CN111337953B - Satellite navigation spoofing detection method, device, equipment and medium - Google Patents

Satellite navigation spoofing detection method, device, equipment and medium Download PDF

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Publication number
CN111337953B
CN111337953B CN202010437958.2A CN202010437958A CN111337953B CN 111337953 B CN111337953 B CN 111337953B CN 202010437958 A CN202010437958 A CN 202010437958A CN 111337953 B CN111337953 B CN 111337953B
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satellite positioning
satellite
vehicle
vehicles
positioning terminal
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CN111337953A (en
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梅勃
徐永军
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Shenzhen Simple Taike Electronic Co ltd
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Shenzhen Simple Taike Electronic Co ltd
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Priority to CN202010437958.2A priority Critical patent/CN111337953B/en
Priority to CN202010978438.2A priority patent/CN111983648B/en
Publication of CN111337953A publication Critical patent/CN111337953A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/015—Arrangements for jamming, spoofing or other methods of denial of service of such systems

Abstract

The invention relates to the technical field of global satellite navigation positioning, in particular to a satellite deception detection method, a device, equipment and a storage medium. The method includes step S1: acquiring a satellite positioning signal; step S2: acquiring movement information of the satellite positioning terminal at preset time by using the auxiliary equipment; step S3: acquiring the movement information of the satellite positioning terminal at the preset time according to the satellite positioning signal; step S4: and judging that the satellite positioning signal is abnormal according to the consistency of the movement information acquired by the auxiliary equipment and the movement information acquired according to the satellite positioning signal. By using the method, whether the received satellite positioning signal is abnormal or not can be judged, and the accuracy of satellite positioning is improved.

Description

Satellite navigation spoofing detection method, device, equipment and medium
Technical Field
The invention relates to the technical field of global satellite navigation positioning, in particular to a satellite navigation deception detection method, a device, equipment and a storage medium.
Background
With the rapid development of modern society, location services have become a basic service in daily life, for example, support for positioning and navigation business of vehicles and future automatic driving industry, support for various location-based services (location based services) such as shopping guide, catering recommendation, takeaway delivery, and the like, and location security monitoring and management of special human populations such as the elderly and children. Among them, the outdoor positioning technology mainly based on the Beidou and GPS satellite positioning technologies is the most important key technology.
In a satellite positioning system, Beidou and GPS satellites continuously broadcast own signals, and after receiving the signals, a positioning terminal can independently and autonomously position and calculate position information. However, the positioning satellite is very far (more than 10000 km) from the positioning terminal on the earth surface, and the satellite signal is weak. Assuming that there are spurious satellite signals in the vicinity of the positioning terminal, the real satellite signals are easily covered and annihilated. If the positioning terminal can not judge and identify the fake signal, wrong position information is likely to be obtained, and even the positioning terminal is navigated and hijacked to a wrong place. Therefore, how to effectively identify the forged satellite signals and detect the potential satellite deception has very important research significance and practical application value.
In the prior art, a method for judging and identifying a fake signal in satellite navigation is lacked, which can cause a running vehicle to be deceived by the satellite navigation and not to run along a correct road.
Disclosure of Invention
The embodiment of the invention provides a satellite navigation deception detection method, a device, equipment and a storage medium. The satellite navigation deception detection method, the device, the equipment and the storage medium can detect the forged signals in the satellite navigation to a certain extent, thereby preventing the vehicle from being deceived by the satellite navigation.
On one hand, the embodiment of the invention provides a satellite navigation spoofing detection method, which comprises the following steps:
step S1: acquiring a satellite positioning signal;
step S2: acquiring movement information of the satellite positioning terminal at preset time by using the auxiliary equipment;
step S3: acquiring the movement information of the satellite positioning terminal at the preset time according to the satellite positioning signal;
step S4: and judging that the satellite positioning signal is abnormal according to the consistency of the movement information acquired by the auxiliary equipment and the movement information acquired according to the satellite positioning signal.
In one aspect, an embodiment of the present invention further provides an apparatus for detecting spoof in satellite navigation, where the apparatus includes:
the first acquisition module is used for acquiring a satellite positioning signal;
the second acquisition module is used for acquiring the movement information of the satellite positioning terminal at the preset time by using the auxiliary equipment;
the third acquisition module is used for acquiring the movement information of the satellite positioning terminal at the preset time according to the satellite positioning signal;
and the judging module is used for judging that the satellite positioning signal is abnormal according to the consistency between the movement information acquired by the auxiliary equipment and the movement information acquired according to the satellite positioning signal.
In one aspect, an embodiment of the present invention provides a satellite navigation spoofing detection device, where the device includes:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the satellite navigation spoof detection method described above.
In one aspect, an embodiment of the present invention provides a computer storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the satellite navigation spoofing detection method described above.
In summary, the satellite navigation spoofing detection method, apparatus, device and storage medium provided in the embodiments of the present invention can prevent receiving a counterfeit satellite positioning signal by determining whether the satellite positioning signal is normal by using the auxiliary device after the satellite positioning signal is acquired, so as to prevent spoofing by satellite navigation.
Drawings
FIG. 1 is a diagram of an application scenario for satellite spoofing detection in accordance with the present invention;
fig. 2 is a schematic flow chart of a satellite spoofing detection method provided in an embodiment of the present invention;
fig. 3 is a flow chart illustrating a satellite spoofing detection method according to an embodiment of the present invention;
fig. 4 is a flow chart illustrating a satellite spoofing detection method according to an embodiment of the present invention;
fig. 5 is a flow chart illustrating a satellite spoofing detection method according to an embodiment of the present invention;
fig. 6 is a flow chart illustrating a method for detecting satellite spoofing according to an embodiment of the present invention;
fig. 7 is a flow chart illustrating a method for detecting satellite spoofing according to an embodiment of the present invention;
fig. 8 is a flow chart illustrating a method for detecting satellite spoofing provided in an embodiment of the present invention;
fig. 9 is a flow chart illustrating a method for detecting satellite spoofing provided in an embodiment of the present invention;
fig. 10 is a flow chart illustrating a method of satellite spoofing detection in accordance with an embodiment of the present invention;
FIG. 11 is a diagram of an application scenario for satellite spoofing detection in accordance with the present invention;
fig. 12 is a flow chart illustrating a method of satellite spoofing detection in accordance with an embodiment of the present invention;
fig. 13 is a schematic connection diagram of a satellite spoofing detecting device provided in an embodiment of the present invention;
fig. 14 is a schematic connection diagram of a satellite spoofing detecting device provided in an embodiment of the present invention;
fig. 15 is a schematic connection diagram of a satellite spoofing detecting device provided in an embodiment of the present invention;
fig. 16 is a schematic connection diagram of a satellite spoofing detecting device provided in an embodiment of the present invention;
fig. 17 is a schematic connection diagram of a satellite spoofing detecting device provided in an embodiment of the present invention;
fig. 18 is a schematic connection diagram of a satellite spoofing detecting device provided in an embodiment of the present invention;
fig. 19 is a schematic connection diagram of a satellite spoofing detecting device provided in an embodiment of the present invention;
fig. 20 is a schematic connection diagram of a satellite spoofing detecting device provided in an embodiment of the present invention;
fig. 21 is a schematic connection diagram of components of a satellite spoofing detecting device according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Fig. 1 is a view showing an application scenario of the present invention, in which a satellite positioning terminal 01 provided in a vehicle receives satellite positioning signals transmitted from a plurality of navigation satellites. The plurality of navigation satellites includes a first satellite 03, a second satellite 04, a third satellite 05, and a fourth satellite 06 in fig. 1. If there is a satellite signal jammer 02 near the satellite positioning terminal 01, a counterfeit satellite signal having a format similar to that of the satellite signal but whose contents are falsified is continuously broadcast. Assuming that the satellite signal interference unit 02 simulates and imitates a satellite positioning signal of one of a plurality of navigation satellites, considering that the intensity of the forged signal is greater than that of the real satellite positioning signal, the real satellite positioning signal is easily covered, and the satellite positioning terminal 01 only acquires the forged satellite signal.
The satellite positioning terminal 01 adopts the forged satellite signal, and the obtained vehicle position is usually inaccurate, which causes navigation failure and influences the normal running of the vehicle.
The invention provides a satellite navigation deception detection method, a device, equipment and a storage medium, which can judge whether a received satellite positioning signal is normal or not, thereby preventing a vehicle from being deceived by an abnormal satellite navigation signal in the moving process and improving the satellite positioning accuracy of the vehicle.
An embodiment of the invention provides a satellite navigation spoofing detection method. As shown in fig. 2, the method includes the following steps S1-S4.
Step S1: acquiring a satellite positioning signal; step S2: acquiring movement information of the satellite positioning terminal at preset time by using the auxiliary equipment; step S3: acquiring the movement information of the satellite positioning terminal at the preset time according to the satellite positioning signal; step S4: and judging that the satellite positioning signal is abnormal according to the consistency of the movement information acquired by the auxiliary equipment and the movement information acquired according to the satellite positioning signal.
The satellite positioning terminal continuously receives the satellite positioning signal. And according to the received satellite positioning signal, calculating to obtain and display the position of the satellite positioning terminal. Some electronic devices such as vehicles, airplanes or ships are usually provided with satellite positioning terminals, and people can acquire the satellite positioning position in real time through the satellite positioning terminals in the process of traveling together with the electronic devices.
A satellite positioning navigation system generally combines a satellite positioning terminal with an electronic map to navigate an object in progress, plan a progress path of the object, and acquire a route from the object to a travel terminal.
If a satellite signal interference device exists near the satellite positioning terminal, the satellite positioning terminal receives a forged satellite signal sent by the satellite signal interference device. Due to the large distance between the navigation satellite and the satellite positioning terminal, the satellite positioning signal received by the satellite positioning terminal is usually weak. The strength of the forged satellite signal is usually much greater than that of the satellite positioning signal, the forged satellite signal will cover the satellite positioning signal, and the satellite positioning terminal will often regard the forged satellite signal as the satellite positioning signal.
When the satellite positioning terminal uses the forged satellite signal to calculate the positioning position, the satellite positioning position obtained by calculation is often inaccurate. If the satellite positioning terminal judges whether the acquired satellite positioning signal is normal or not after acquiring the satellite positioning signal, the satellite positioning position is calculated and acquired by using the normal satellite positioning signal, the acquired satellite positioning position can be accurate, and the navigation effect when the satellite positioning position is used for navigation can be improved.
If the satellite positioning signal is abnormal, the satellite positioning terminal obtains the satellite positioning position according to the satellite positioning signal. The satellite positioning navigation system performs navigation by using an abnormal satellite positioning position, which causes that a vehicle or a person is farther away from a target position and cannot reach the target position on time. After the satellite positioning signal is found to be abnormal, the abnormal satellite positioning signal is shielded, so that the wrong satellite positioning position can be avoided being obtained, and the subsequent navigation abnormality of the satellite positioning navigation system can also be prevented.
In one embodiment, after acquiring the satellite positioning signal at step S1, the method further includes: acquiring information of the satellite positioning signal transmitted from a navigation satellite; and judging whether the satellite positioning signal is abnormal or not according to the information.
By continuously acquiring the satellite positioning signals, the information of the satellite positioning signals transmitted by the navigation satellite can be acquired through the continuously acquired satellite positioning signals, and the information of the satellite positioning signals transmitted by the navigation satellite is the information of the real satellite positioning signals.
The information of the real satellite positioning signal includes: the frequency, phase, etc. of the true satellite positioning signal.
When the information of the real satellite positioning signal includes a frequency of the real satellite positioning signal, if the frequency of the acquired satellite positioning signal is different from the frequency of the real satellite positioning signal, the acquired satellite positioning signal is abnormal.
When the information of the true satellite positioning signal includes the phase of the true satellite positioning signal, if the phase of the acquired satellite positioning signal is different from the phase of the true satellite positioning signal, the acquired satellite positioning signal is abnormal.
In one embodiment, step S1 includes: acquiring continuous satellite positioning signals in a set time period. After step S1, the method further includes: and judging whether the satellite positioning signal is abnormal or not by analyzing the continuous satellite positioning signal.
The continuous satellite positioning signals comprise satellite positioning signals continuously acquired by the satellite positioning terminal.
Whether the satellite positioning signal is abnormal or not can be judged by setting continuous satellite positioning signals in a time period.
Each time the satellite positioning terminal acquires a satellite positioning signal, the satellite positioning terminal calculates according to the acquired satellite positioning signal to acquire a satellite positioning position. And if the satellite positioning signal received by the satellite positioning terminal is incorrect, calculating that the obtained satellite positioning position is abnormal. If the satellite positioning positions obtained by two times of calculation have larger difference, the received satellite positioning signal can be judged to be abnormal. If the difference between the satellite positioning signals received twice is large, the satellite positioning signal abnormality can be judged.
The satellite signal jammer is generally only capable of transmitting signals within a certain position range, and when the satellite positioning terminal is located within the position range, the satellite positioning terminal will receive the forged satellite positioning signal, and when the satellite positioning terminal is not located within the position range, the forged satellite positioning signal will not be received.
In the moving process of a vehicle, an airplane, a ship and the like, the position of the vehicle, the airplane, the ship and the like can be changed constantly, so that a satellite positioning terminal arranged on the vehicle, the airplane or the ship can receive a forged satellite signal only in a certain driving distance, and whether the received satellite positioning signal is normal can be judged through the continuously acquired satellite positioning signal.
Judging whether the satellite positioning signal is abnormal by analyzing the continuous satellite positioning signal, comprising: and judging whether the satellite positioning signal is abnormal or not by analyzing whether the frequency of each wave band in the continuous satellite positioning signal is consistent or not.
Theoretically, each waveform of the real satellite positioning signal is consistent within a set time period. If the satellite positioning signals received in the set time period have unreasonable waveforms, if the frequency of one waveform is obviously different from other waveforms or each waveform is changed from one frequency to another frequency, the satellite positioning signals are abnormal.
Determining whether the satellite positioning signal is abnormal by analyzing the continuous satellite positioning signal, comprising: and judging whether the phases of all wave bands in the continuous satellite positioning signals are consistent or not.
If the satellite positioning signal received in the set time period has unreasonable waveforms, if the phase of one waveform is obviously different from the other waveforms, or each waveform is changed from one phase to another phase, the satellite positioning signal is abnormal.
Judging whether the satellite positioning signal is abnormal by analyzing the continuous satellite positioning signal, comprising: and judging whether the satellite positioning signal is abnormal or not by analyzing whether the frequency of each wave band in the continuous satellite positioning signal is consistent or not.
In one embodiment, step S1 includes: the satellite positioning signal is acquired a plurality of times.
After step S1, the method further includes: acquiring navigation information of a navigation satellite transmitting the satellite positioning signal according to the satellite positioning signal acquired for multiple times; acquiring real information of the navigation satellite; and judging whether the navigation information is consistent with the real information or not, and if the navigation information is inconsistent with the real information, judging that the satellite positioning signal is abnormal.
If the satellite positioning signal is continuously acquired within 30 seconds, the navigation information of the navigation satellite transmitting the satellite positioning signal can be calculated and acquired according to the continuously acquired satellite positioning signal. The acquired navigation information includes: one or more of navigation satellite orbit eccentricity, an included angle between a navigation satellite and a running orbit, an average transmission time interval of satellite positioning signals and a navigation satellite position.
Querying the satellite ephemeris may enable the acquisition of the true information of the navigation satellites. The real information also includes: one or more of navigation satellite orbit eccentricity, an included angle between a navigation satellite and a running orbit, an average transmission time interval of satellite positioning signals and a navigation satellite position.
Judging whether the navigation information is consistent with the real information or not, including: and judging whether the orbit eccentricity of the navigation satellite contained in the navigation information is consistent with the orbit eccentricity of the navigation satellite contained in the real information, if not, judging that the satellite positioning signal is abnormal.
When the navigation information includes: the satellite navigation satellite positioning method comprises the following steps of navigation satellite orbit eccentricity, an included angle between a navigation satellite and a running orbit, average transmission time interval of satellite positioning signals and various information in the position of the navigation satellite.
Judging whether the navigation information is consistent with the real information or not, including: and judging whether any information in the navigation information is consistent with the real information, if any information inconsistent with the real information exists in the navigation information, determining that the satellite positioning signal is abnormal.
In one embodiment, when the satellite positioning terminal is generally mounted on a mobile device such as a vehicle, an airplane, a ship, etc., and moves along with the mobile device, the satellite positioning signal is continuously received during the movement, and the positions of the mobile device and the satellite positioning terminal are obtained.
The auxiliary equipment is equipment capable of detecting the movement information of the movable equipment and comprises a base station, an acceleration sensor, a gyroscope, a radar range finder, a camera and the like. Since the satellite positioning terminal moves together with the movable device, the movement locus of the movable device is the movement locus of the satellite positioning terminal.
The satellite positioning terminal can move along with the vehicle, and the satellite positioning terminal can continuously receive satellite positioning signals in the moving process along with the vehicle. The satellite positioning terminal can acquire the movement information of the vehicle according to the satellite positioning signal, and can acquire the movement track of the vehicle according to the movement information of the vehicle.
In one embodiment, the auxiliary device includes a base station, and the movement information includes a movement trajectory. The preset time includes a first predetermined period of time.
Step S2 further includes: and acquiring the moving track of the satellite positioning terminal for a first preset time period by using the base station.
Step S3 includes: and acquiring the movement track of the satellite positioning terminal in the first preset time period according to the satellite positioning signal.
Step S4: judging whether the movement track obtained according to the base station is consistent with the movement track obtained according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
The base station includes a signal transmitting apparatus moving together with the satellite positioning terminal and a signal receiving apparatus located at the base station. The signal transmitting equipment moving along with the satellite positioning terminal continuously transmits signals in the moving process, and the signal receiving equipment located in the base station continuously receives the signals transmitted by the signal transmitting equipment and acquires the real-time position of the satellite positioning terminal according to the received signals.
The base station continuously receives position signals of movable equipment such as vehicles, airplanes and ships in the moving process of the vehicles; according to the position signal, the real-time position of the movable equipment can be obtained; according to the real-time position, the moving track of the movable equipment can be obtained. The moving track of the movable device is as follows: and (3) positioning the moving track of the terminal by the satellite.
Since the moving trajectory of the satellite positioning terminal acquired by the base station in a short time usually has a large error, the length of the moving trajectory of the satellite positioning terminal acquired by the base station must be longer than the second set value when the moving trajectory of the satellite positioning terminal is acquired by the base station. The second set value is greater than 0.
The base station includes a signal transmitting device and a signal receiving device provided on the vehicle. The signal transmitting device transmits signals to the signal receiving device, the signal receiving device determines the distance between the vehicle and the base station according to the received signals, and then the position of the vehicle is obtained according to the position of the base station.
The base station comprises a GSM base station.
In an embodiment, the assistance device is a detection device moving with the satellite positioning terminal.
Step S2 includes: and acquiring the movement information of the satellite positioning terminal at the preset time by using the detection device.
Step S4 includes: judging whether the movement information acquired according to the detection device is consistent with the movement information acquired according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
The mobile device is usually provided with detection devices such as a radar range finder, a camera, an acceleration sensor, a gyroscope and the like, and the detection devices can continuously detect the movement information of the mobile device in the movement process of the mobile device. Such as radar rangefinders, are capable of constantly measuring the distance of the mobile device from other objects. The camera will continue to take a scene around the mobile device. The acceleration sensor will constantly detect the acceleration of the movable device. The gyroscope may continuously detect the turning information of the mobile device.
The detection means mounted on the movable apparatus move with the movable apparatus, and the satellite positioning terminal is mounted on the movable apparatus and also moves with the movable apparatus, so that these detection means also move with the satellite positioning terminal.
In one embodiment, the detection device comprises an acceleration sensor, and the movement information comprises a movement track. The preset time includes a second predetermined period of time.
As shown in fig. 3, step S2 includes step S21: acquiring acceleration information of the vehicle satellite positioning terminal by using the acceleration sensor; step S22: and acquiring the movement track of the satellite positioning terminal in a second preset time period by using the acceleration information.
Step S3 includes: and acquiring the movement track of the satellite positioning terminal in the second preset time period according to the satellite positioning signal.
Step S4 includes: judging whether the movement track obtained according to the acceleration sensor is consistent with the movement track obtained according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
The acceleration information includes real-time acceleration of the movable device. The real-time acceleration of the movable equipment obtained by the acceleration sensor is subjected to secondary integration, so that the movement track of the movable equipment can be obtained. Since the satellite positioning terminal moves together with the movable device, the movement locus of the movable device is also the movement locus of the satellite positioning terminal.
Whether the satellite positioning signal is abnormal can be judged by comparing whether the movement track of the satellite positioning terminal obtained by the acceleration is consistent with the movement track of the satellite positioning terminal obtained by the satellite positioning signal; if the two are consistent, the satellite positioning signal is normal; if the two are not consistent, the satellite positioning signal is abnormal.
Since the acquired movement track of the satellite positioning terminal is accurate in a short time by using the acceleration sensor, when the movement track of the satellite positioning terminal is acquired by using the acceleration sensor, the length of the movement track of the satellite positioning terminal acquired by using the acceleration sensor must be smaller than a third set value, and the third set value is larger than 0.
In one embodiment, the detection device comprises a gyroscope, and the movement information comprises a turning track of the satellite positioning terminal. The preset time includes a third predetermined period of time.
As shown in fig. 4, step S22 includes step S221: acquiring turning information of the satellite positioning terminal by using the gyroscope; step S222: and acquiring a turning track of the satellite positioning terminal in a third preset time period according to the acceleration information and the turning information.
Step S3 further includes: and acquiring the turning track of the satellite positioning terminal in the third preset time period according to the satellite positioning signal.
Step S4 further includes: and judging whether the turning track acquired according to the acceleration sensor and the gyroscope is consistent with the turning track acquired according to the satellite positioning signal, if not, judging that the satellite positioning signal is abnormal.
The acceleration sensor, the gyroscope and the satellite positioning terminal are usually arranged on a movable device, move together with the movable device, and continuously acquire movement information of the movable device in the moving process.
The acceleration sensor can continuously acquire the acceleration information of the movable equipment in the process of moving along with the movable equipment. The gyroscope can continuously acquire turning information of the movable equipment in the process of moving along with the movable equipment.
The speed information of the movable device can be acquired from the acceleration information of the movable device. By using the speed information and the turning information of the movable equipment, the turning track of the movable equipment can be acquired. According to the received satellite positioning signals, the turning track of the movable equipment can be obtained. If the two tracks are consistent, the satellite positioning signal is normal, and if the two tracks are inconsistent, the satellite positioning signal is abnormal.
The satellite positioning terminal moves along with the movable equipment, so that the movement information of the movable equipment is the movement information of the satellite positioning terminal, the acceleration information of the movable equipment is the acceleration information of the satellite positioning terminal, the speed information of the movable equipment is the speed information of the satellite positioning terminal, the turning information of the movable equipment is the turning information of the satellite positioning terminal, and the turning track of the movable equipment is the turning track of the satellite positioning terminal.
In one embodiment, the auxiliary device is a camera moving with the satellite positioning terminal, the preset time includes a moment when the camera last shoots the landmark, and the movement information includes a position of the satellite positioning terminal.
As shown in fig. 5, step S2 includes step S23: acquiring the time when the camera moving along with the satellite positioning terminal shoots the landmark for the last time in the moving process of the satellite positioning terminal; step S24: and acquiring the position of the satellite positioning terminal at the moment according to the moment and the position of the landmark.
Step S3 includes: and acquiring the time when the camera shoots the landmark for the last time and the position of the satellite positioning terminal according to the satellite positioning signal.
As shown in fig. 6, step S4 includes: step S41: acquiring the difference between the position of the satellite positioning terminal acquired by the landmark and the position of the satellite positioning terminal acquired according to the satellite positioning signal, and recording the difference as a value z 3; step S42: judging whether the absolute value of the numerical value z3 is larger than a sixth set value; if the absolute value of the value z3 is greater than the sixth set value, the satellite positioning signal is abnormal.
Landmarks are landmark buildings, including tall buildings in cities, etc.
The camera arranged on the movable equipment can continuously shoot surrounding scenes in the moving process of the movable equipment to form an image of the surrounding environment of the movable equipment.
When the movable device passes near the landmark, the landmark is included in the image of the surrounding environment of the vehicle captured by the camera. By recognizing the scenery in the surrounding image of the movable device, whether the landmark is included in the surrounding image of the movable device can be judged, and whether the movable device is near the landmark can be judged. When the movable equipment moves near the landmark, the camera can continuously shoot the surrounding image of the movable equipment containing the landmark. In the moving process, when the landmark is shot for the last time, the movable device is closest to the landmark, and the position of the landmark at the time can be regarded as the position of the movable device. The location of the landmark may be obtained by querying a map.
Since the satellite positioning terminal moves together with the movable device, the position of the movable device is the position of the satellite positioning terminal.
The real-time position of the satellite positioning terminal can be acquired by using the satellite positioning signal. When the satellite positioning signal is abnormal, the position of the satellite positioning terminal obtained by using the satellite positioning signal will be inaccurate. By determining whether the absolute value of the value S3 is greater than the sixth setting value, it can be determined whether the position of the satellite positioning terminal acquired using the landmark is close to the position of the satellite positioning terminal acquired from the satellite positioning signal, and it can be determined whether the satellite positioning signal is abnormal. If the position of the satellite positioning terminal acquired by the landmark is close to the position of the satellite positioning terminal acquired by the satellite positioning signal, the satellite positioning signal is normal. If the position of the satellite positioning terminal acquired by the landmark is not close to the position of the satellite positioning terminal acquired by the satellite positioning signal, the satellite positioning signal is abnormal.
In one embodiment, the auxiliary device is a camera and a radar range finder which move together with the satellite positioning terminal, the preset time includes a moment when the radar range finder measures a distance between a landmark and the satellite positioning terminal, and the movement information includes a position of the satellite positioning terminal.
As shown in fig. 7, step S2 includes step S25: in the moving process of the satellite positioning terminal, a camera moving along with the satellite positioning terminal is used for identifying a landmark; step S26: acquiring the distance between the satellite positioning terminal and a landmark by using the radar range finder moving along with the satellite positioning terminal; step S27: acquiring position information of the landmark; step S28: and acquiring the position of the satellite positioning terminal according to the position information of the landmark and the distance between the satellite positioning terminal and the landmark.
Step S3 includes: and acquiring the position of the satellite positioning terminal at the moment when the radar range finder measures the distance between the landmark and the satellite positioning terminal according to the satellite positioning signal.
As shown in fig. 8, step S4 includes step S43: acquiring the difference between the position of the satellite positioning terminal acquired by the radar range finder and the camera and the position of the satellite positioning terminal acquired according to the satellite positioning signal, and recording the difference as a numerical value z 4; step S44: judging whether the absolute value of the numerical value z4 is larger than a seventh set value; if the absolute value of the value z4 is greater than a seventh set value, the satellite positioning signal is abnormal.
When the movable device is close to the landmark, a camera mounted on the movable device takes an image containing the landmark. By using the vehicle-mounted radar range finder provided on the mobile device, the distance between the mobile device and the landmark can be acquired. Since the satellite positioning terminal moves together with the movable device, the position of the movable device is the position of the satellite positioning terminal. The landmark is a landmark building in a certain region, and the position of the landmark can be acquired by inquiring a map. The landmark position information includes the position of the landmark with respect to the satellite positioning terminal, the position of the landmark, and the like. According to the landmark position information and the distance between the landmark and the satellite positioning terminal, the position of the WeChat-watching positioning terminal can be obtained.
In one embodiment, the satellite positioning terminal is disposed on a vehicle.
As shown in fig. 9, step S101 is further included after step S1: acquiring satellite positioning information of a vehicle where the satellite positioning terminal is located at the time t according to the satellite positioning signal; step S102: and sending the satellite positioning information to the server, and judging whether the satellite positioning signal is abnormal or not by the server according to the satellite positioning information.
In one embodiment, the determining, by the server, whether the satellite positioning signal is abnormal according to the satellite positioning information includes: step S13: the server obtains satellite positioning information of m vehicles at the time t, wherein m is larger than or equal to 2, and the m vehicles comprise the vehicle where the satellite positioning terminal is located.
The satellite positioning information is acquired by the satellite positioning terminal based on the received satellite positioning signal. Satellite positioning information of the vehicle at the time t comprises: the satellite positioning terminal arranged on the vehicle receives the satellite positioning signal at the time t, and calculates the acquired pseudo range at the time t, the satellite positioning position of the vehicle at the time t, the elevation angle from the vehicle to the navigation satellite at the time t and the like according to the satellite positioning signal.
By acquiring the satellite information of the m vehicles, it can be determined whether any vehicle among the m vehicles receives an abnormal satellite positioning signal.
In one embodiment, as shown in fig. 10, before step S13, a step S171 is further included: the server acquires satellite positioning information of f vehicles at the time t, the satellite positioning information is acquired by the satellite positioning signals, f is larger than or equal to m, and the f vehicles comprise the vehicle where the satellite positioning terminal is located; step S19: the server acquires the position of each vehicle in the m vehicles at the time t by using a base station; step S20: the server divides the f vehicles into m categories according to the positions of the vehicles, and for any one of the m categories, the distance between any one of the vehicles in the category and any one of the vehicles in other categories is acquired according to the positions of the vehicles, is larger than a first set value, and is smaller than a fifth set value.
Step S13 further includes: and the server acquires the position positioning information of a vehicle from the category aiming at any one category except the category of the vehicle in which the satellite positioning terminal is positioned in the m categories, so as to acquire the satellite positioning information of the m vehicles.
The first set value and the fifth set value are both greater than 0. The first set value is r times the fifth set value, and r is greater than 5.
The f vehicles are divided into m categories, and vehicles with close distances according to the satellite positioning information can be clustered.
Because various interferences such as urban high-rise buildings cause attenuation and offset of satellite positioning signals, errors usually exist in satellite positioning positions, and when the distance between vehicles is small, it is difficult to judge whether the satellite positioning signals are abnormal or not. The satellite signal jammers in an area can be judged only by adopting vehicles with longer distances to carry out subsequent calculation.
Step S14: and the server acquires the pseudo range from each vehicle to a navigation satellite in the m vehicles at the time t according to the satellite positioning information.
Pseudoranges are the length of the propagation path of the satellite positioning signals from the navigation satellites onto the vehicle. And if the satellite positioning signal acquired by the vehicle is abnormal, the pseudo range from the vehicle to the navigation satellite is abnormal. However, the satellite signal jammer can only generate interference on satellite positioning signals within a region, so that only a small number of pseudoranges of vehicles may be abnormal in m pseudoranges obtained according to m vehicle positioning information, and abnormal pseudoranges can be obtained through subsequent calculation, so that abnormal satellite positioning signals are determined.
For any vehicle, the position of the vehicle can be obtained by obtaining pseudoranges from the vehicle to a plurality of navigation satellites and the position of each navigation satellite.
Step S15: and the server calculates and acquires the position difference between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles according to the pseudo ranges.
In one embodiment, step S15 includes: the server utilizes the formula ln-l1Calculating and acquiring the position difference d between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles; where θ is the angle of elevation of the vehicle to the navigation satellite, n is an integer greater than 0, and lnFor each of the other ones of the m vehicles a pseudorange, l, to the navigation satellite1And determining the pseudo range between the vehicle where the satellite positioning terminal is located and the navigation satellite.
As shown in fig. 11, since the distance between the navigation satellite 7 and the vehicle of the first vehicle 8 and the distance between the satellite 7 and the vehicle of the second vehicle 9 are both large, typically several tens of thousands of meters, and the distance d between the first vehicle 7 and the second vehicle 8 is relatively small, the pseudo-range between the two vehicles satisfies the following positional relationship: l2-l1＝dcosθ，l1Pseudoranges, l, for a second vehicle 9 navigation satellite 72The pseudo range of the first vehicle 8 to the navigation satellite 7 and the elevation angle of the second vehicle 9 to the navigation satellite 7 are theta, and since the distance d between the two vehicles is much smaller than the distance between any one of the two vehicles and the navigation satellite, the elevation angle of the two vehicles to the navigation satellite can be theta. The second vehicle 9 is a vehicle in which the satellite positioning terminal is located.
If one of the pseudo ranges is abnormal, the distance from the vehicle corresponding to the pseudo range to each of the other vehicles is also abnormal.
Step S16: the server acquires the position of each vehicle in the m vehicles at the time t by using a base station; step S17: and the server calculates and acquires the position difference between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles according to the positions of the vehicles.
The base station includes a signal transmitting device and a signal receiving device provided on the vehicle. The signal transmitting device transmits signals to the signal receiving device, the signal receiving device determines the distance between the vehicle and the base station according to the received signals, and then the position of the vehicle is obtained according to the position of the base station.
And the satellite positioning information of the vehicle at the time t comprises the vehicle positioning position of the vehicle at the time t. The vehicle location position includes a vehicle location latitude and longitude. The vehicle positioning position in the satellite positioning information is calculated and acquired by a satellite positioning terminal provided on the vehicle according to the satellite positioning signal. If one of the m vehicles receives the abnormal satellite positioning signal, the satellite positioning position of the vehicle is abnormal.
Step S18: and the server judges whether the vehicle in which the satellite positioning terminal is positioned is deceived by the satellite navigation by utilizing the position difference between the vehicle in which the satellite positioning terminal is positioned and other vehicles, which is obtained according to the pseudo-range, and the position difference between the vehicle in which the satellite positioning terminal is positioned and other vehicles, which is obtained according to the position of the vehicle.
And if the satellite positioning signal of the vehicle is normal, the position difference between the vehicle and the other vehicle obtained according to the pseudo range is the same as the position difference between the vehicle and the other vehicle obtained according to the vehicle position information. And if the position difference between the vehicle and the other vehicle obtained according to the pseudo range is larger than the position difference between the vehicle and the other vehicle obtained according to the vehicle position information, the satellite positioning signal of the vehicle is abnormal.
In one embodiment, as shown in FIG. 12, step S18 includes step S181: obtaining the sum of the position differences between the vehicle where the satellite positioning terminal is located and other vehicles, which is obtained according to the pseudo-range, and recording as the distance z 1; step S182: acquiring the sum of the position differences between the vehicle where the satellite positioning terminal is located and other vehicles, which is acquired according to the position of the vehicle, and recording the sum as a distance z 2; step S183: calculating and acquiring an absolute value of a difference between the distance z1 and the distance z 2; step S184: and judging whether the absolute value of the difference between the distance z1 and the distance z2 is smaller than a fourth set value or not, and if not, deceiving the vehicle by the satellite navigation.
The fourth setting value is greater than 0.
By determining whether the absolute value of the difference between the distance z1 and the distance z2 is smaller than the fourth setting value, it can be determined whether the distance z1 and the distance z2 are close. If the distance z1 is not close to the distance z2, the satellite positioning signal of the vehicle is abnormal. If the distance z1 is close to the distance z2, the satellite positioning signal is abnormal.
An embodiment of the present invention provides a satellite navigation spoofing detecting apparatus, as shown in fig. 13, the apparatus including: the device comprises a first acquisition module 1, a second acquisition module 2, a third acquisition module 3 and a judgment module 4;
a first obtaining module 1, configured to obtain a satellite positioning signal;
the second obtaining module 2 is configured to obtain, by using the auxiliary device, movement information of the satellite positioning terminal at a preset time;
a third obtaining module 3, configured to obtain, according to the satellite positioning signal, movement information of the satellite positioning terminal at the preset time;
and the judging module 4 is configured to judge that the satellite positioning signal is abnormal according to the consistency between the movement information acquired by the auxiliary device and the movement information acquired according to the satellite positioning signal.
In one embodiment, the auxiliary device comprises a base station, and the movement information comprises a movement track; the preset time comprises a first preset time period;
the second obtaining module 2 is further configured to obtain, by using the base station, the moving trajectory of the satellite positioning terminal for a first predetermined period of time;
the third obtaining module 3 is further configured to obtain, according to the satellite positioning signal, a moving trajectory of the satellite positioning terminal in the first predetermined period of time;
the fourth obtaining module 4 is further configured to determine whether the moving trajectory obtained according to the base station is consistent with the moving trajectory obtained according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
In one embodiment, the auxiliary device is a detection device that moves with the satellite positioning terminal;
the second obtaining module 2 is further configured to obtain, by using the detection device, the movement information of the satellite positioning terminal at the preset time;
the judging module 4 is further configured to judge whether the movement information obtained according to the detecting device is consistent with the movement information obtained according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
In one embodiment, the detection device includes an acceleration sensor, and the movement information includes a movement trajectory; the preset time comprises a second preset time period;
as shown in fig. 14, the second acquisition module 2 includes: a first acquisition submodule 21 and a second acquisition submodule 22.
The first obtaining submodule 21 is configured to obtain acceleration information of the satellite positioning terminal by using the acceleration sensor;
the second obtaining submodule 22 is configured to obtain, by using the acceleration information, a moving trajectory of the satellite positioning terminal for a second predetermined period of time;
a third obtaining module 3, configured to obtain, according to the satellite positioning signal, a moving trajectory of the satellite positioning terminal in the second predetermined time period;
the judging module 4 is configured to judge whether the moving track obtained according to the acceleration sensor is consistent with the moving track obtained according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
In one embodiment, the detection device further comprises a gyroscope, and the moving track comprises a turning track of the satellite positioning terminal; the preset time comprises a third preset time period;
as shown in fig. 15, the second acquisition sub-module 22 includes: a first acquisition unit 221, a second acquisition unit 222;
a first obtaining unit 221, configured to obtain, by using the gyroscope, turning information of the satellite positioning terminal;
a second obtaining unit 222, configured to obtain, according to the acceleration information and the turning information, a turning track of the satellite positioning terminal for a third predetermined period of time;
the third obtaining module 3 is further configured to obtain, according to the satellite positioning signal, a turning track of the satellite positioning terminal in the third predetermined period of time;
the fourth obtaining module 4 is further configured to determine whether the turning track obtained according to the acceleration sensor and the gyroscope is consistent with the turning track obtained according to the satellite positioning signal, and if the turning track obtained according to the acceleration sensor and the gyroscope is inconsistent with the turning track obtained according to the satellite positioning signal, the satellite positioning signal is abnormal.
In one embodiment, the auxiliary device is a camera moving with the satellite positioning terminal, the preset time includes a moment when the camera last shoots the landmark, and the movement information includes the position of the satellite positioning terminal;
as shown in fig. 16, the second acquisition module 2 includes a third acquisition submodule 23 and a fourth acquisition submodule 24.
A third obtaining submodule 23, configured to obtain a time when the camera moving along with the satellite positioning terminal shoots the landmark for the last time in the moving process of the satellite positioning terminal;
a fourth obtaining submodule 24, configured to obtain, according to the time and the position of the landmark, the position of the satellite positioning terminal at the time;
the third obtaining module 3 is further configured to obtain, according to the satellite positioning signal, a time when the camera last shoots the landmark and a position of the satellite positioning terminal;
as shown in fig. 17, the determination module 4 includes: a fifth obtaining submodule 41 and a first judging submodule 42.
A fifth obtaining submodule 41, configured to obtain a difference between the position of the satellite positioning terminal obtained by using the landmark and the position of the satellite positioning terminal obtained according to the satellite positioning signal, which is recorded as a value z 3;
a first judgment submodule 42, configured to judge whether an absolute value of the numerical value z3 is greater than a sixth setting value; if the absolute value of the value z3 is greater than the sixth set value, the satellite positioning signal is abnormal.
In one embodiment, the auxiliary device is a camera and a radar range finder which move together with the satellite positioning terminal, the preset time includes a moment when the radar range finder measures a distance between a landmark and the satellite positioning terminal, and the movement information includes a position of the satellite positioning terminal;
as shown in fig. 18, the second obtaining module 2 includes an identifying submodule 25, a sixth obtaining submodule 26, a seventh obtaining submodule 27, and an eighth obtaining submodule 28;
the identification submodule 25 is used for identifying the landmark by using a camera moving along with the satellite positioning terminal in the moving process of the satellite positioning terminal;
a sixth obtaining submodule 26, configured to obtain, by using the radar range finder moving together with the satellite positioning terminal, a distance between the satellite positioning terminal and a landmark;
a seventh obtaining submodule 27, configured to obtain position information of the landmark;
an eighth obtaining submodule 28, configured to obtain a position of the satellite positioning terminal according to the position information of the landmark and a distance between the satellite positioning terminal and the landmark;
a third obtaining module 3, configured to obtain, according to the satellite positioning signal, a position of the satellite positioning terminal at a moment when the radar range finder measures a distance between a landmark and the satellite positioning terminal;
as shown in fig. 19, the determination module 4 includes: a ninth acquisition submodule 43 and a second determination submodule 44.
A ninth obtaining submodule 43, configured to obtain a difference between the position of the satellite positioning terminal obtained by using the radar range finder and the camera and the position of the satellite positioning terminal obtained according to the satellite positioning signal, which is recorded as a numerical value z 4;
a second judgment submodule 44, configured to judge whether an absolute value of the value z4 is greater than a seventh setting value; if the absolute value of the value z4 is greater than a seventh set value, the satellite positioning signal is abnormal.
In one embodiment, the satellite positioning terminal is arranged on a vehicle;
as shown in fig. 20, the apparatus further includes: a fourth obtaining module 101 and a sending module 102.
A fourth obtaining module 101, configured to obtain, after obtaining a satellite positioning signal, satellite positioning information of a vehicle in which the satellite positioning terminal is located at a time t according to the satellite positioning signal;
a sending module 102, configured to send the satellite positioning information to the server, where the server determines whether the satellite positioning signal is abnormal according to the satellite positioning information.
In one embodiment, the determining, by the server, whether the satellite positioning signal is abnormal according to the satellite positioning information includes:
the server acquires satellite positioning information of m vehicles at the time t, wherein m is more than or equal to 2, and the m vehicles comprise the vehicle where the satellite positioning terminal is located;
the server acquires a pseudo range from each vehicle to a navigation satellite in the m vehicles at the time t according to the satellite positioning information;
the server calculates and acquires the position difference between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles according to the pseudo ranges;
the server acquires the position of each vehicle in the m vehicles at the time t by using a base station;
the server calculates and acquires the position difference between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles according to the positions of the vehicles;
and the server judges whether the vehicle in which the satellite positioning terminal is positioned is deceived by the satellite navigation by utilizing the position difference between the vehicle in which the satellite positioning terminal is positioned and other vehicles, which is obtained according to the pseudo-range, and the position difference between the vehicle in which the satellite positioning terminal is positioned and other vehicles, which is obtained according to the position of the vehicle.
In one embodiment, the determining, by the server, whether the vehicle in which the satellite positioning terminal is located is spoofed by the satellite navigation by using a position difference between the vehicle in which the satellite positioning terminal is located and another vehicle, which is obtained according to the pseudo-range, and a position difference between the vehicle in which the satellite positioning terminal is located and another vehicle, which is obtained according to the position of the vehicle, includes:
the server obtains the sum of the position differences between the vehicle where the satellite positioning terminal is located and other vehicles obtained according to the pseudo-range, and the sum is recorded as the distance z 1;
the server obtains the sum of the position differences between the vehicle where the satellite positioning terminal is located and other vehicles, which is obtained according to the position of the vehicle, and records the sum as a distance z 2;
the server calculates and acquires the absolute value of the difference between the distance z1 and the distance z 2;
the server judges whether the absolute value of the difference between the distance z1 and the distance z2 is smaller than a fourth set value, and if the absolute value is not smaller than the fourth set value, the vehicle is deceived by the satellite navigation.
In one embodiment, the server calculates, according to each of the pseudo ranges, a position difference between the vehicle in which the satellite positioning terminal is located and each of the other vehicles in the m vehicles, including: the server utilizes the formula ln-l1Calculating and acquiring the position difference d between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles; where θ is the angle of elevation of the vehicle to the navigation satellite, n is an integer greater than 0, and lnFor each of the other ones of the m vehicles a pseudorange, l, to the navigation satellite1And determining the pseudo range between the vehicle where the satellite positioning terminal is located and the navigation satellite.
When satellite spoofing detection is performed by using the device, the operation method, the noun explanation, the explanation of each embodiment, and the use and explanation of each hardware device included in the device are the same as those of the above-described printing method. The use method and the operation method of each module and each sub-module in the satellite spoofing detecting device can refer to the satellite spoofing detecting method, and are not repeated here.
Referring to fig. 21, the satellite spoofing detecting method according to the above embodiment of the present invention further provides a satellite spoofing detecting device, which mainly includes:
at least one processor 401; and the number of the first and second groups,
a memory 402 communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory 402 stores instructions executable by the at least one processor, the instructions being executable by the at least one processor 401 to enable the at least one processor 401 to perform the method of embodiment 1 of the present invention. For a detailed description of the apparatus, refer to embodiment 1, which is not repeated herein.
Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
Memory 402 may include mass storage for data or instructions. By way of example, and not limitation, memory 402 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 402 may include removable or non-removable (or fixed) media, where appropriate. The memory 402 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 402 is a non-volatile solid-state memory. In a particular embodiment, the memory 402 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.
The processor 401 may implement any of the satellite spoofing detection methods described in the above embodiments by reading and executing computer program instructions stored in the memory 402.
In one example, the satellite spoofing detecting device may also include a communication interface 403 and a bus 410. As shown in fig. 21, the processor 401, the memory 402, and the communication interface 403 are connected by a bus 410 to complete communication therebetween.
The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.
Bus 410 includes hardware, software, or both to couple the components of the satellite spoofing detection device to one another. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 410 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.
In addition, in combination with the satellite spoofing detection method in the above embodiment, the embodiment of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the satellite spoofing detection methods of the above embodiments.
In summary, the satellite spoofing detection method, the satellite spoofing detection device, the satellite spoofing detection apparatus and the storage medium according to the embodiments of the present invention can solve the problem of inaccurate landmark positioning in a city due to the influence of high-rise buildings and other high-rise buildings by using a mathematical modeling manner and relying on a pure computer algorithm after the satellite positioning information of the vehicle is acquired.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention. These are all intended to be covered by the scope of protection of the present invention.

Claims (8)

1. A method for detecting satellite navigation spoofing, the method comprising:
step S1: acquiring a satellite positioning signal;
step S2: acquiring movement information of a satellite positioning terminal at preset time by using auxiliary equipment;
step S3: acquiring the movement information of the satellite positioning terminal at the preset time according to the satellite positioning signal;
step S4: according to the movement information acquired by the auxiliary equipment and the consistency of the movement information acquired according to the satellite positioning signal, judging that the satellite positioning signal is abnormal;
the satellite positioning terminal is arranged on a vehicle;
further included after step S1 is:
step S101: acquiring satellite positioning information of a vehicle where the satellite positioning terminal is located at the time t according to the satellite positioning signal;
step S102: sending the satellite positioning information to a server, and judging whether the satellite positioning signal is abnormal or not by the server according to the satellite positioning information;
the server judges whether the satellite positioning signal is abnormal according to the satellite positioning information, and the judging comprises the following steps:
step S171: the server acquires satellite positioning information of f vehicles at the time t, the satellite positioning information is acquired by the satellite positioning signals, f is larger than or equal to m, and the f vehicles comprise the vehicle where the satellite positioning terminal is located;
step S19: the server acquires the position of each vehicle in the m vehicles at the time t by using a base station;
step S20: the server divides the f vehicles into m categories according to the positions of the vehicles, and aiming at any one of the m categories, the distance between any one of the vehicles in the category and any one of the vehicles in other categories is acquired according to the positions of the vehicles, is larger than a first set value, and the distance between each vehicle in the category is smaller than a fifth set value;
step S13: the server acquires the position positioning information of a vehicle from the category aiming at any one category of the m categories except the category of the vehicle containing the satellite positioning terminal, so as to acquire the satellite positioning information of m vehicles, wherein m is more than or equal to 2, and the m vehicles comprise the vehicle containing the satellite positioning terminal;
step S14: the server acquires a pseudo range from each vehicle to a navigation satellite in the m vehicles at the time t according to the satellite positioning information;
step S15: the server calculates and acquires the position difference between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles according to the pseudo ranges;
step S16: the server acquires the position of each vehicle in the m vehicles at the time t by using a base station;
step S17: the server calculates and acquires the position difference between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles according to the positions of the vehicles;
step S18: and the server judges whether the vehicle in which the satellite positioning terminal is positioned is deceived by satellite navigation by utilizing the position difference between the vehicle in which the satellite positioning terminal is positioned and other vehicles, which is obtained according to the pseudo-range, and the position difference between the vehicle in which the satellite positioning terminal is positioned and other vehicles, which is obtained according to the position of the vehicle.
2. The method of claim 1, wherein the auxiliary device comprises a base station, and wherein the movement information comprises a movement trajectory; the preset time comprises a first preset time period;
step S2 further includes: acquiring the moving track of the satellite positioning terminal for a first preset time period by using the base station;
step S3 includes: acquiring a moving track of the satellite positioning terminal in the first preset time period according to the satellite positioning signal;
step S4: judging whether the movement track obtained according to the base station is consistent with the movement track obtained according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
3. The method according to claim 1, characterized in that the auxiliary device is a detection device moving with the satellite positioning terminal;
step S2 includes: acquiring the movement information of the satellite positioning terminal at the preset time by using the detection device;
step S4 includes: judging whether the movement information acquired according to the detection device is consistent with the movement information acquired according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
4. The method of claim 3, wherein the detection device comprises an acceleration sensor, the movement information comprises a movement trajectory; the preset time comprises a second preset time period;
step S2 includes:
step S21: acquiring acceleration information of the satellite positioning terminal by using the acceleration sensor;
step S22: acquiring a moving track of the satellite positioning terminal in a second preset time period by using the acceleration information;
step S3 includes: acquiring a moving track of the satellite positioning terminal in the second preset time period according to the satellite positioning signal;
step S4 includes: judging whether the movement track obtained according to the acceleration sensor is consistent with the movement track obtained according to the satellite positioning signal; and if the two are not consistent, the satellite positioning signal is abnormal.
5. The method according to claim 4, wherein the detection device further comprises a gyroscope, and the movement track comprises a turning track of a satellite positioning terminal; the preset time comprises a third preset time period;
step S22 includes:
step S221: acquiring turning information of the satellite positioning terminal by using the gyroscope;
step S222: obtaining a turning track of the satellite positioning terminal in a third preset time period according to the acceleration information and the turning information;
step S3 further includes: according to the satellite positioning signal, obtaining a turning track of the satellite positioning terminal in the third preset time period;
step S4 further includes: and judging whether the turning track acquired according to the acceleration sensor and the gyroscope is consistent with the turning track acquired according to the satellite positioning signal, if not, judging that the satellite positioning signal is abnormal.
6. The method according to claim 1, wherein the auxiliary device is a camera and a radar range finder moving together with the satellite positioning terminal, the preset time includes a time when the radar range finder measures a distance between a landmark and the satellite positioning terminal, and the movement information includes a position of the satellite positioning terminal;
step S2 includes:
step S25: in the moving process of the satellite positioning terminal, a camera moving along with the satellite positioning terminal is used for identifying a landmark;
step S26: acquiring the distance between the satellite positioning terminal and a landmark by using the radar range finder moving along with the satellite positioning terminal;
step S27: acquiring position information of the landmark;
step S28: acquiring the position of the satellite positioning terminal according to the position information of the landmark and the distance between the satellite positioning terminal and the landmark;
step S3 includes: according to the satellite positioning signal, the position of the satellite positioning terminal is obtained at the moment when the radar range finder measures the distance between a landmark and the satellite positioning terminal;
step S4 includes:
step S43: acquiring the difference between the position of the satellite positioning terminal acquired by the radar range finder and the camera and the position of the satellite positioning terminal acquired according to the satellite positioning signal, and recording the difference as a numerical value z 4;
step S44: judging whether the absolute value of the numerical value z4 is larger than a seventh set value; if the absolute value of the value z4 is greater than a seventh set value, the satellite positioning signal is abnormal.
7. A satellite navigation spoof detection apparatus, the apparatus comprising:
the first acquisition module is used for acquiring a satellite positioning signal;
the second acquisition module is used for acquiring the movement information of the satellite positioning terminal at the preset time by using the auxiliary equipment;
the third acquisition module is used for acquiring the movement information of the satellite positioning terminal at the preset time according to the satellite positioning signal;
the judging module is used for judging that the satellite positioning signal is abnormal according to the consistency between the movement information acquired by the auxiliary equipment and the movement information acquired according to the satellite positioning signal;
the satellite positioning terminal is arranged on a vehicle;
the device further comprises: a fourth acquisition module and a sending module;
the fourth acquisition module is used for acquiring satellite positioning information of a vehicle where the satellite positioning terminal is located at the time t according to the satellite positioning signal after the satellite positioning signal is acquired;
the sending module is used for sending the satellite positioning information to a server, and the server judges whether the satellite positioning signal is abnormal or not according to the satellite positioning information;
the server judges whether the satellite positioning signal is abnormal according to the satellite positioning information, and the judging comprises the following steps:
the server acquires satellite positioning information of f vehicles at the time t, the satellite positioning information is acquired by the satellite positioning signals, f is larger than or equal to m, and the f vehicles comprise the vehicle where the satellite positioning terminal is located;
the server acquires the position of each vehicle in the m vehicles at the time t by using a base station;
the server divides the f vehicles into m categories according to the positions of the vehicles, and aiming at any one of the m categories, the distance between any one of the vehicles in the category and any one of the vehicles in other categories is acquired according to the positions of the vehicles, is larger than a first set value, and the distance between each vehicle in the category is smaller than a fifth set value;
the server acquires the position positioning information of a vehicle from the category aiming at any one category of the m categories except the category of the vehicle containing the satellite positioning terminal, so as to acquire the satellite positioning information of m vehicles, wherein m is more than or equal to 2, and the m vehicles comprise the vehicle containing the satellite positioning terminal;
the server acquires a pseudo range from each vehicle to a navigation satellite in the m vehicles at the time t according to the satellite positioning information;
the server calculates and acquires the position difference between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles according to the pseudo ranges;
the server acquires the position of each vehicle in the m vehicles at the time t by using a base station;
the server calculates and acquires the position difference between the vehicle where the satellite positioning terminal is located and other vehicles in the m vehicles according to the positions of the vehicles;
and the server judges whether the vehicle in which the satellite positioning terminal is positioned is deceived by satellite navigation by utilizing the position difference between the vehicle in which the satellite positioning terminal is positioned and other vehicles, which is obtained according to the pseudo-range, and the position difference between the vehicle in which the satellite positioning terminal is positioned and other vehicles, which is obtained according to the position of the vehicle.
8. A satellite navigation spoof detecting device, the device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
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