applicable to static and dynamic states.
Each navigation signal receiving device is connected with at least one navigation signal receiving antenna. More than one navigation signal receiving antenna can be connected to each navigation signal receiving device according to the requirements of the carrier and the accuracy requirement.
Furthermore, the navigation signal receiving antenna and the navigation signal receiving equipment are arranged in an integrated mode or in a split mode; the navigation signal receiving equipment and the processing equipment are arranged in an integrated or split mode. By using the two in combination, the installation of the system can be more flexible.
Generally, in this embodiment, according to the wired and wireless actual conditions of the field, the navigation signal receiving device may be connected to the processing device through wired or wireless connection, which further facilitates the deception jamming monitoring of the satellite navigation signal by the system.
In the present embodiment, if a plurality of the navigation signal receiving apparatuses are installed, they may be time-synchronized or asynchronous therebetween.
In some embodiments, referring to fig. 7, the satellite navigation signal processing system may further include a reference frequency device, which is a respective navigation signal receiving device (such as the receiving device shown in fig. 7)And a receiving apparatus) And providing a reference frequency to keep the navigation signal receiving devices synchronous.
In one embodiment, there is also provided a satellite navigation signal processing apparatus, including: the navigation signal receiving device comprises more than two navigation signal receiving antennas arranged at intervals and navigation signal receiving equipment, wherein each navigation signal receiving antenna is connected with the navigation signal receiving equipment. The navigation signal receiving antenna receives the GNSS satellite navigation signals in real time.
In some embodiments, in a case where the navigation signal receiving apparatus has a processing capability, the navigation signal receiving apparatus may have only one processing apparatus, and at this time, the function of the processing apparatus may be integrated into the navigation signal receiving apparatus, and at this time, the navigation signal receiving apparatus processes the GNSS satellite navigation signals to obtain corresponding navigation signal related information, and performs analysis processing based on each piece of the navigation signal related information to determine whether satellite navigation signal spoofing interference exists.
Other arrangements and configurations of the satellite navigation signal processing apparatus may be the same as those of the satellite navigation signal processing system described above.
In one embodiment, an electronic device is provided, which may be a terminal or a server, and its internal structure diagram may be as shown in fig. 8. The electronic equipment comprises a processor, a memory and a network interface which are connected through a system bus, and when the electronic equipment is a terminal, the electronic equipment can further comprise a display screen and an input device. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. Which computer program is executed by a processor to implement the method of the embodiments described above. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
Accordingly, in one embodiment, an electronic device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements any one of the satellite navigation signal spoofing interference detection methods described above when executing the computer program.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements any one of the satellite navigation signal spoofing interference detection methods described above.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (12)
1. A satellite navigation signal deception jamming detection method is characterized in that: the method comprises the following steps:
acquiring at least two GNSS satellite navigation signals received by more than two navigation signal receiving antennas in real time;
processing each GNSS satellite navigation signal to obtain corresponding navigation signal related information;
performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; solving the difference processing equation to obtain a difference solving result; determining whether satellite navigation signal deception interference exists or not based on the difference solving result; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudorange difference processing equation.
2. The method of claim 1, wherein the navigation signal receiving devices corresponding to the navigation signal receiving antennas are time synchronized; performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation, which comprises:
and performing single difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a single difference processing equation, wherein the difference processing equation comprises the single difference processing equation.
3. The method of claim 2, comprising at least one of:
the first item:
the carrier phase difference value processing equation comprises a single difference carrier phase equation set, and the pseudo-range difference value processing equation comprises a single difference pseudo-range equation set;
the second term is:
performing single difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a single difference processing equation, which comprises:
determining an observation equation of the navigation signal related information of each satellite received by each navigation signal receiving antenna according to the navigation signal related information corresponding to each navigation signal receiving antenna, wherein the observation equation comprises a carrier phase observation equation, or the observation equation comprises a carrier phase observation equation and a pseudo-range observation equation;
and solving the difference of the observation equations of the navigation signal related information of each satellite received by each navigation signal receiving antenna to obtain a single difference processing equation set.
4. The method of claim 1, wherein the step of performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation comprises:
and performing double-difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a double-difference processing equation, wherein the difference processing equation comprises the double-difference processing equation.
5. The method of claim 4, comprising at least one of:
the first item:
the carrier phase difference value processing equation comprises a double-difference carrier phase equation set, and the pseudo-range difference value processing equation comprises a double-difference pseudo-range equation set;
the second term is:
performing double-difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a double-difference processing equation, which comprises the following steps:
determining an observation equation of the navigation signal related information of each satellite received by each navigation signal receiving antenna according to the navigation signal related information corresponding to each navigation signal receiving antenna, wherein the observation equation comprises a carrier phase observation equation, or the observation equation comprises a carrier phase observation equation and a pseudo-range observation equation;
calculating the difference of the observation equations of the navigation signal related information of each satellite received by each navigation signal receiving antenna to obtain a single difference equation set;
and according to the single difference equation set, calculating the difference of the single difference equations of the navigation signal related information corresponding to each satellite to obtain a double difference equation set.
6. The method according to any one of claims 2 to 5, wherein the difference processing equation is solved to obtain a difference solution, and the difference solution comprises at least one of the following items:
the first item:
solving the difference processing equation to obtain a first baseline vector between navigation signal receiving antennas, wherein the difference solving result comprises the first baseline vector;
the second term is:
setting a baseline vector to be solved as a set value, substituting the set value into the difference value processing equation, and solving the integer ambiguity, wherein the difference value solving result comprises an integer ambiguity solving result;
the third item:
and when the actual length of the baseline is far larger than the positioning accuracy of the navigation signal receiving equipment, solving the pseudorange difference processing equation to obtain a second baseline vector between the navigation signal receiving antennas, wherein the difference solving result comprises the second baseline vector.
7. The method of claim 6, wherein determining whether satellite navigation signal spoofing interference exists based on the difference solution comprises at least one of:
the first item: when the length of the first baseline vector is close to a preset value, judging that satellite navigation signal deception interference exists;
the second term is: when the integer ambiguity solution result is that the solution is successful, judging that satellite navigation signal deception interference exists;
the third item: and when the second baseline vector is close to 0 and far smaller than the actual length of the baseline, judging that the satellite navigation signal deception jamming exists.
8. The method of detecting satellite navigation signal spoofing interference according to any one of claims 1-5, wherein: performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result, wherein the determining step comprises the following steps:
sending the relevant information of each navigation signal to processing equipment, so that the processing equipment performs difference processing on the relevant information of each navigation signal receiving antenna to obtain a difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
9. A satellite navigation signal spoofing interference detection method, comprising the steps of:
acquiring relevant information of each navigation signal, wherein the relevant information of each navigation signal comprises: processing GNSS satellite navigation signals received by more than two navigation signal receiving antennas in real time to obtain corresponding navigation signal related information;
performing difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
10. A satellite navigation signal processing system, the system comprising: the navigation signal receiving antenna comprises more than two navigation signal receiving antennas which are arranged at intervals and navigation signal receiving equipment; each navigation signal receiving antenna is connected with the navigation signal receiving equipment, and the navigation signal receiving equipment is connected with processing equipment;
the navigation signal receiving antenna receives GNSS satellite navigation signals in real time;
the navigation signal receiving equipment processes the GNSS satellite navigation signals to obtain corresponding navigation signal related information, and sends the navigation signal related information to the processing equipment, so that the processing equipment performs difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
11. The system of claim 10, comprising at least one of:
the first item: the distance value of the interval arrangement is constant or variable;
the second term is: the navigation signal receiving equipment comprises one navigation signal receiving antenna, and each navigation signal receiving antenna is connected with the navigation signal receiving equipment;
the third item: the navigation signal receiving equipment comprises more than two navigation signal receiving equipment, and each navigation signal receiving equipment is connected with at least one navigation signal receiving antenna;
the fourth item: the navigation signal receiving antenna and the navigation signal receiving equipment are integrated or split; the navigation signal receiving equipment and the processing equipment are integrated or split;
the fifth item: the navigation signal receiving equipment is connected with the processing equipment through wired connection or wireless connection;
the sixth item: the navigation signal receiving equipment comprises more than two navigation signal receiving equipment, and the navigation signal receiving equipment is time synchronous or asynchronous;
the seventh item: the navigation signal receiving equipment comprises more than two navigation signal receiving equipment, and the system further comprises reference frequency equipment for providing reference frequency for each navigation signal receiving equipment.
12. A satellite navigation signal processing apparatus, characterized in that the apparatus comprises: the navigation signal receiving device comprises more than two navigation signal receiving antennas arranged at intervals and navigation signal receiving equipment, wherein each navigation signal receiving antenna is connected with the navigation signal receiving equipment; the navigation signal receiving antenna receives GNSS satellite navigation signals in real time;
the navigation signal receiving equipment processes the GNSS satellite navigation signals to obtain corresponding navigation signal related information, and performs difference processing on the navigation signal related information of each navigation signal receiving antenna to obtain a difference processing equation; the difference processing equation comprises a carrier phase difference processing equation, or the difference processing equation comprises a carrier phase difference processing equation and a pseudo-range difference processing equation; solving the difference processing equation to obtain a difference solving result; and determining whether satellite navigation signal deception jamming exists or not based on the difference solving result.
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| PCT/CN2020/086138 WO2020224438A1 (en) | 2019-05-07 | 2020-04-22 | Satellite navigation signal spoofing detection method, processing device, and system |
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| WO2020224438A1 (en) | 2020-11-12 |
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