CN110133997A - A method of detection satellite clock is abnormal - Google Patents
A method of detection satellite clock is abnormal Download PDFInfo
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- CN110133997A CN110133997A CN201910413208.9A CN201910413208A CN110133997A CN 110133997 A CN110133997 A CN 110133997A CN 201910413208 A CN201910413208 A CN 201910413208A CN 110133997 A CN110133997 A CN 110133997A
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- G—PHYSICS
- G04—HOROLOGY
- G04D—APPARATUS OR TOOLS SPECIALLY DESIGNED FOR MAKING OR MAINTAINING CLOCKS OR WATCHES
- G04D7/00—Measuring, counting, calibrating, testing or regulating apparatus
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
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Abstract
A method of detection satellite clock is abnormal, it is to obtain message information after decoding satellite-signal and be sent to CPU, judge whether the information flow interpreted in message information is correct by CPU, it is correct then control time-triggered protocol module and tame PPS with 1PPS, and the accumulated error of standard deviation and PPS between 1PPS and universal time is estimated by establishing weighted least square model, the standard deviation estimated is compared with the standard deviation setting value of GPS/BDS receiver, error correction then is carried out to PPS by time-triggered protocol module less than setting value, and continuity and tendency judgement are carried out to the time interval error of revised PPS, errorless then satellite clock is normal, export revised PPS.This method is detected by too many levels, can effectively identification satellite clock it is whether abnormal, realize high accurate clock signal output, the abnormal influence to the time synchronism apparatus output time of prevention satellite clock.
Description
Technical field
The present invention relates to satellite time service systems, and in particular to a method of detection satellite clock is abnormal.
Background technique
In recent years, the hiding safety defect of GPS is increasingly prominent.Utilize civilian global navigation satellite system
System uses plaintext transmission navigation message, and the defect of authentication mechanism for encrypting is lacked to spoofing attack, and Iran passed through publication in 2011
Fabricated satellite navigation message inveigles landing to capture a frame U.S. army unmanned plane.Follow-up study shows to based on GPS global location
Cruise, the autonomous driving vehicle etc. that system carries out automatic Pilot, which can also initiate to fabricate navigation message, to carry out satellite clock and synchronizes and attack
It hits.Further, it is necessary to which the electric power monitoring system operated on uniform time reference is equally possible by satellite clock synchronization attack.
It is closely contacted to find out its cause, satellite clock synchronization attack feasibility has with existing satellite time transfer.Traditionally, when
Between synchronizing device preferentially use GPS/BDS (big-dipper satellite) satellite for master clock source, and be benchmark clock to local clock using it
It is timed, so that system exports Perfect Time；When losing GPS/BDS signal, time synchronism apparatus uses local clock
Signal is that time reference is kept time.
At present for time synchronization attacks threat, the new specification of electric system publication, which is distinctly claimed, carries out continuously satellite clock
Property detection, continuity testing requirements clock difference is in 1us；If about 1us, judge that GPS/ big-dipper satellite clock signal exists
It is abnormal.New specification can prevent time error from attacking in the clock of 1us or more, but continue in 1us for time error
Clock attack but cannot effectively be taken precautions against, it may be assumed that if attack deviation within the allowable range, can be made by lasting attack every time
The accumulation of system time error amount is greater than its permissible value.By taking WAMS wide area observing and controlling system as an example, such as held by deviation 0.2us per second
Continuous attack (in the time deviation allowed band newly standardized), lasting 600s synchronization time, which attacks, can cause the 0.12ms time inclined
Difference, to cause 2.16 ° of generator rotor angles poor, from can lead to error control decision.
Summary of the invention
The object of the present invention is to overcome above-mentioned the deficiencies in the prior art, a kind of side for detecting satellite clock exception is proposed
Method can effectively identify abnormal satellite clock, time synchronism apparatus output error caused by preventing because of GPS/BDS duration cheating interference
Clock information.
In order to achieve the above object, the present invention is implemented with the following technical solutions: a method of detection satellite clock is abnormal, should
Method and step is as follows:
Outgoing message information and 1PPS signal after step 1:GPS/BDS receiver decodes received satellite-signal, and will
Message information is sent to CPU, and 1PPS is sent to time-triggered protocol module；
After step 2:CPU receives the message information that GPS/BDS receiver is sent, the message information is interpreted and according to interpreting
Information flow judge that satellite clock, when information flow is correct, then satellite clock is normal；Otherwise satellite clock is abnormal；
Step 3: whether time-triggered protocol module receives the 1PPS that GPS/BDS receiver is sent, and tamed by CPU control 1PPS
PPS tames PPS with 1PPS, while establishing weighted least square model in the case where CPU judges the normal situation of message information,
Estimate the standard deviation between 1PPS and universal time, and by the standard deviation and threshold value, that is, GPS/BDS receiver standard
Poor setting value is compared, if the standard deviation is not less than threshold value, satellite clock is abnormal, time-triggered protocol module sending alarm letter
Number to CPU, CPU control time-triggered protocol block termination 1PPS tames PPS；If the standard deviation is less than threshold value, by the time
Reason module is modified PPS, then continuity judgement is carried out to the time interval error of revised PPS, if revised
The time interval error of PPS is not in 1us, then the time interval error of revised PPS does not have continuity, and satellite clock is different
Often；If the time interval error of revised PPS in 1us, has continuity, continues between the time of revised PPS
Tendency judgement is carried out every error, that is, is judged under conditions of the time interval error of revised PPS is in 1us when different
Between the jump of revised PPS is checked under window with the presence or absence of the trend for continuing cumulative rises or reduction, if lasting accumulation increases
It adds deduct few, then revised PPS is abnormal, and the output time of time synchronism apparatus is on the basis of local clock.Otherwise, when satellite
Clock is normal, and satellite time transfer is normal, and revised PPS is sent to output module output.
Weighted least square model of establishing in above-mentioned steps 3 estimates mark between 1PPS and universal time
The calculating process of quasi- difference is as follows:
(1) there are random error ε, ε to obey normal state between the pulse per second (PPS) that GPS/BDS receiver generates and universal time
Distribution: ε~N (0, δ2), wherein δ is standard deviation, δ2For variance；
(2) at time series X ∈ N, x=1,2,3,4...N, it is based on universal time, sets GPS/BDS receiver
Export i-th of pulse per second (PPS)And it sets local High Precision Crystal Oscillator and exports i-th of pulse per second (PPS)f(xi) it is crystal oscillator accumulated error function, x=i；Then crystal oscillator pulse per second (PPS) PPS and GPS/BDS pulse per second (PPS)
The deviation of 1PPS
(3) to f (xi) it is weighted Least Square Method, it enablesWherein, W
For weighting coefficient, W ∈ (0,1)；Then S is asked about f (xi) parameter local derviation after obtain normal equation group, then to normal equation
Group, which solves, can be obtained f (xi) expression formula, then under time series, f (x is calculated in given Xi) value；
(4) the deviation y between PPS and 1PPS is measuredi, according to yi=f (xi)+εi, calculate random error εi；
(5) according to varianceCalculate δ2, then calculate standard deviation
δ。
The process that PPS is modified in above-mentioned steps 3 are as follows:
(1) it at time series x ∈ N, sets local High Precision Crystal Oscillator and exports i-th of pulse per second (PPS)
f(xi) be crystal oscillator accumulated error function, i=x,
(2) to f (xi) it is weighted Least Square Method, it enablesWherein, W
For weighting coefficient, W ∈ (0,1)；Then S is asked about f (xi) parameter local derviation after obtain normal equation group, then to normal equation
Group, which solves, can be obtained f (xi) expression formula, then f (x is calculatedi)；
(3) basisIt calculatesPPS after as modifying just.
The calculating process of the time interval error of revised PPS is as follows in above-mentioned steps 3:
(1) at time series x ∈ N, setting i-th of revised pulse per second (PPS) of outputf(xi)
For crystal oscillator accumulated error function, x=i；
(2) at time series x ∈ N, the revised pulse per second (PPS) of i+1 of output is set
(3) time interval of i-th of the revised pulse per second (PPS) of the revised pulse per second (PPS) of i+1 and output then exported is missed
DifferenceThen ti=f (xi+1)-f(xi)；
(4) to f (xi) it is weighted Least Square Method, it enablesWherein, W
For weighting coefficient, W ∈ (0,1)；Then S is asked about f (xi) parameter local derviation after obtain normal equation group, then to normal equation
Group, which solves, can be obtained f (xi) expression formula, then under time series, f (x is calculated in given Xi)；F is similarly calculated
(xi+1)；
(5) according to ti=f (xi+1)-f(xi) calculate ti。
Essential information in above-mentioned steps 2 includes the validity of location data, locking satellite number and second grade or more the time.Base
This information correctly refers to that location data shows that " A " Shi Youxiao, locking satellite number reach four or more and second grade or more temporal information
Unanimously.
The present invention is by building weighted least-squares method model of error estimate and chooses relevant characteristic value (such as GPS/BDS
Export the standard deviation of pulse per second (PPS) error) satellite clock is compared and then judged with the standard deviation setting value of GPS/BDS receiver
It is whether abnormal；The jump of output time and tendency judgement are added before output, and the output time is effectively detected；Judging
When GPS/BDS satellite-signal step-out or exception, by the weighted least-squares method model of error estimate of building to local high-precision
Degree crystal oscillator pulse per second (PPS) PPS is compensated (amendment), realizes precision time service.
Beneficial effects of the present invention: the present invention passes through safety present in existing satellite time service system in analysis electric system
Hidden danger, the synchronous principle of binding time, whether the method identification satellite clock detected by too many levels is abnormal, when realizing high-precision
The output of clock signal.
The present invention will be further described with reference to the accompanying drawings and embodiments.
Detailed description of the invention
Fig. 1 is detection method flow chart of the invention.
Fig. 2 is 1PPS random error statistical chart in the present invention (abscissa indicates 1PPS).
Fig. 3 is the time interval error statistical chart of 1PPS revised PPS under normal circumstances in the present invention.
Fig. 4 is the time interval error statistical chart of revised PPS under 1PPS abnormal conditions in the present invention.
Abscissa in Fig. 3 and Fig. 4 indicates revised PPS.
Specific embodiment
A kind of method of detection satellite clock exception of the invention is to combine satellite time transfer principle, in time synchronism apparatus
It is middle that satellite clock is detected using CPU segmentation.
The present invention is a kind of method for detecting satellite clock exception, and in conjunction with referring to Fig. 1, detecting step is specific as follows:
Outgoing message information and 1PPS signal after step 1:GPS/BDS receiver decodes received satellite-signal, and will
Message information is sent to CPU, and 1PPS is sent to time-triggered protocol module；
After step 2:CPU receives the message information that GPS/BDS receiver is sent, the message information is interpreted and according to interpreting
Information flow (including location data validity, locking satellite number, second grade or more time etc.) satellite clock is judged, when fixed
When position data show that " A " Shi Youxiao, locking satellite number reach four or more and consistent second grade or more temporal information, the message is judged
Information signal is normal, then satellite clock is normal；Otherwise satellite clock is abnormal, and there are security risk, time synchronization dresses for satellite clock
The output time set is on the basis of local clock；
Step 3: time-triggered protocol module receives the 1PPS signal that GPS/BDS receiver is sent, and whether controls 1PPS by CPU
Tame PPS；In the case where CPU judges the normal situation of message information, PPS is tamed with 1PPS；Time-triggered protocol module estimates 1PPS simultaneously
Standard deviation between universal time, and (i.e. the standard deviation of GPS/BDS receiver is set with threshold value by the standard deviation estimated
Definite value δIf) be compared, if the standard deviation is not less than threshold value, satellite clock is abnormal, time-triggered protocol module sending alarm letter
Number to CPU, CPU control time-triggered protocol block termination 1PPS tames PPS；If the standard deviation is less than threshold value, by the time
Reason module is modified PPS.
It is above-mentioned refer to tame the process of PPS (i.e. local High Precision Crystal Oscillator pulse per second (PPS), referred to as PPS) with 1PPS be this field
Interior routine techniques.
The estimation of standard deviation between the above-mentioned 1PPS and universal time referred to, is according to GPS/BDS receiver
The characteristics of random error and the accumulated error of local High Precision Crystal Oscillator, the progress of weighted least square model is established, specifically
It is as follows:
There are random error ε, ε to obey normal state point between the pulse per second (PPS) that GPS/BDS receiver generates and universal time
Cloth: ε~N (0, δ2), wherein δ is standard deviation, δ2For variance, δ and δ2It can reflect the dispersion degree of random error.Different class
GPS/BDS receiver, standard deviation setting value δIfDifference (standard deviation setting value δIfBy being obtained in GPS/BDS receiver product description
Know).
At time series x ∈ N (x=1,2,3,4...N), it is based on universal time, setting GPS/BDS receiver is defeated
I-th of pulse per second (PPS) outWherein, εi~N (0, δ2), it is random error；And it is defeated to set local High Precision Crystal Oscillator
I-th of pulse per second (PPS) outFor crystal oscillator accumulated error function, straight line model can be, can also be
The multiple model of unitary, depending on crystal oscillator accuracy requirement；In upper two formula, i ∈ N (i=1,2,3,4...N), x=i.Therefore it is brilliant
The deviation of vibration pulse per second (PPS) and GPS/BDS pulse per second (PPS)Deviation yiElectronic device can be passed through
The measurements such as phase discriminator obtain.
Analysis time sequence X and biased sequence yiCorrelation properties, to f (xi) it is weighted Least Square Method, it enablesWherein W is weighting coefficient, and W ∈ (0,1), W are according to local High Precision Crystal Oscillator application
Environment and own physical characteristic determine.Then S is asked about f (xi) parameter local derviation after obtain normal equation group, then to standard
Solving equations obtain f (xi) expression formula, then under time series, given X calculates f (xi)(f(xi) calculating process be
The prior art).
According to yi=f (xi)+εi, then random error ε can be calculatedi。
According to variance(existing skill
Art), δ thus can be calculated2, to learn standard deviation δ.
The above-mentioned process that PPS is modified referred to are as follows:
At time series x ∈ N (x=1,2,3,4...N), sets local High Precision Crystal Oscillator and export i-th of pulse per second (PPS)f(xi) it is crystal oscillator accumulated error function, i=x.And by the weighted least-squares method constructed in step 3
F (x can be calculated in estimation modeli) value expression formula, thus under time series, f (x can be then calculated in given Xi) value,
To be calculatedI.e. revised PPS.
Then, time-triggered protocol module carries out continuity judgement to the time interval error of revised PPS, if revised
The time interval error of PPS is not in 1us, then the time interval error of revised PPS does not have continuity, and satellite clock is different
Often；If the time interval error of revised PPS in 1us, has continuity, continues between the time of revised PPS
Tendency judgement is carried out every error, that is, is judged under conditions of the time interval error of revised PPS is in 1us when different
Between the jump of revised PPS is checked under window with the presence or absence of the trend for continuing cumulative rises or reduction, if lasting accumulation increases
It adds deduct few, then revised PPS is abnormal, and there are security risks for satellite clock, and the output time of time synchronism apparatus is with local
On the basis of clock.Otherwise, satellite clock is normal, and satellite time transfer is normal, and revised PPS is sent to output module output, by
Output module exports revised PPS.
The time interval error of the above-mentioned revised PPS referred to is that have accumulation using local High Precision Crystal Oscillator pulse per second (PPS)
Error and GPS second pulse have the characteristics that random error is calculated, so as to obtain more accurate temporal information.After amendment
PPS time interval error specific calculating process it is as follows:
(1) at time series x ∈ N, setting i-th of revised pulse per second (PPS) of outputf(xi)
For crystal oscillator accumulated error function, x=i；
(2) at time series x ∈ N, the revised pulse per second (PPS) of i+1 of output is set
(3) then, the time interval of i-th of revised pulse per second (PPS) of the revised pulse per second (PPS) of i+1 and output of output
ErrorThen ti=f (xi+1)-f(xi)；
Whether the above-mentioned continuity judgement referred to is to judge the time interval error of revised PPS in 1us.If amendment
The time interval error of PPS afterwards is not in 1us, then satellite clock is abnormal；If carrying out tendency judgement in 1us.
Tendency judgement is then under conditions of the time interval error of revised PPS is in 1us in time windows
The lower jump for checking revised PPS is with the presence or absence of the trend for continuing cumulative rises or reduction.If continue cumulative rises or
It reduces, then revised PPS is abnormal, and there are security risks for satellite clock, and the output time of time synchronism apparatus is with local clock
On the basis of.Otherwise, satellite clock is normal, and satellite time transfer is normal, revised PPS is sent to output module output, by exporting
Module exports revised PPS.
Under conditions of the time interval error of revised PPS is in 1us, the revised PPS under time windows
Jump should have randomness.Under normal circumstances, the time interval error of PPS is in spot distribution, under time windows (such as
Under in 30min, 60min, 90min ...) jump should be in jump (in coordinate indicate be positive and negative jump) up and down, thus not
The case where there are the trend of lasting cumulative rises or reduction.The present invention is between the time of output time (i.e. modified PPS)
Tendency judgement is carried out every error, the attack more refined can be prevented.
Embodiment 1
The 1PPS generated after 38000 GPS receiver decoding satellite-signals is acquired under normal circumstances, utilizes present invention side
Method calculates its random error between universal time, as a result as shown in Fig. 2, the 1PPS mean value that GPS receiver generates is
0, random error range is consistent with the normal distribution situation of practical 1PPS random error within -60ns to 60ns, shows this hair
Weighted least-squares method model carries out the feasibility of the estimation of random error under the bright time series by building.Meanwhile it calculating
Revised PPS time interval error as shown in figure 3, its time interval error in 1us, display jump trendless become
Change: without the case where continuing to increase or reducing.
Increase and decrease the positive value deviation for 1PPS one nanosecond of injection that controller is generated to GPS receiver, then benefit by pulse
The time interval error of revised PPS is calculated with the method for the present invention as shown in figure 4, the deviation due to injection is smaller, it can be around
Continuity judgement detection is crossed, but the jump of PPS has the trend for continuing cumulative rises, thinks 1PPS exception at this time.It can be seen that adopting
It carries out judging the tendency that PPS is jumped while judging output time continuity with this method, can recognize that satellite is different
Often.
Claims (5)
1. a kind of method for detecting satellite clock exception, which is characterized in that the method steps are as follows:
Outgoing message information and 1PPS signal after step 1:GPS/BDS receiver decodes received satellite-signal, and by message
Information is sent to CPU, and 1PPS is sent to time-triggered protocol module；
After step 2:CPU receives the message information that GPS/BDS receiver is sent, the message information is interpreted and according to the letter interpreted
Breath stream judges that satellite clock, when information flow is correct, then satellite clock is normal；Otherwise satellite clock is abnormal；
Step 3: time-triggered protocol module receives the 1PPS that GPS/BDS receiver is sent, and whether tames PPS by CPU control 1PPS,
In the case where CPU judges the normal situation of message information, PPS is tamed with 1PPS, while establishing weighted least square model, estimated
Standard deviation between 1PPS and universal time out, and the standard deviation and threshold value, that is, GPS/BDS receiver standard deviation are set
Definite value is compared, if the standard deviation is not less than threshold value, satellite clock is exception, and time-triggered protocol module issues alarm signal extremely
CPU, CPU control time-triggered protocol block termination 1PPS tame PPS；If the standard deviation is less than threshold value, by time-triggered protocol mould
Block is modified PPS, then carries out continuity judgement to the time interval error of revised PPS, if revised PPS
Time interval error is not in 1us, then the time interval error of revised PPS does not have continuity, and satellite clock is abnormal；If repairing
The time interval error of PPS after just then has continuity in 1us, continue to the time interval error of revised PPS into
The judgement of row tendency, that is, judge to examine under time windows under conditions of the time interval error of revised PPS is in 1us
Trend of the jump with the presence or absence of lasting cumulative rises or reduction for looking into revised PPS, if continuing cumulative rises or reduction,
Then revised PPS is abnormal, and there are security risks for satellite clock, and the output time of time synchronism apparatus is using local clock as base
It is quasi-；Otherwise, satellite clock is normal, and satellite time transfer is normal, and revised PPS is sent to output module output.
2. a kind of method for detecting satellite clock exception as described in claim 1, which is characterized in that building in the step 3
The calculating process that vertical weighted least square model estimates the standard deviation between 1PPS and universal time is as follows:
(1) there are random error ε, ε to obey normal state point between the pulse per second (PPS) that GPS/BDS receiver generates and universal time
Cloth: ε~N (0, δ2), wherein δ is standard deviation, δ2For variance；
(2) at time series X ∈ N, x=1,2,3,4...n, universal time, setting GPS/BDS receiver output are based on
I-th of pulse per second (PPS)I=x；And set i-th of pulse per second (PPS) of local High Precision Crystal Oscillator outputf(xi) it is crystal oscillator accumulated error function, x=i；Then crystal oscillator pulse per second (PPS) PPS and GPS/BDS pulse per second (PPS)
The deviation of 1PPS
(3) to f (xi) it is weighted Least Square Method, it enablesWherein, W is to add
Weight coefficient, W ∈ (0,1)；Then S is asked about f (xi) parameter local derviation after obtain normal equation group, then normal equation group is asked
F (x can be obtained in solutioni) expression formula, then under time series, f (x is calculated in given Xi) value；
(4) the deviation y between PPS and 1PPS is measuredi, according to yi=f (xi)+εi, calculate random error εi；
(5) according to varianceCalculate δ2, then calculate standard deviation δ.
3. a kind of method for detecting satellite clock exception as described in claim 1, which is characterized in that PPS in the step 3
The process being modified are as follows:
(1) it at time series x ∈ N, sets local High Precision Crystal Oscillator and exports i-th of pulse per second (PPS)f
(xi) be crystal oscillator accumulated error function, i=x,
(2) to f (xi) it is weighted Least Square Method, it enablesWherein, W is to add
Weight coefficient, W ∈ (0,1)；Then S is asked about f (xi) parameter local derviation after obtain normal equation group, then normal equation group is asked
Solution obtains f (xi) expression formula, then f (x is calculatedi)；
(3) basisIt calculatesPPS after as modifying just.
4. a kind of method for detecting satellite clock exception as described in claim 1, which is characterized in that corrected in the step 3
The calculating process of the time interval error of PPS afterwards is as follows:
(1) at time series x ∈ N, setting i-th of revised pulse per second (PPS) of outputf(xi) it is crystalline substance
Shake accumulated error function, x=i；
(2) at time series x ∈ N, the revised pulse per second (PPS) of i+1 of output is set x
=i+1；
(3) time interval error of i-th of the revised pulse per second (PPS) of the revised pulse per second (PPS) of i+1 and output then exportedThen ti=f (xi+1)-f(xi)；
(4) to f (xi) it is weighted Least Square Method, it enablesWherein, W is to add
Weight coefficient, W ∈ (0,1)；Then S is asked about f (xi) parameter local derviation after obtain normal equation group, then normal equation group is asked
Solution obtains f (xi) expression formula, then under time series, f (x is calculated in given Xi)；F (x is similarly calculatedi+1)；
(5) according to ti=f (xi+1)-f(xi) calculate ti。
5. a kind of method for detecting satellite clock exception as described in claim 1, which is characterized in that the letter in the step 2
Breath stream includes validity, locking satellite number and the second grade of location data or more the time.
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